CN106703684A - Underground drilling robot - Google Patents
Underground drilling robot Download PDFInfo
- Publication number
- CN106703684A CN106703684A CN201710095180.XA CN201710095180A CN106703684A CN 106703684 A CN106703684 A CN 106703684A CN 201710095180 A CN201710095180 A CN 201710095180A CN 106703684 A CN106703684 A CN 106703684A
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- China
- Prior art keywords
- cylinder
- housing
- robot
- rotating
- swinging
- 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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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B4/00—Drives for drilling, used in the borehole
- E21B4/04—Electric drives
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B10/00—Drill bits
- E21B10/26—Drill bits with leading portion, i.e. drill bits with a pilot cutter; Drill bits for enlarging the borehole, e.g. reamers
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
Abstract
The invention discloses an underground drilling robot. The robot comprises a screw squeezing and spreading drilling bit, a main drive motor, a shell body, a swinging rotating mechanism, a turning mechanism and a thrust mechanism. The shell body is straight and cylindrical, and comprises a shell body cylinder, a diaphragm and a tail end plate. The diaphragm and the tail end plate are fixedly arranged at the center and the tail of the shell body respectively. The screw squeezing and spreading drilling bit is arranged at the front end of the shell body, and connected with the shaft of the main drive motor. The main drive motor is fixed to the swinging and rotating mechanism. The screw squeezing and spreading drilling bit can swing to an extent during rotating through the swinging and rotating mechanism. The drive part of the swinging and rotating mechanism is fixedly arranged on the turning mechanism. The drive part of the turning mechanism is fixed to the diaphragm. The circumferential rotation of the swinging rotating mechanism relative to the shell body cylinder can be achieved through the driving of the turning mechanism. The thrust mechanism is arranged on the tail end in the shell body cylinder for pushing the whole device to move forward, the robot is easy to control, flexible in steering and reliable, and therefore the underground drilling robot has a broad promotion and application value.
Description
Technical field
The invention belongs to earth drilling machine people field.It is related to advance in underground hole-forming, turns to flexibly, drives few, pore-forming
Totally, the micro-tunneling robot of clean energy, and in particular to creep into robot in a kind of underground.
Background technology
With the development of the city, the construction of underground piping becomes in the urgent need to the especially digging of micro-tunneling with perfect
Pick so that the exploitation of underground drilling robot obtains extensive concern.Micro-tunneling is different from large tunnel, and its excavation requires machine
Device people has degree of intelligence high, workable, turn to it is flexible the characteristics of.
Underground drilling robot can be divided into two kinds of bionic type and non-bionic type by working method.Creep into machine in bionic type underground
People encircles the motion mode of hole animal with reference to underground, and with the flexible advantage of steering, but its driving is often more, and control difficulty is high；
Non- bionic type can be divided into impact pike formula again, bore native two kinds of formula.Impact pike formula has the advantages that drilling efficiency is high, but its power consumption is big,
Drilling length is often limited to drive device, and steering is more difficult；Zuan Tu formulas robot not only high working efficiency, energy consumption is low, and turns
To flexible, great researching value.
Comparing representational robot at present has：A kind of self-propelled underground boring machine that NASA develops
Device people, is made up of two body segments, and a drill bit is respectively installed at two ends, can be flexibly turned to, the energy backtracking after end-of-job, but its
Job step sequence is more, and control requires high；The spiral drilling robot of Japanese ISAS's design, realizes the brill of underground
Hole is advanced, but is turned to difficult；The imitative earthworm move in mud robot of Northwestern Polytechnical University's exploitation, head connects three to twist earth boring auger head
Body segment, can realize axial stretching and radial dilatation, but gait of march is slower, less efficient.
The content of the invention
To solve the deficiency that existing underground drilling robot is present, the knot of robot is crept into by summarizing existing all kinds of undergrounds
Structure, operation principle, there is provided one kind transition is flexible, and control is simple, workable underground drilling robot.
The technical solution adopted by the present invention is：
Creep into robot in a kind of underground, it is characterised in that：Including cone-type spiral extruding-enlarging aiguille, main drive motor, housing, rotation machine
Structure, epicyclical mechanism and propulsive mechanism.The housing is straight cylinder shape, and housing includes housing cylinder, dividing plate and transom piece, dividing plate and tail
End plate is fixed at housing cylinder middle part and afterbody respectively；The cone-type spiral extruding-enlarging aiguille is located at housing forward end, and cone-type spiral is squeezed
Enlarging aiguille is connected with the axle of main drive motor, and the main drive motor is fixed on rotatable mechaninism, by rotatable mechaninism taper spiral shell
Rotation extruding-enlarging aiguille can have certain amplitude to swing when rotated, and the drive part of the rotatable mechaninism is fixed at epicyclical mechanism
On, the drive part of epicyclical mechanism is fixed on dividing plate, and rotatable mechaninism is capable of achieving relative to housing by the drive of epicyclical mechanism
Cylinder rotate in a circumferential direction, the propulsive mechanism located at housing cylinder in tail end, for promoting whole device to advance.
Used as improvement, the rotatable mechaninism includes swinging cylinder and rotation motor, and the main drive motor is fixed on bottom in swinging cylinder
Portion, swinging cylinder outer bottom is provided with half gear, and the output shaft of the rotation motor is provided with the little gear with half engaged gears, outside swinging cylinder
Side is provided with the woodruff key being engaged with epicyclical mechanism, by woodruff key, swinging cylinder can relative to epicyclical mechanism swing and can not be relative
Its rotation.
Used as improvement, the epicyclical mechanism includes rotating cylinder and all rotating motors, the rotating cylinder it is free to rotate located at housing
Cylinder Inner Front End, rotating cylinder inwall is provided with the Woodruff key slots and keyways being engaged with the woodruff key in swinging cylinder, and rear end is provided with ring gear in rotating cylinder,
All rotating motors are fixed on dividing plate, and the output shaft end of all rotating motors is provided with the travelling gear being engaged with ring gear, rotating cylinder
End is additionally provided with ratchet, and housing cylinder inwall is provided with the ratchet being engaged with ratchet, causes to turn by the cooperation of ratchet and pawl
Cylinder can only single direction rotation relative to housing cylinder.
Used as improvement, the ratchet has 3-5, and multiple ratchets are uniformly distributed along the circumference of ratchet.
As improvement, the propulsive mechanism include propulsion electric machine, driving pulley, driven pulley, crank, connecting rod, sliding block and
Push rod, the propulsion electric machine is fixed on dividing plate, and crank is fixed on dividing plate opposite side by support, the driving pulley and from
Movable belt pulley is fixedly linked by belt transmission and both axles respectively with propulsion electric machine and crank, and the crank is with three songs
The crank of shank, in 120 ° of angle distributions centered on crank axle, each toggle-action lever passes through one to three toggle-action levers
Connecting rod is hinged and connected with corresponding sliding block, and the sliding block opposite side is hinged and connected with corresponding push rod, and the sliding block can be relative to shell
Body cylinder slide anteroposterior, the transom piece is provided with three different and outward-dipping push-rod holes of angle, and the push rod end passes through
One of push-rod hole is stretched out outside housing cylinder to rear ramp, when the crank rotates, due to three toggle-action levers into hexagonal angle degree point
Cloth, so as to drive three sliding blocks and three push rods that are connected with sliding block are moved forward and backward with 120 ° of phase angle differences, be whole device to
Preceding motion provides power.
Used as improvement, the end of each push rod is inclined pointed shape laterally.
The beneficial effects of the present invention are：
1st, turn to flexible.Steering mechanism is constituted by that can realize the rotating cylinders and pendulum angle of 360 ° of rotations up to 90 ° of swinging cylinder, is turned to
Journey is continuous steering, can cover institute in steering range angled.During steering, all rotating motors drive drum rotation, to rotating cylinder upper half
Round key groove is coplanar with angle on target, and all rotating motors are stopped；Rotation motor is controlled to drive swinging cylinder to swing again, until target angle
Degree.Realize the continuous of steering procedure, in the range of the angled all standing of institute.
2nd, control simple.Whole robot is driven by 4 motors, i.e., all rotating motors, rotation motor, main drive motor with push away
Stepper motor.When not turning to, main drive motor and propulsion electric machine are in running status.During steering, main drive motor and propulsion are electric
Machine is remained on.All rotating motors are first controlled, after rotating cylinder reaches specified location, all rotating motors are stopped, then control rotation motor
Swinging cylinder is driven to be rocked to angle on target.There is clear and definite sequencing in the work of all rotating motors and rotation motor, also in the absence of when
Between on, the matching relationship in speed substantially reduces control difficulty.
3rd, single impulse stroke is long.Robot main drive motor is connected with robot by externally fed with cable, single work
Make stroke depending on length of cable.
Brief description of the drawings
Fig. 1 is underground drilling robot overall construction drawing；
Fig. 2 is shell structure schematic diagram；
Fig. 3 is epicyclical mechanism structural representation；
Fig. 4 is right view in Fig. 3；
Fig. 5 is rotatable mechaninism structural representation；
Fig. 6 is right view in Fig. 5；
Fig. 7 is propulsive mechanism structural representation；
Fig. 8 is crank structure schematic diagram；
Fig. 9 is the installation form schematic diagram of crank；
Figure 10 is sub- propulsive mechanism structural representation；
1- cone-type spiral extruding-enlarging aiguilles, 2- main drive motors, 3- housings, 4- rotatable mechaninisms, 5- epicyclical mechanisms, 6- propulsive mechanisms,
7- housings cylinder, 8- dividing plates, 9- transom pieces, 10- rotating cylinders, 11- ring gears, 12- ratchets, 13- travelling gears, 14- weeks rotating motor,
15- cover plates, 16- swinging cylinders, the gears of 17- half, 18- little gears, 19- rotation motors, 20- cushion blocks, 21- propulsion electric machines, 22- main belt
Wheel, 23- belts, 24- supports, 25- driven pulleys, 26- propulsive mechanisms, 27- cranks, 28- toggle-action levers one, 29- toggle-action levers two,
30- toggle-action levers three, 31- connecting rods, 32- sliding blocks, 33- push rods, 34- ratchets, 35- woodruff keies.
Specific embodiment
Fig. 1 is overall construction drawing of the invention, and creep into robot for a kind of underground, including cone-type spiral extruding-enlarging aiguille 1, main drive
Dynamic motor 2, housing 3, rotatable mechaninism 4, epicyclical mechanism 5, propulsive mechanism 6 six is most of.Housing 3 is straight cylinder shape, is each several part
Frame；Rotatable mechaninism 4, epicyclical mechanism 5 constitutes steering mechanism, positioned at body front end, cone-type spiral extruding-enlarging aiguille 1 and main driving
Motor 2 is arranged in swinging cylinder 3；The drilling robot rear portion located underground of propulsive mechanism 6, there is provided what underground drilling robot advanced pushes away
Power.
The cone-type spiral extruding-enlarging aiguille 1 is arranged in the axis hole of swinging cylinder cover plate 15 by bearing, and shaft end connects main driving
Motor 2.Main drive motor 2 is packed in the inner bottom part of swinging cylinder 16, there is provided the power that the drilling soil of cone-type spiral extruding-enlarging aiguille 1 needs.
The effect of cone-type spiral extruding-enlarging aiguille 1 be by front soil extrude cut, will pass through place soil compaction on hole wall, formed and
The consistent hole of the outward appearance of cone-type spiral extruding-enlarging aiguille 1.Hole road is closely knit, substantially without scattered soil heel row phenomenon
The housing 3 be straight cylinder shape, including housing cylinder 7, dividing plate 8, transom piece 9.Dividing plate 8 is welded in the middle part of housing cylinder 7, as
The fixed plate of all rotating motors 14 and propulsion electric machine 21, is provided with slot and is easy to belt 23 to pass through so that propulsion electric machine on dividing plate 8
21 kinetic force is transferred to crank 27.Transom piece 9 is welded in housing 7 afterbodys of cylinder, and it is 120 ° of push-rod holes to be circumferentially provided with three angles,
Three groups of push rods of sub- propulsive mechanism 33 are passed through from three push-rod holes respectively, and housing cylinder 7 is stretched out to rear ramp.
The rotatable mechaninism 4, epicyclical mechanism 5 constitutes steering mechanism.Steering mechanism is integrally located at body front end.Such as Fig. 3 and
Shown in Fig. 4, the epicyclical mechanism 5 includes rotating cylinder 10, ring gear 11, travelling gear 13, all rotating motors 14, ratchet 34 and ratchet
12.Rotating cylinder 10 is installed on housing 7 Inner Front Ends of cylinder by bearing, and in underground, drilling robot proposes that steering can be with housing cylinder when requiring
7 produce relative rotation；The inwall of rotating cylinder 10 is symmetrically provided with a pair of Woodruff key slots and keyways, coordinates with the woodruff key 35 in swinging cylinder 16, in rotating cylinder
During 10 rotation, the side of woodruff key 35 is working face, drives swinging cylinder 16 to rotate together, moreover it is possible to bear cone-type spiral extruding-enlarging aiguille 1
Pressure transmission to rotating cylinder 10.The right side of rotating cylinder 10 is provided with ratchet 34, and housing 7 inwalls of cylinder are provided with ratchet 12, and ratchet 12 is articulated with
Housing cylinder 7, ratchet 12 coordinates with the ratchet 34 on the right side of rotating cylinder 10, is used to transmit rotating cylinder 10 in cone-type spiral extruding-enlarging aiguille 1
The moment of torsion born during rotation so that rotating cylinder 4 can only one-directional rotation.Ring gear 11 is installed in the inwall of rotating cylinder 10 near the end of ratchet 34；
All rotating motors 14 are installed in dividing plate 8；Travelling gear 13 is arranged on all output shafts of rotating motor 14, and gear is formed with ring gear 11
It is right.The single direction rotation of cone-type spiral extruding-enlarging aiguille 1 of robot is crept into underground, and ratchet 12 is blocked in ratchet slot, by cone-type spiral
The rotation of extruding-enlarging aiguille 1 is delivered on housing cylinder 7, prevents rotating cylinder 10 from following cone-type spiral extruding-enlarging aiguille 1 to rotate together；In order to anti-
Only the stress of ratchet 12 is excessive, and three groups of identical ratchets 12 are provided with housing cylinder 7.Required when underground boring machine device people proposes to turn to
When, power is transmitted ring gear 11 by all rotating motors 14 by travelling gear 13, drives rotating cylinder 10 in housing cylinder 7 along cone-type spiral
Extruding-enlarging aiguille 1 is reversely rotated, and now ratchet 12 is ridden on ratchet 34 with the rotation of rotating cylinder 10, realizes the rotation of rotating cylinder 10.
After rotating cylinder 10 turns to specified location, ratchet 12 is stuck in the draw-in groove of ratchet 34, prevents rotating cylinder 10 from rotating backward.
As shown in Figure 5 and Figure 6, the rotatable mechaninism 4 includes cover plate 15, swinging cylinder 16, half gear 17, little gear 18, rotation
Motor 19 and cushion block 20.Axis hole is provided with the middle of cover plate 15, cover plate 15 is fixed on swinging cylinder 16；Swinging cylinder 16 is cylindrical shape, and both sides are symmetrical
It is fixedly mounted with a pair of woodruff keies 35；Half gear 17 is installed in the outer bottom of swinging cylinder 16, coplanar with woodruff key 35（As shown in Figure 6）；Little gear
18 are fixed on the output shaft of rotation motor 19, and little gear 18 is mutually engaged with half gear 17, and rotation motor 19 can be by small
Gear 18 drives the swinging cylinder 16 being connected with half gear 17 to swing, and rotation motor 19 is installed on cushion block 20, and cushion block 20 is fixed on rotating cylinder
10.When in underground, drilling robot proposes that steering is required, epicyclical mechanism 5 is acted first, and epicyclical mechanism 5 turns to specified location
Afterwards, blocked by ratchet 34.Rotation motor 19 drives half gear 17 to make small angle oscillation by little gear 18, drives swinging cylinder 16 to put
Dynamic, so as to drive cone-type spiral extruding-enlarging aiguille 1 to turn to, in whole steering procedure, main drive motor 2 remains operation shape
State.
As shown in Fig. 7, Fig. 8, Fig. 9 and Figure 10, the propulsive mechanism 6 includes propulsion electric machine 21, driving pulley 22, driven belt
Wheel 25, belt 23, support 24, sub- propulsive mechanism 26.Propulsion electric machine 21 is installed in dividing plate 8；Driving pulley 22 is arranged on propulsion electricity
On the output shaft of machine 21, driving pulley 22 is connected with driven pulley 25 by belt 23, and the crank 27 is with three toggle-action levers
Crank, three toggle-action levers are respectively toggle-action lever 1, toggle-action lever 2 29 and toggle-action lever 3 30, and crank 27 is arranged on by bearing
On support 24, support 24 is fixed on the opposite side of dividing plate 8, and driven pulley 25 is fixedly installed in the shaft end of crank 27.Belt 23 is from dividing plate 8
On slot pass through.Sub- propulsive mechanism 26 has three groups, is connected with three toggle-action levers respectively, and its structure is the same, such as Figure 10 institutes
Show, by taking one of which as an example：Sub- propulsive mechanism 26 includes connecting rod 31, sliding block 32, push rod 33.The song of the left end of connecting rod 31 and crank 27
Shank 3 30 is hinged and connected, and the right-hand member of connecting rod 31 is hinged and connected with sliding block 32, and sliding block 32 can slide anteroposterior, cunning relative to housing cylinder 7
Block 32 constitutes prismatic pair with housing cylinder 7；The one end of the push rod 33 is hinged and connected with the opposite side of sliding block 32, and push rod 33 is from located at tail
Passed outside housing cylinder 7 to oblique rear ramp in the push-rod hole of end plate 9, it is free end that push rod 33 stretches out 7 outer ends of housing cylinder, in order to prevent
Push rod 33 skids in progradation, the end of the free end of push rod 33 can be arranged into outward-dipping wedge angle.The crank 27
Three toggle-action levers centered on the axle of crank 27 in hexagonal angle degree be distributed, i.e., the angle between any two toggle-action lever is
120°.Three toggle-action levers each connect one group of connecting rod, and sliding block, push rod constitutes three sub- propulsive mechanisms 26 of structure identical, each
The phase difference of sub- propulsive mechanism 26 is 120 °.Cone-type spiral extruding-enlarging aiguille 1 forms hole, sub- propulsive mechanism 26 in front of whole body
Push rod 33 moved reciprocatingly to rear ramp under the drive of toggle-action lever, first stretch out and penetrate mud hole wall, then retract.Push rod 33 is backward
During release, soil is produced makes a concession compression, and after certain level distance, the soil on mud hole wall is no longer made a concession, and now push rod 33 is against
On soil wall, soil causes body integral forward lead to its reaction force.Because the action of push rod 33 is to move back and forth, bounced back
Journey body can not advance, and be supported due to lacking, and the rotation of cone-type spiral extruding-enlarging aiguille 1 may cause underground to creep into robot
Generation whipping, it is also possible to stall phenomenon occurs.In order to avoid above-mentioned situation, it is ensured that underground drilling robot sustainedly and stably to
Preceding propulsion, the present invention is identical using three groups of forms, and phase difference is the promotion of 120 ° 26 groups of realizations of sub- propulsive mechanism to body.It is real
Now method is：Crank 27 is made up of toggle-action lever 1, crank 2 29, toggle-action lever 3 30, the folder between three wantonly two bars of toggle-action lever
Angle is 120 °.Three toggle-action levers each connect one group of connecting rod, and sliding block, swing rod, three structures of composition are identical, and phase difference is 120 °
Independent sub- propulsive mechanism 26.Toggle-action lever 1, crank 2 29, the working method of sub- propulsive mechanism 26 that toggle-action lever 3 30 is each connected
It is completely the same, at any time, it has been always ensured that a push rod 33 is in and has stretched out state, so as to ensure that whole body movement connects
It is continuous and steady.
Claims (6)
1. robot is crept into a kind of underground, it is characterised in that：Including cone-type spiral extruding-enlarging aiguille, main drive motor, housing, rotation
Mechanism, epicyclical mechanism and propulsive mechanism, the housing is straight cylinder shape, and housing includes housing cylinder, dividing plate and transom piece, dividing plate and
Transom piece is fixed at housing cylinder middle part and afterbody respectively；The cone-type spiral extruding-enlarging aiguille is located at housing forward end, cone-type spiral
Extruding-enlarging aiguille is connected with the axle of main drive motor, and the main drive motor is fixed on rotatable mechaninism, by rotatable mechaninism taper
Helix extruding-enlarging drill bit can have certain amplitude to swing when rotated, and the drive part of the rotatable mechaninism is fixed at epicyclical mechanism
On, the drive part of epicyclical mechanism is fixed on dividing plate, and rotatable mechaninism is capable of achieving relative to housing by the drive of epicyclical mechanism
Cylinder rotate in a circumferential direction, the propulsive mechanism located at housing cylinder in tail end, for promoting whole device to advance.
2. robot is crept into a kind of underground according to claim 1, it is characterised in that：The rotatable mechaninism includes swinging cylinder and pendulum
Rotating motor, the main drive motor is fixed on swinging cylinder inner bottom part, and swinging cylinder outer bottom is provided with half gear, the output of the rotation motor
Axle is provided with the little gear with half engaged gears, and swinging cylinder outside is provided with the woodruff key being engaged with epicyclical mechanism, by woodruff key,
Swinging cylinder can relative to epicyclical mechanism swing and can not be rotatable relative.
3. robot is crept into a kind of underground according to claim 1, it is characterised in that：The epicyclical mechanism includes rotating cylinder and week
Rotating motor, the rotating cylinder it is free to rotate located at housing cylinder Inner Front End, rotating cylinder inwall is provided with and the woodruff key phase in swinging cylinder
The Woodruff key slots and keyways of cooperation, rear end is provided with ring gear in rotating cylinder, and all rotating motors are fixed on dividing plate, the output of all rotating motors
Shaft end is provided with the travelling gear being engaged with ring gear, and rotating cylinder end is additionally provided with ratchet, and housing cylinder inwall is provided with and matches with ratchet
The ratchet of conjunction, causes that rotating cylinder can only single direction rotation relative to housing cylinder by the cooperation of ratchet and pawl.
4. robot is crept into a kind of underground according to claim 3, it is characterised in that：The ratchet has 3-5, multiple ratchets
It is uniformly distributed along the circumference of ratchet.
5. robot is crept into a kind of underground according to claim 1, it is characterised in that：The propulsive mechanism includes propulsion electricity
Machine, driving pulley, driven pulley, crank, connecting rod, sliding block and push rod, the propulsion electric machine are fixed on dividing plate, and crank passes through
Support is fixed on dividing plate opposite side, the driving pulley and driven pulley by belt transmission and both respectively with propulsion electric machine and
The axle of crank is fixedly linked, and the crank is that three toggle-action levers are centered on crank axle with three cranks of toggle-action lever
Be distributed in 120 ° of angles, each toggle-action lever is hinged and connected by a connecting rod with corresponding sliding block, the sliding block opposite side and
Corresponding push rod is hinged and connected, and the sliding block can be provided with three angles not relative to housing cylinder slide anteroposterior, the transom piece
Same and outward-dipping push-rod hole, the push rod end is stretched out outside housing cylinder by one of push-rod hole to rear ramp, described
When crank rotates, because three toggle-action levers are distributed into hexagonal angle degree, so as to drive three sliding blocks and be connected with sliding block three push away
Bar is moved forward and backward with 120 ° of phase angle differences, is that whole device travels forward offer power.
6. robot is crept into a kind of underground according to claim 5, it is characterised in that：The end of each push rod is
Inclined pointed shape laterally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710095180.XA CN106703684B (en) | 2017-02-22 | 2017-02-22 | A kind of underground drilling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710095180.XA CN106703684B (en) | 2017-02-22 | 2017-02-22 | A kind of underground drilling robot |
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| CN106703684A true CN106703684A (en) | 2017-05-24 |
| CN106703684B CN106703684B (en) | 2018-08-10 |
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| CN201710095180.XA Expired - Fee Related CN106703684B (en) | 2017-02-22 | 2017-02-22 | A kind of underground drilling robot |
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