CN104847348A - Mine intelligent remote control wheel type rock drill - Google Patents
Mine intelligent remote control wheel type rock drill Download PDFInfo
- Publication number
- CN104847348A CN104847348A CN201510265166.0A CN201510265166A CN104847348A CN 104847348 A CN104847348 A CN 104847348A CN 201510265166 A CN201510265166 A CN 201510265166A CN 104847348 A CN104847348 A CN 104847348A
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- drill
- hydraulic
- hammer
- remote control
- cylinder
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C27/00—Machines which completely free the mineral from the seam
- E21C27/20—Mineral freed by means not involving slitting
- E21C27/28—Mineral freed by means not involving slitting by percussive drills with breaking-down means, e.g. wedge-shaped tools
Abstract
The invention relates to an intelligent remote control wheel type rock drill for automatically carrying out drilling, hammering and brazing on a mine and is particularly suitable for the fields of drilling and hammering and cracking operations of carrying out strip cutting exploitation on marbles, granites and the like. In the application, the intelligent remote control wheel type rock drill works completely according to the process flow of artificial exploitation and a mined face has no special requirement for the topography. The intelligent remote control wheel type rock drill adopts a self-traveling wheel type independent suspension four-drive structure, is suitable for a head of the mined face of the mine and has a function of automatically regulating the levelness of the ground; a level angle of the mined face is randomly set; mechanical electronic hydraulic drilling technologies of four-drill linkage, hydraulic self-adaptive bit weight regulation, screw propulsion of a hydraulic motor screw pair and the like are combined. A hydraulic impact hammer is adopted to carry out the hamming, brazing and cracking process; a 2.4G open frequency band is adopted to carry out remote control; a one-touch operation mode is adopted; the intelligent remote control wheel type rock drill adopts a completely intelligent analog control system; labor intensity of an operator is reduced; artificial exploitation on the mine is replaced step by step; the automatic exploitation level of the mine is improved; finally, unmanned remote control production of the mine is implemented.
Description
Technical field
What the present invention relates to is a kind of mine drilling machine, and the particularly wheeled hammer drill of a kind of intelligent remote control, belongs to mine drilling mining equipment field, is particularly useful for the boring in marble, the exploitation of granite stripe open formula, hammering drill rod fracturing operation field.
Background technology
Hammer drill also claims drilling jumbo, is a kind of rock drilling equipment of mine, tunnels and underground engineering employing drill bursting construction.It can move and support that multiple stage hammer drill carries out drilling simultaneously, primarily of the ancillary service composition of the vehicle frame of rock drill, drill boom, steel work, running mechanism and other necessity.
There is track, crawler belt and rubber-tyred three kinds in trolley running mechanism.Domestic jumbo with track and rubber-tyred more.Rock drill can be moved to optional position and direction boring on work plane, data of holes drilled is more accurate, drilling efficiency is high, work situation improves greatly.Chassis power divides mechanical type and fluid pressure type, and the latter applies more, and automaticity is high, and whole drilling program is by conputer controlled.In evolution, originally adopt the ladder-type jumbo of air rock drill, progressively by being replaced with the portal frame drilling jumbos of hydraulic gate.Rubber-tyred and crawler mounted drill jumbo are primarily of Diesel Driven, and install 2 ~ 6 high speed rock drills, car body turning radius is little, maneuverability, and efficiency is high, are generally used for road driving, also can be used for the excavation of tunnels and underground engineering.
At present, at the stripe open such as marble, granite mining, be not specifically designed to the automation equipment of holing and breaking, mining operations is in the manual work stage substantially, generally adopt handheld pneumatic rock drilling equipment, adopt the break cubic meter of stone formula of splitting of rod of artificial hammering to exploit.Labour intensity is huge, production operation bad environments, and personnel health's situation is obviously influenced, and particularly the health effect of wind dust discharge mode to operating personnel of pneumatic type rock drill is larger.At present, the sector practitioner aging gradually, high strength, severe operating environment have been difficult to young practitioner and have been ready to be engaged in.Traditional Man operating efficiency is low, and high temperature season, plum rain season are manually produced by weather effect serious, produce total number of days year less than 200 days.Particularly manually adopt handheld pneumatic rock drill to be difficult to carry out small inclination boring, boring gradient is excessive, causes production face to waste.
Find in being retrieved by technology, the automation rock drilling equipment for the bar shaped such as marble, granite exploitation form is be in space state substantially, especially intelligent can the hammer drill that controls of Remote.
Summary of the invention
In order to solve the deficiency of the mine drilling equipment related in background technology, improve mining utilization rate, reduce the health hazard of mine practitioner, reduce labour intensity, improve the automated job degree of mine mining field, the invention provides a kind of mine intelligent remote control wheel type hammer drill.
The present invention is mainly used in the bar shaped such as marble, granite mining drilling hammer and hits fracturing operation.The present invention is made up of five aspects: one is the wheeled running gear of hydraulically powered independent suspension, by the two-way ultrasonic distance-measuring sensor arranged, Real-Time Monitoring is carried out to walking route, monitored data is carried out high speed by control system and is converted, feed back to hydraulic moving control valve group, by adjusting hydraulic flow in real time, driving speed considerations is carried out to independent four-wheel, real-time correction track route, ensures that hammer drill moves according to production face.Two is that the quick despatch of an automatic drilling rod tup exchanges, and meet hammer drill after completing bore operation, automatic quick-replaceable tup, operation process realizes unmanned the intervention.Three is the high speed impact hydraulic drilling tool of high-frequency high impact forces and the electric Based Intelligent Control of fluid motor-driven mechanism, during by real-time drill thrust, the driving oil pressure change of hydraulic motor, carrys out automatic compensation adjustment oil-feed flow, reaches Serial regulation drilling resistance and drilling feed speed.Four is the earth levels of automatic accommodation, and the setting of the mining face horizontal angle that can carry out arbitrarily, automatically revise the drilling rod level value because tire affects by earth's surface drop in real time, to guarantee that drilling rod carries out operation according to the minimum angle that pierces all the time.Five is utilizations of open 2.4G remote control frequency range, adopts the remote control hand held transmitter of 10 passages at a high speed to carry out Long-distance Control, the basis simplified the operation progressively realizes the unmanned intelligent operation in mine.
Beneficial effect of the present invention: completely in the application carry out drill hammer according to manual work technique and split operation, realizes automation under the prerequisite not changing technological process.Remote mode is utilized to operate in application; the health protecting operating personnel does not greatly affect by production environment; the utilization of straighforward operation also reduces the injury probability to personnel when security incident occurs; to a greater extent can night, high temperature season, plum rain season free of discontinuities produce; improve can operational period, is conducive to mine and recoups capital outlay fast.Adopt the earth horizontal equicompartment system in application, effectively can control drilling tool inclination angle, reduce the high inclination-angle owing to manually executing brill, be conducive to reducing the waste to mine resources.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described
Fig. 1 is general structure schematic diagram of the present invention
Fig. 2 is that running gear ultrasonic wave self-adaptative adjustment of the present invention controls composition frame chart
Fig. 3 is drill hammer pricker mechanism structure schematic diagram of the present invention
Fig. 4 is the earth horizontal adjustment system architecture schematic diagram of the present invention
Fig. 5 is that brill of the present invention hammer exchanges system authority structural representation automatically
Fig. 6 is end face drill hammer pricker mechanism structure schematic diagram of the present invention.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the present invention, in Fig. 1: wheeled independent suspension hydraulic traveling mechanism (1) is four groups of independent agencies, carries out suspension install by connection frame plate and the distinctive air spring shock-absorbing arms of mechanism.Ore bottom side hydraulic shock drill hammer pricker mechanism (2) is four cover combinations, is arranged on and bores on hammer the earth balance control mechanism (5), by boring the telescopic variation of three groups of independence oil cylinders of hammer the earth balance control mechanism, the levelness of adjustment X and Y direction.Drilling tool change agency (6), hammer change agency (10) hammers greatly balance control mechanism (5) and are installed in body and adjust on link (9) with boring, the driving oil cylinder being adjusted link (9) by body realizes moving integrally, adjust the distance of ore bottom side hydraulic shock drill hammer pricker mechanism (2) from ore wall, meet the exploitation of stone of different in width.Ultrasonic wave running gear follower (3) is arranged on the side of casing control cabinet (11), continuous distance monitoring is carried out to ore wall in real time in operation, wheeled independent suspension hydraulic traveling mechanism (1) is controlled in real time, the change of holing that the guarantee of adjustment moving line is walked afterwards and the distance of ore wall does not make a difference by monitoring distance data analysis.Ore end face hydraulic shock drill hammer pricker mechanism (7) is arranged on top, and the end face mainly for bar shaped exploitated ore carries out drill hammer and splits, and the entirety ore bar that drill hammer has split is carried out length dimension segmentation, is satisfied with the needs of transport ore.
Fig. 2 is that running gear ultrasonic wave self-adaptative adjustment of the present invention controls composition frame chart, in Fig. 2: two groups of ultrasonic sensors are installed, i.e. front ultrasonic sensor and rear ultrasonic sensor, the range acquisition module recording range data transmission of sensor when walking, transformed 0-5V by software analysis and digital-to-analogue, also can be that 0-10V analog voltage is exported to analog voltage and turned PWM dynamical output module, the steering wheel body that the pwm pulse signal that analog voltage turns the output of PWM dynamical output module comprises to drive servos control module and this module, steering wheel is arranged in hydraulic flow adjusting module, by the rotation number of turns changing steering wheel, uninterrupted adjustment is carried out to hydraulic flow module, the size of flow determines the rotating speed exporting executive component, by have adjusted the rotating speed of each road wheel in hydraulic traveling mechanism, reach change track route, in walking, the real time data of ultrasonic sensor and each intermodule adjusts, controlled the auto-compensation correction of track route, achieve automatic seeking wall to run.
Fig. 3 is drill hammer pricker mechanism structure schematic diagram of the present invention, in Fig. 3: hydraulic shock cylinder (40) is arranged on the slide block of line slide rail (43) by hydraulic shock cylinder mount pad (47), simultaneously, T-shaped screw pair (44) is also arranged on hydraulic shock cylinder mount pad (47), and is at one end connected and installed with hydraulic motor (45).Line slide rail (43) is arranged on drilling tool frame (42), again, unload kayser oil cylinder (46) to be connected with hydraulic shock cylinder (40) by fixing card, and in the front end of unloading kayser oil cylinder (46), quick steel ball locking mechanism (41) is installed, by depressing the overcoat of quick steel ball locking mechanism (41), can promote inner steel ball to move, the plug realizing drilling rod is unblanked and locking.Drilling rod oil pressure resistive force sensor (48) is arranged on the tail-hood of hydraulic shock cylinder (40), in real time drill steel hits pressure is monitored, adjust the input pressure of hydraulic shock cylinder (40), also adjust the flow of hydraulic motor (45) simultaneously, combination controls the motion amount of feeding and the feed speed of drilling rod, meets ore density size to the impact of bore operation.
Fig. 4 is the earth horizontal adjustment system architecture schematic diagram of the present invention, in Fig. 4: obliquity and attitude sensor (65) is arranged on the mounting rail of horizontal X axial adjustment oil cylinder (64), stop being exported the earth horizontal nutation Y-axis analog voltage to executing brill position by the instant of obliquity and attitude sensor (65) in walking, be positive and negative 5V in embodiment, also can be positive and negative 10V, immediately horizontal Y-axis adjustment oil cylinder A(60 is adjusted) and horizontal Y-axis adjustment oil cylinder B(62), during instant adjustment, the while of obliquity and attitude sensor (65), data change, be up to the standard horizontal Y-axis adjustment oil cylinder A(60 after equalization point numerical value) and horizontal Y-axis adjustment oil cylinder B(62) while locking, Y-axis is remained on horizontal equilibrium state.Meanwhile, horizontal X axial adjustment oil cylinder (64) also does identical motion, and the reference data of motion is the X-direction analog voltage output of obliquity and attitude sensor (65), and being positive and negative 5V in embodiment, also can be positive and negative 10V.The level angle of X-axis, simultaneously also by system software controls, meets artificially to the adjustment of boring gradient, relates to this function due to without actual machine structure, cannot provide numbering, by means of only text description from legend in embodiment.
Fig. 5 is that brill of the present invention hammer exchanges system authority structural representation automatically, in Fig. 5: line slide rail (20), (numbering of part parts fail actual drawing because legend view stops to drive screw pair (21), reducing motor (22), angle electric rotating machine (23), by means of only text description) be arranged on the rear portion of expansion box mechanism (26), in embodiment this part motion function for driven by reducing motor (22) drive screw pair (21) make expansion box mechanism (26) linearly slide rail (20) move.
Expansion box mechanism (26) is by expansion box shell (35), deciliter tooth bar (24), drill bushing retaining wedge (25), drill bushing pushes away card hydraulic cylinder (27), drill bushing unloads holder (28), drill bushing unloads deck drive motors (29), card extended position sensor (30), card retracted position sensor (31), helical gear (34) composition (card extended position sensor (30), card retracted position sensor (31) numbered block fails actual drawing, by means of only text description because legend view stops), in an embodiment, a deciliter tooth bar (24) is installed in expansion box shell (35), drill bushing retaining wedge (25), drill bushing pushes away card hydraulic cylinder (27), drill bushing unloads holder (28), drill bushing unloads deck drive motors (29) and is arranged on the shell of expansion box mechanism (26), concrete motion function is that drill bushing unloads deck drive motors (29) and is rotated through helical gear (34) and drives deciliter tooth bar (24) mobile, again, the drill bushing be arranged on a deciliter tooth bar (24) unloads holder (28) accompany movement.
Drilling rod implementation procedure of certainly moving concrete in embodiment is: reducing motor (22) rotates forward, drive expansion box mechanism (26) outwards movement, arrive and stop behind drilling tool same plane position, drill bushing unloads deck drive motors (29) and starts left-handed rotation driving deciliter tooth bar (24), in like manner, to unload holder (28) also just protruding for drill bushing.Card extended position sensor (30) sends signal, and angle electric rotating machine (23) starts left-handed rotation, drill bushing is unloaded holder (28) and sticks into safety chuck draw-in groove, and safety chuck is pinned in the promotion that drill bushing retaining wedge (25) pushes away card hydraulic cylinder (27) by drill bushing.Reducing motor (22) continues to rotate forward, and drives expansion box mechanism (26) outwards to continue mobile, is separated by safety chuck extracts with drilling tool.Again, angle electric rotating machine (23) starts dextrad and rotates, and card retracted position sensor (31) sends signal, and drill bushing unloads deck drive motors (29) and starts dextrad rotary actuation deciliter tooth bar (24), and in like manner, drill bushing unloads holder (28) also just inside indentation.Reducing motor (22) reversely rotates, and drives expansion box mechanism (26) to move inward.A cyclic process in embodiment, completes drilling rod and exchanges for.
From moving hammer implementation procedure be specifically in embodiment: slide unit frame plate (85) is arranged on line slide rail, by hydraulic oil cylinder driving, also drive vertical lifting mechanism (87) the outwards movement be arranged on slide unit frame plate (85) simultaneously, wherein have hoist cylinder (86) is provided with and change hammer mechanism for card (88), by changing the hammering head (89) hammered clip into shape and hold, the performance of embodiment is the decline by hoist cylinder (86), change hammer mechanism for card (88) and drop to drilling tool position, slide unit frame plate (85) oppositely movement, inserts drilling tool by hammering head (89).Hoist cylinder (86), slide unit frame plate (85) reset, and complete and change hammer process.
Fig. 6 is end face drill hammer pricker mechanism structure schematic diagram of the present invention, in Fig. 6: ore end face hydraulic shock drill hammer pricker mechanism (7) is by by hydraulic shock cylinder (70), quick steel ball locking mechanism (71), drilling tool frame (72), line slide rail (73), T-shaped screw pair (74), hydraulic motor (75), unload kayser oil cylinder (76), hydraulic shock cylinder mount pad (77), drilling rod oil pressure resistive force sensor (78), vertically very bore oil cylinder (79), move in parallel slide rail pair (80), move in parallel tooth bar (81), hydraulic motor (82), spur gear (83) forms.The implementation procedure of embodiment is: (end face hydraulic shock drill hammer pricker mechanism is identical with side hydraulic shock drill hammer pricker body function structure, work function is no longer described) drilling tool frame (72) drives by jacking cylinder, realize the deflection of drilling tool, the vertical direction operation of adjustment drilling rod and body.Move in parallel slide rail pair (80) to be arranged on body beam with parallel mobile rack (81), and driven by hydraulic motor (82) and spur gear (83), realize to external extension.Vertically very boring oil cylinder (79) is arranged in machine jacking stand, by vertically very boring the elevating movement of oil cylinder (79), can adjust the height of vertical drill.
By illustrating of above embodiment, substantially frame for movement of the present invention has been reproduced, by the reciprocal of apparatus body and control software design, function needs of the present invention can be realized, the operating efficiency of exploitation effectively can be improved in actual mine drilling recovery process, reduce the building stones waste of production face, people is avoided to execute the impact of boring operator's health, improve the industry automatization level of mining, effective solution mining is by weather, the impact such as environment can not the bottleneck of all weather operations, by the system explanation to each link, can complete reproduction mine drilling mining operations of the present invention, the functions such as Based Intelligent Control.
Claims (5)
1. a mine intelligent remote control wheel type hammer drill, wherein, mine intelligent remote control wheel type hammer drill is primarily of wheeled independent suspension hydraulic traveling mechanism (1), ore bottom side hydraulic shock drill hammer pricker mechanism (2), ultrasonic wave running gear follower (3), 2.4G remote pilot module (4), bore hammer the earth balance control mechanism (5), drilling tool change agency (6), hammer change agency (10), ore end face hydraulic shock drill hammer pricker mechanism (7), hydraulic control valve group (8), body adjustment link (9), casing control cabinet (11) forms, it is characterized in that: wheeled independent suspension hydraulic traveling mechanism (1) and ore end face hydraulic shock drill hammer pricker mechanism (7) adjust link (9) by body and combine and be fixedly connected with, body adjustment link (9) is provided with again and bores hammer the earth balance control mechanism (5), ore bottom side hydraulic shock drill hammer pricker mechanism (2) and drilling tool change agency (6) and hammer change agency (10) are arranged on to bore and hammer into shape on the earth balance control mechanism (5), and drilling tool change agency (6) is by line slide rail (20), drive screw pair (21), reducing motor (22), angle electric rotating machine (23), expansion box mechanism (26), vertical position sensor (32), level sensor (33) forms, and wherein, expansion box mechanism (26) is by expansion box shell (35), deciliter tooth bar (24), drill bushing retaining wedge (25), drill bushing pushes away card hydraulic cylinder (27), drill bushing unloads holder (28), drill bushing unloads deck drive motors (29), card extended position sensor (30), card retracted position sensor (31), helical gear (34) forms, drill bushing unloads deck drive motors (29) and is arranged on expansion box shell (35), the helical gear (34) of deck drive motors (29) axle head and the combination transmission of deciliter tooth bar (24) is unloaded by being arranged on drill bushing, drill bushing is driven to unload holder (28) in expansion box shell (35) inner telescopic slide, drill bushing retaining wedge (25) and drill bushing push away card hydraulic cylinder (27) and are arranged on drill bushing and unload on holder (28), by hydraulic oil to the driving that drill bushing pushes away card hydraulic cylinder (27) realize to the clamping of drill bushing with loosen, in conjunction with line slide rail (20), drive screw pair (21), reducing motor (22), the aggregate motion of angle electric rotating machine (23), realizes drilling tool and changes the outfit.
2. a mine intelligent remote control wheel type hammer drill, wherein, ore bottom side hydraulic shock drill hammer pricker mechanism (2) of mine intelligent remote control wheel type hammer drill is by hydraulic shock cylinder (40), quick steel ball locking mechanism (41), drilling tool frame (42), line slide rail (43), T-shaped screw pair (44), hydraulic motor (45), unload kayser oil cylinder (46), hydraulic shock cylinder mount pad (47), drilling rod oil pressure resistive force sensor (48) forms, it is characterized in that: drilling tool frame (42) is provided with line slide rail (43), hydraulic shock cylinder (40) is connected with T-shaped screw pair (44) by hydraulic shock cylinder mount pad (47), it is mobile that hydraulic motor (45) drives T-shaped screw pair (44) to rotarily drive hydraulic shock cylinder (40), realize boring feeding, drilling rod feeding drag data is passed to control system by drilling rod oil pressure resistive force sensor (48), the fuel supply flow rate of adjustment hydraulic motor (45) realizes the auto-compensation to boring feeding.
3. mine intelligent remote control wheel type hammer drill according to claim 1, it is characterized in that: ultrasonic wave running gear follower (3) is by front ultrasonic sensor (50), rear ultrasonic sensor (51), hydraulic overflow guiding mechanism (52) forms, detected by the real-time distance to ore limit ridge of front ultrasonic sensor (50) with rear ultrasonic sensor (51), data pass to control system, by exporting PWM mode, flow adjustment is carried out to hydraulic overflow guiding mechanism (52), realize the speed adjustment of wheeled independent suspension hydraulic traveling mechanism (1), control to advance and the circuit retreated.
4. mine intelligent remote control wheel type hammer drill according to claim 1, it is characterized in that: bore hammer the earth balance control mechanism (5) and adjust oil cylinder A(60 by horizontal Y-axis), horizontal Y-axis adjustment oil cylinder B(62), horizontal adjustment buffering slide (63), horizontal X axial adjustment oil cylinder (64), obliquity and attitude sensor (65) forms, each wheel of wheeled independent suspension hydraulic traveling mechanism (1) has different high low heads on earth's surface, mine, by the monitoring Y circuit-switched data of obliquity and attitude sensor (65), level inclination calculating is carried out by control system, real-time level of control Y-axis adjustment oil cylinder A(60) and horizontal Y-axis adjust oil cylinder B(62) lifting position, realize the horizontal adjustment to Y-axis, by the monitoring X circuit-switched data of obliquity and attitude sensor (65), level inclination calculating is carried out by control system, the pitch position of real-time level of control X-axis adjustment oil cylinder (64), realize the horizontal adjustment to X-axis.
5. mine intelligent remote control wheel type hammer drill according to claim 2, it is characterized in that: ore end face hydraulic shock drill hammer pricker mechanism (7) of mine intelligent remote control wheel type hammer drill is by by hydraulic shock cylinder (70), quick steel ball locking mechanism (71), drilling tool frame (72), line slide rail (73), T-shaped screw pair (74), hydraulic motor (75), unload kayser oil cylinder (76), hydraulic shock cylinder mount pad (77), drilling rod oil pressure resistive force sensor (78), vertically very bore oil cylinder (79), move in parallel slide rail pair (80), move in parallel tooth bar (81), hydraulic motor (82), spur gear (83) forms, it is characterized in that: drilling tool frame (72) is provided with line slide rail (73), hydraulic shock cylinder (70) is connected with T-shaped screw pair (74) by hydraulic shock cylinder mount pad (77), it is mobile that hydraulic motor (75) drives T-shaped screw pair (74) to rotarily drive hydraulic shock cylinder (70), realize boring feeding, drilling rod feeding drag data is passed to control system by drilling rod oil pressure resistive force sensor (78), the fuel supply flow rate of adjustment hydraulic motor (75) realizes the auto-compensation to boring feeding, ore end face hydraulic shock drill hammer pricker mechanism (7) is very bored oil cylinder (79) with vertical and is moved in parallel tooth bar (81) and is arranged on and moves in parallel in slide rail pair (80), driven by the spur gear (83) be arranged on hydraulic motor (82) driving shaft and move in parallel tooth bar (81), realize the overhanging movement of ore end face hydraulic shock drill hammer pricker mechanism (7), in conjunction with the aggregate motion of hoist cylinder (84), drill hammer is carried out to ore end face and splits operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510265166.0A CN104847348B (en) | 2015-05-23 | 2015-05-23 | Mine intelligent remote control wheel type rock drill |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510265166.0A CN104847348B (en) | 2015-05-23 | 2015-05-23 | Mine intelligent remote control wheel type rock drill |
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| CN104847348A true CN104847348A (en) | 2015-08-19 |
| CN104847348B CN104847348B (en) | 2017-09-05 |
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| CN201510265166.0A Expired - Fee Related CN104847348B (en) | 2015-05-23 | 2015-05-23 | Mine intelligent remote control wheel type rock drill |
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| CN105221069A (en) * | 2015-09-22 | 2016-01-06 | 铁建重工新疆有限公司 | A kind of rock drilling device for jumbo |
| CN106013302A (en) * | 2016-05-31 | 2016-10-12 | 福州麦辽自动化设备有限公司 | Small-amplitude tracking type breaking hammer |
| CN106437706A (en) * | 2016-12-26 | 2017-02-22 | 徐州乐泰机电科技有限公司 | Novel wheel-leg type rock drilling robot |
| CN107701127A (en) * | 2017-10-10 | 2018-02-16 | 桂林航天工业学院 | A kind of adjustable hydraulic gate clamping and horizontal propulsion device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105221069A (en) * | 2015-09-22 | 2016-01-06 | 铁建重工新疆有限公司 | A kind of rock drilling device for jumbo |
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| CN106437706A (en) * | 2016-12-26 | 2017-02-22 | 徐州乐泰机电科技有限公司 | Novel wheel-leg type rock drilling robot |
| CN106437706B (en) * | 2016-12-26 | 2018-09-28 | 乐清市华尊电气有限公司 | A kind of wheel leg type problem of rock-drilling robot |
| CN107701127A (en) * | 2017-10-10 | 2018-02-16 | 桂林航天工业学院 | A kind of adjustable hydraulic gate clamping and horizontal propulsion device |
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| Publication number | Publication date |
|---|---|
| CN104847348B (en) | 2017-09-05 |
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