CN106246102A - A kind of drill arm mechanism of vertical shaft rock drilling machine - Google Patents
A kind of drill arm mechanism of vertical shaft rock drilling machine Download PDFInfo
- Publication number
- CN106246102A CN106246102A CN201610931292.XA CN201610931292A CN106246102A CN 106246102 A CN106246102 A CN 106246102A CN 201610931292 A CN201610931292 A CN 201610931292A CN 106246102 A CN106246102 A CN 106246102A
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- China
- Prior art keywords
- articulated
- oil cylinder
- support arm
- connection seat
- drill
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000007246 mechanism Effects 0.000 title claims abstract description 49
- 239000011435 rock Substances 0.000 title claims abstract description 38
- 238000005553 drilling Methods 0.000 title claims abstract description 34
- 230000001141 propulsive effect Effects 0.000 claims abstract description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D1/00—Sinking shafts
- E21D1/03—Sinking shafts mechanically, e.g. by loading shovels or loading buckets, scraping devices, conveying screws
- E21D1/06—Sinking shafts mechanically, e.g. by loading shovels or loading buckets, scraping devices, conveying screws with shaft-boring cutters
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses the drill arm mechanism of a kind of vertical shaft rock drilling machine, relate to rock drilling heading equipment technical field.The present invention includes drill boom, propulsive mechanism, described drill boom is capable of the most described drill boom of propulsive mechanism by translation oil cylinder flexible and stretches certain scope at parallel screen orientation, described drill boom realizes horizontal direction by oscillating oil cylinder and realizes the rotation of certain angle, rock drilling driving scope is made to cover the horizontal cambered surface of larger area, described drill boom is capable of propulsive mechanism by the common effect of translation oil cylinder and remains same direction state, the most automatic keeping parallelism function, translation oil cylinder is operated alone by described drill boom by two, the change in propulsive mechanism height direction can be realized, compensation plus the height direction of propulsive mechanism, reach the demand of drilling step surface, widen working range, simple to operate accurately, work efficiency is high.
Description
Technical field
The present invention relates to rock drilling heading equipment technical field.
Background technology
Growing along with industries such as subway, mine and military project construction, the construction in vertical shaft or perpendicular lane gets more and more, perpendicular
The demand of well equipment grows with each passing day.In the epoch pursuing business efficiency, the height of efficiency determines the market prospect of equipment, vertical shaft
In equipment, drill arm mechanism is critical component, which determines the working range of shaft equipment and the speed of auxiliary rock drilling.Existing market
It is less that middle drill arm mechanism is affected the working range covered by complete machine structure, and equipment boring positioning action step is the most numerous
Trivial, the work efficiency that result in equipment is low.
Summary of the invention
The present invention provides the drill arm mechanism of a kind of vertical shaft rock drilling machine, can make to bore in the range of shaft equipment rock drilling driving
Dead angle, hole is little, and coverage is big, it is also possible to realize drilling step surface, easy to use.
The drill arm mechanism of a kind of vertical shaft rock drilling machine that the present invention provides, including the borer frame playing supporting role, connection
Seat I 16 and connect seat III 18, also include drill boom 1 and propulsive mechanism 2, described drill boom 1 include first support arm the 11, second support arm 12,
First pair of translation oil cylinder 13 and connection seat II 17；It is another that described second pair of translation oil cylinder 14 is articulated in described first support arm 11 for one end
One end is articulated in described connection seat II 17 and one end is articulated in described second support arm 12 other end and is articulated in described connection seat II 17
Two oil cylinders；Described connection seat II 17 is made up of link arm bar 171 and the cylinder rod 172 of middle part pivot joint, 171 liang of described link arm bar
End is articulated in one end and one end of described second support arm 12 of described first support arm 11 respectively, and described cylinder rod 172 two ends are respectively
It is articulated in two oil cylinders of described first pair of translation oil cylinder 13.
Further, the drill arm mechanism of aforesaid vertical shaft rock drilling heading equipment, the drive-connecting shaft of described connection seat II 17 is the most flat
OK, the pivoting point at the middle part pivoting point of described cylinder rod and two ends is the most on the same line.
Further, the drill arm mechanism of aforesaid vertical shaft rock drilling heading equipment, described drill boom 1 also includes second pair of translation oil
Cylinder 14 and oscillating oil cylinder 15, one end of described first support arm 11 and one end of described second support arm 12 are articulated in described connection respectively
Seat I 16 and described connection seat III 18, the other end of described first support arm 11 and the pivot joint respectively of the other end of described second support arm 12
In described connection seat II 17, described first pair of translation oil cylinder 13 is articulated in described first support arm 11 for one end and the other end is articulated in
Described connection seat I 16 and one end are articulated in described second support arm 12 and the other end is articulated in two oil of described connection seat III 18
Cylinder, described oscillating oil cylinder 15 one end is articulated in described borer frame and the other end is articulated in described connection seat I 16.
Further, the drill arm mechanism of aforesaid vertical shaft rock drilling heading equipment, described propulsive mechanism 2 is portable pusher
Structure.
Further, the drill arm mechanism of aforesaid vertical shaft rock drilling heading equipment, described portable propulsive mechanism includes compensating
Oil cylinder 21, compensation frame 22, pivot angle oil cylinder 23, compensation travelling carriage 24, rock drill assembly 31, propelling travelling carriage 32 and propeller 33,
Described compensation frame 22 is slidably mounted on described compensation travelling carriage 24, described compensating cylinder while being pivotally mounted to connect seat III 18
21 one end are installed on compensation frame 22 and the other end is installed on described compensation travelling carriage 24, and described pivot angle oil cylinder 23 one end is pivotally mounted
Being pivotally mounted to described compensation frame 22 in described connection seat III 18 and the other end, described compensation travelling carriage 24 is fixedly installed in described
Advancing travelling carriage 32, described rock drill assembly 31 is slidably mounted on propelling travelling carriage 32, and described propeller 33 is slidably mounted on and pushes away
Enter travelling carriage 32 and be connected with rock drill assembly 31 by steel wire rope.
Have the beneficial effect that produced by technical scheme of the present invention
The drill boom of the drill arm mechanism of a kind of vertical shaft rock drilling machine that the present invention provides includes oscillating oil cylinder and two pairs of translation oil cylinders, logical
Cross oscillating oil cylinder and the common job area driving the horizontal arc that can realize larger area of two pairs of translation oil cylinders in drill boom,
Increasing the job area of drill arm mechanism, work efficiency is greatly improved；And the two of drill boom pairs of translation oil cylinders can drive and include
Drill boom, propulsive mechanism stretch at screen orientation, if translation oil cylinder uses linkage function, in the mutual driving of every pair of translation oil cylinder
Lower realization automatic keeping parallelism function, can be implemented separately the automatic keeping parallelism function of each support arm, it is also possible to realize simultaneously
The automatic keeping parallelism function of two support arms, thus can make boring all point to same direction, makes the positioning action of boring become
Obtaining the simplest, the efficiency of bore operation is greatly improved, and economic benefit is the most considerable；Meanwhile, drill boom includes two support arms, two
Translation oil cylinder is operated alone by support arm by two, it is possible to achieve the change in propulsive mechanism height direction, adds propulsive mechanism
The just compensation in direction, reaches the demand of drilling step surface, has widened working range.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of an embodiment of the present invention；
Fig. 2 is the partial enlarged drawing connecting seat I position of Fig. 1 embodiment of the present invention；
Fig. 3 is the partial enlarged drawing connecting seat II position of Fig. 1 embodiment of the present invention.
In above-mentioned accompanying drawing, labelling corresponding relation is:
1 drill boom；
11 first support arms；12 second support arms；13 first pairs of translation oil cylinders；14 second pairs of translation oil cylinders；15 oscillating oil cylinders；16 connect
Seat I；17 connect seat II；171 link arm bars；172 cylinder rods；18 connect seat III；
2 propulsive mechanisms；
21 compensating cylinders；22 compensate frame；23 pivot angle oil cylinders；24 compensate travelling carriage；31 rock drill assemblies；32 advance travelling carriage；33
Propeller.
Detailed description of the invention
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings, but the protection model of the present invention
Enclose and be not limited to this.
With reference to accompanying drawing 1 and accompanying drawing 3, the drill arm mechanism of a kind of vertical shaft rock drilling machine that the present invention provides, including playing Zhi Chengzuo
Borer frame, connect seat I 16 and connect seat III 18, also include that drill boom 1 and propulsive mechanism 2, described drill boom 1 include first
12, first pair of translation oil cylinder 13 of arm the 11, second support arm and connection seat II 17；Described second pair of translation oil cylinder 14 is articulated in for one end
Described first support arm 11 other end is articulated in described connection seat II 17 and one end is articulated in described second support arm 12 other end pivot joint
Two oil cylinders in described connection seat II 17；Described connection seat II 17 is by the link arm bar 171 of middle part pivot joint and cylinder rod 172 structure
Becoming, described link arm bar 171 two ends are articulated in one end and one end of described second support arm 12 of described first support arm 11 respectively, described
Cylinder rod 172 two ends are articulated in two oil cylinders of described first pair of translation oil cylinder 13 respectively.Such connection seat II 17 can be real
Existing elevation operation, enhances the motility of drill boom 1, effectively expands the coverage of drill boom 1, and can realize drilling step surface
Function.
With reference to accompanying drawing 2, in the drill arm mechanism of aforesaid a kind of vertical shaft rock drilling machine, described connection seat I 16 has pivot peace
Fill posterior oil cylinder and described oscillating oil cylinder in described borer frame, described first support arm 11, described second pair of translation oil cylinder 14
Four drive-connecting shafts of 15, the drive-connecting shaft installing described borer frame is parallel with the drive-connecting shaft installing described oscillating oil cylinder 15, installs
The drive-connecting shaft of described first support arm 11 is parallel with installing the drive-connecting shaft of posterior oil cylinder in described second pair of translation oil cylinder 14, installs
The drive-connecting shaft of described borer frame is vertical with the drive-connecting shaft installing described first support arm 11.Such connection seat I 16 can guarantee that brill
Arm 1 only runs at single plane, strengthens the safety using operation.
With reference to accompanying drawing 1, in the drill arm mechanism of aforesaid a kind of vertical shaft rock drilling machine, described connection seat III 18 has pivot peace
Fill preceding oil cylinder and described pivot angle oil cylinder in described compensation frame 22, described second support arm 12, described second pair of translation oil cylinder 14
Four drive-connecting shafts, four described drive-connecting shafts are the most parallel.Such connection seat III 18 can guarantee that drill boom 1 is only transported at single plane
OK, the safety of use operation is strengthened.
Further, reference accompanying drawing 3, the drill arm mechanism of aforesaid vertical shaft rock drilling heading equipment, described connection seat II 17
Drive-connecting shaft is the most parallel, and the middle part pivoting point of described cylinder rod is with the pivoting point at two ends the most on the same line.Such connection seat
II 17 can guarantee that drill boom 1 only runs at single plane, strengthen the safety using operation.
Further, with reference to accompanying drawing 1 and accompanying drawing 2, the drill arm mechanism of aforesaid vertical shaft rock drilling heading equipment, described drill boom 1
Also include second pair of translation oil cylinder 14 and oscillating oil cylinder 15, one end of described first support arm 11 and one end of described second support arm 12
It is articulated in described connection seat I 16 and described connection seat III 18, the other end of described first support arm 11 and described second support arm respectively
The other end of 12 is articulated in described connection seat II 17 respectively, and described first pair of translation oil cylinder 13 is articulated in described first for one end
Arm 11 and the other end are articulated in described connection seat I 16 and one end is articulated in described second support arm 12 and the other end is articulated in described company
Two oil cylinders of joint chair III 18, described oscillating oil cylinder 15 one end is articulated in described borer frame and the other end is articulated in described connection
Seat I 16.Described drill boom 1 is capable of propulsive mechanism 2 by first pair of translation oil cylinder 13 and the flexible of second pair of translation oil cylinder 14
The most described drill boom 1 stretches certain scope at parallel screen orientation, and described drill boom 1 can be by the flexible of oscillating oil cylinder 15
Horizontal direction realizes the rotation of certain angle, makes rock drilling driving scope cover the horizontal cambered surface of larger area.Described drill boom 1 leads to
Cross first and 13, second pair of translation oil cylinder 14 of translation oil cylinder and jointly acting on of connection seat II 17 are capable of described pusher
Structure 2 remains same direction state, i.e. automatically keeping parallelism function, accurate, efficiency height simple to operate.
Further, the drill arm mechanism of aforesaid vertical shaft rock drilling heading equipment, described propulsive mechanism 2 is portable pusher
Structure.
Further, the drill arm mechanism of aforesaid vertical shaft rock drilling heading equipment, described portable propulsive mechanism includes compensating
Oil cylinder 21, compensation frame 22, pivot angle oil cylinder 23, compensation travelling carriage 24, rock drill assembly 31, propelling travelling carriage 32 and propeller 33,
Described compensation frame 22 is slidably mounted on described compensation travelling carriage 24, described compensating cylinder while being pivotally mounted to connect seat III 18
21 one end are installed on compensation frame 22 and the other end is installed on described compensation travelling carriage 24, and described pivot angle oil cylinder 23 one end is pivotally mounted
Being pivotally mounted to described compensation frame 22 in described connection seat III 18 and the other end, described compensation travelling carriage 24 is fixedly installed in described
Advancing travelling carriage 32, described rock drill assembly 31 is slidably mounted on propelling travelling carriage 32, and described propeller 33 is slidably mounted on and pushes away
Enter travelling carriage 32 and be connected with rock drill assembly 31 by steel wire rope.Propulsive mechanism 2 can extend further, adds whole drill boom
Mechanism is at vertical job area, and the pivot angle oil cylinder 23 wherein installed can realize propulsive mechanism 2 and swing and meet drilling one
Determine the demand of the angling hole of angle.During actually used, translation oil cylinder is operated alone by drill boom 1 by two, it is possible to achieve
The change in propulsive mechanism 2 height direction, adds the compensation in the height direction of propulsive mechanism 2, can reach the need of drilling step surface
Ask, widened working range.
The invention is not restricted to above-described embodiment, to those skilled in the art, to the above embodiment of the present invention institute
Make any conspicuously improved or change all without beyond the embodiments of the invention illustrated the most by way of example and
The protection domain of claims.
Claims (5)
1. a drill arm mechanism for vertical shaft rock drilling machine, including the borer frame playing supporting role, connects seat I (16) and connects seat
III (18), it is characterised in that also include drill boom (1) and propulsive mechanism (2), described drill boom (1) include the first support arm (11), second
Support arm (12), first pair of translation oil cylinder (13) and connection seat II (17)；Described second pair of translation oil cylinder (14) is that one end is articulated in
Described first support arm (11) other end is articulated in described connection seat II (17) and one end be articulated in described second support arm (12) another
End is articulated in two oil cylinders of described connection seat II (17)；Described connection seat II (17) by middle part pivot joint link arm bar (171) and
Cylinder rod (172) is constituted, and described link arm bar (171) two ends are articulated in one end and described second of described first support arm (11) respectively
One end of support arm (12), described cylinder rod (172) two ends are articulated in two oil cylinders of described first pair of translation oil cylinder (13) respectively.
The drill arm mechanism of a kind of vertical shaft rock drilling machine the most according to claim 1, it is characterised in that described connection seat II
(17) drive-connecting shaft is the most parallel, and the middle part pivoting point of described cylinder rod is with the pivoting point at two ends the most on the same line.
The drill arm mechanism of a kind of vertical shaft rock drilling machine the most according to claim 1, it is characterised in that described drill boom (1) is also
Including second pair of translation oil cylinder (14) and oscillating oil cylinder (15), one end of described first support arm (11) and described second support arm (12)
One end be articulated in described connection seat I (16) and described connection seat III (18) respectively, the other end of described first support arm (11) and
The other end of described second support arm (12) is articulated in described connection seat II (17) respectively, and described first pair of translation oil cylinder (13) is one
End is articulated in described first support arm (11) and the other end is articulated in described connection seat I (16) and one end is articulated in described second support arm
(12) and the other end is articulated in two oil cylinders of described connection seat III (18), described oscillating oil cylinder (15) one end is articulated in described brill
Machine frame and the other end are articulated in described connection seat I (16).
The drill arm mechanism of a kind of vertical shaft rock drilling heading equipment the most according to claim 1, it is characterised in that described pusher
Structure (2) is portable propulsive mechanism.
The drill arm mechanism of a kind of vertical shaft rock drilling machine the most according to claim 1, it is characterised in that described portable propelling
Mechanism includes compensating cylinder (21), compensation frame (22), pivot angle oil cylinder (23), compensation travelling carriage (24), rock drill assembly (31), pushes away
Entering travelling carriage (32) and propeller (33), described compensation frame (22) is slidably mounted on while being pivotally mounted to connect seat III (18)
Described compensation travelling carriage (24), described compensating cylinder (21) one end is installed on compensation frame (22) and the other end is installed on described compensation
Travelling carriage (24), described pivot angle oil cylinder (23) one end is pivotally mounted to described connection seat III (18) and the other end is pivotally mounted to institute
Stating compensation frame (22), described compensation travelling carriage (24) is fixedly installed in described propelling travelling carriage (32), described rock drill assembly
(31) being slidably mounted on propelling travelling carriage (32), described propeller (33) is slidably mounted on propelling travelling carriage (32) and passes through steel wire
Rope is connected with rock drill assembly (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610931292.XA CN106246102B (en) | 2016-10-31 | 2016-10-31 | A kind of drill arm mechanism of vertical shaft rock drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610931292.XA CN106246102B (en) | 2016-10-31 | 2016-10-31 | A kind of drill arm mechanism of vertical shaft rock drilling machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106246102A true CN106246102A (en) | 2016-12-21 |
| CN106246102B CN106246102B (en) | 2018-07-31 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610931292.XA Active CN106246102B (en) | 2016-10-31 | 2016-10-31 | A kind of drill arm mechanism of vertical shaft rock drilling machine |
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| Country | Link |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194029A (en) * | 2017-12-28 | 2018-06-22 | 重庆聚亨机械有限公司 | A kind of rock drill drill boom |
| CN109577986A (en) * | 2018-12-06 | 2019-04-05 | 洛阳矿山机械工程设计研究院有限责任公司 | A kind of driving structure for the method swing type shaft excavation machine that sinks |
| CN109736811A (en) * | 2018-12-06 | 2019-05-10 | 中建地下空间有限公司 | A kind of vertical shaft machinery tunneling construction method |
| CN109882181A (en) * | 2018-12-06 | 2019-06-14 | 中信重工机械股份有限公司 | A kind of swing type reducing envelope forming tunneling boring drilling tool |
| CN110529050A (en) * | 2019-09-27 | 2019-12-03 | 中煤矿山建设集团有限责任公司 | A kind of all-hydraulic intelligent vertical shaft umbrella brill |
| CN111663895A (en) * | 2020-05-28 | 2020-09-15 | 中国煤炭科工集团太原研究院有限公司 | Fully-mechanized mining face multifunctional two-arm hydraulic drilling equipment |
| CN113982618A (en) * | 2021-11-05 | 2022-01-28 | 三一智矿科技有限公司 | Transmission mechanism of hole searching system, hole searching system and tunneling, anchoring and protecting all-in-one machine |
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| CN102817363A (en) * | 2012-09-17 | 2012-12-12 | 凌宗明 | Application of all-in-one machine for digging, drilling and anchoring in basement foundation pipe support engineering |
| CN206338029U (en) * | 2016-10-31 | 2017-07-18 | 张家口宣化华泰矿冶机械有限公司 | A kind of drill arm mechanism of vertical shaft rock drilling machine |
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| CN2232485Y (en) * | 1995-07-07 | 1996-08-07 | 煤炭科学研究总院南京研究所 | Mechanical load anchor rod driller of development machine |
| US20050047899A1 (en) * | 2002-09-24 | 2005-03-03 | Kubota Corporation | Boom assembly for swiveling utility vehicle |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194029A (en) * | 2017-12-28 | 2018-06-22 | 重庆聚亨机械有限公司 | A kind of rock drill drill boom |
| CN109577986A (en) * | 2018-12-06 | 2019-04-05 | 洛阳矿山机械工程设计研究院有限责任公司 | A kind of driving structure for the method swing type shaft excavation machine that sinks |
| CN109736811A (en) * | 2018-12-06 | 2019-05-10 | 中建地下空间有限公司 | A kind of vertical shaft machinery tunneling construction method |
| CN109882181A (en) * | 2018-12-06 | 2019-06-14 | 中信重工机械股份有限公司 | A kind of swing type reducing envelope forming tunneling boring drilling tool |
| CN109577986B (en) * | 2018-12-06 | 2023-09-22 | 洛阳矿山机械工程设计研究院有限责任公司 | Driving structure for sinking swing type vertical shaft heading machine |
| CN109882181B (en) * | 2018-12-06 | 2024-01-19 | 中信重工机械股份有限公司 | Swing type variable-diameter enveloping forming full-section drilling tool |
| CN110529050A (en) * | 2019-09-27 | 2019-12-03 | 中煤矿山建设集团有限责任公司 | A kind of all-hydraulic intelligent vertical shaft umbrella brill |
| CN111663895A (en) * | 2020-05-28 | 2020-09-15 | 中国煤炭科工集团太原研究院有限公司 | Fully-mechanized mining face multifunctional two-arm hydraulic drilling equipment |
| CN111663895B (en) * | 2020-05-28 | 2022-03-29 | 中国煤炭科工集团太原研究院有限公司 | Fully-mechanized mining face multifunctional two-arm hydraulic drilling equipment |
| CN113982618A (en) * | 2021-11-05 | 2022-01-28 | 三一智矿科技有限公司 | Transmission mechanism of hole searching system, hole searching system and tunneling, anchoring and protecting all-in-one machine |
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| Publication number | Publication date |
|---|---|
| CN106246102B (en) | 2018-07-31 |
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