CN110173256A - The method of compressive strength of rock recognition methods, equipment and rotary drilling rock - Google Patents
The method of compressive strength of rock recognition methods, equipment and rotary drilling rock Download PDFInfo
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- CN110173256A CN110173256A CN201910305697.6A CN201910305697A CN110173256A CN 110173256 A CN110173256 A CN 110173256A CN 201910305697 A CN201910305697 A CN 201910305697A CN 110173256 A CN110173256 A CN 110173256A
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- 238000005553 drilling Methods 0.000 title claims abstract description 156
- 239000011435 rock Substances 0.000 title claims abstract description 151
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000006835 compression Effects 0.000 claims abstract description 48
- 238000007906 compression Methods 0.000 claims abstract description 48
- 102000016938 Catalase Human genes 0.000 claims abstract description 23
- 108010053835 Catalase Proteins 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 35
- 239000004575 stone Substances 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 230000008014 freezing Effects 0.000 abstract description 6
- 238000007710 freezing Methods 0.000 abstract description 6
- 238000009412 basement excavation Methods 0.000 abstract description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
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- 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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
- E21B44/04—Automatic control of the tool feed in response to the torque of the drive ; Measuring drilling torque
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- 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
- E21B47/00—Survey of boreholes or wells
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Forestry; Mining
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Abstract
The present invention relates to rock excavation field, a kind of method of compressive strength of rock recognition methods, equipment and rotary drilling rock is disclosed, wherein the described method includes: S1, using rotary drilling device (100) rock drilling；S2, the friction energy that rotary drilling device (100) work done and rock surface are calculated by the running parameter of the rotary drilling device (100), according to the conservation of energy of the sum of the friction energy of the rotary drilling device (100) work done and catalase function and rock surface and the compression strength σ of the catalase function and the rockPressureRelational expression obtain the compression strength σ of the rockPressure.The present invention can calculate the compression strength for obtaining rock during rotary digging by the running parameter of rotary drilling device, then can carry out corresponding parameter adjustment according to the compression strength, the problems such as to avoid bit freezing.
Description
Technical field
The present invention relates to rock excavation fields, more particularly to compressive strength of rock recognition methods, equipment and rotary drilling
Into the method for rock.
Background technique
Because the rate of penetration of the larger rock of compressive strength of rock is far below the rate of penetration of general sandy soils, usually exist
1m/h or less.During rock drilling, need to provide enough torques by rotary drilling equipment (such as rotary drilling rig)
And oil cylinder plus-pressure just can be carried out broken rock drilling.For different Rock Species, required oil cylinder plus-pressure and power head
Torque output is different.When practical operation, operator can increase oil cylinder plus-pressure and power to increase rock breaking capacity
Head torque output.But this heavy duty drilling operating mode increases the abrasion that drill bit or cylinder bore, while also improving bit freezing and (referring to
Because compressive strength of rock is excessive, oil cylinder plus-pressure matched with power head torque it is improper cause drill chuck stubbornly refuse can broken rock drilling) hair
Raw probability.In order to reduce bit freezing occurrence probability, the compression strength of rock to be broken should be identified.
The mode of the compression strength of identification rock mainly detects rock by relevant speciality equipment in advance to carry out at present.This
The method that a little special equipments use has: Laser Scanning, Image Feature Matching method etc..These methods require to establish in advance
Key rock type database is matched so that it is determined that rock type by scanning rock and with the Rock Species in database
Type.In fact, the practical compression strength of rock still has very big difference even if the type of rock has been determined.Therefore, these professions
Equipment cannot all feed back specific compressive strength of rock value.It (such as is swept in addition, the prior art needs first to sample rock
Retouch) it could identify the type of rock, inefficiency.
Summary of the invention
The purpose of the invention is to overcome the compression strength of the existing technology that can not effectively identify rock to be broken
The problem of, a kind of compressive strength of rock recognition methods is provided, which can conveniently and effectively identify
The compression strength of rock.
To achieve the goals above, one aspect of the present invention provides a kind of compressive strength of rock recognition methods, wherein the side
Method includes:
S1, rotary drilling device rock drilling is used；
S2, the rotary drilling device work done and rock table are calculated by the running parameter of the rotary drilling device
The friction energy in face, according to the energy of the sum of the friction energy of the rotary drilling device work done and catalase function and rock surface
Measure the compression strength σ of conservation and the catalase function and the rockPressureRelational expression obtain the compression strength of the rock
σPressure。
Optionally, step S1 includes using the rotary drilling device rock drilling predetermined time t, the rotary drilling dress
The drill bit rounded including catalase face is set,Wherein, P is the rotary drilling
The plus-pressure exported into device, M are the output torque of the rotary drilling device, and h is the drill bit in the predetermined time t
The depth of rock drilling, n are the circle number that the drill bit rotates in the predetermined time t, and μ is the friction of the drill bit and rock
Coefficient, A are the cross-sectional area of the drill bit.
Optionally, step S1 includes using the rotary drilling device rock drilling predetermined time t, the rotary drilling dress
It sets and is bored including cylinder,Wherein, P is the plus-pressure of rotary drilling device output, M
For the output torque of the rotary drilling device, h is the depth that the cylinder bores the rock drilling in the predetermined time t, and n is institute
It states cylinder and bores the circle number rotated in the predetermined time t, r is the radius that the cylinder bores, and t is the wall thickness that the cylinder bores, and μ is described
Cylinder bores the coefficient of friction with rock.
The present invention also provides a kind of methods of rotary drilling rock, wherein the method is using rotary drilling device and wraps
It includes:
S1 ', the compression strength σ for obtaining rock to be dug by means of the present inventionPressure；
S2 ', according to the compression strength σPressureAdjust or keep the running parameter of the rotary drilling device (100).
The present invention also provides a kind of compressive strength of rock to identify equipment, wherein the compressive strength of rock identifies equipment packet
Rotary drilling device, detection device and control device are included, the detection device is used to detect the work of the rotary drilling device
Parameter, the control device are electrically connected with the detection device, calculate rotation with the running parameter detected by the detection device
Turn the friction energy of drilling apparatus work done and rock surface, thus broken according to the rotary drilling device work done and rock
The compression strength σ of the conservation of energy and the catalase function and the rock between broken function and the friction energy of rock surfacePressure
Relational expression obtain the compression strength σ of the rockPressure。
Optionally, the rotary drilling device includes the rounded drill bit in catalase face, and the control device is according to public affairs
FormulaCalculate the compression strength σPressure, wherein P is rotary drilling device output
Plus-pressure, M be the rotary drilling device output torque, h be drill bit rock drilling in predetermined time t depth
Degree, n are the circle number that the drill bit rotates in the predetermined time t, and μ is the coefficient of friction of the drill bit and rock, and A is described
The cross-sectional area of drill bit.
Optionally, the rotary drilling device includes that cylinder bores, and the control device is according to formulaCalculate the compression strength σPressure, wherein P is adding for rotary drilling device output
Pressure, M are the output torque of the rotary drilling device, and h is the depth that the cylinder bores the rock drilling in the predetermined time t
Degree, n are that the cylinder bores the circle number rotated in the predetermined time t, and r is the radius that the cylinder bores, and t is the wall that the cylinder bores
Thickness, μ are the coefficient of friction of cylinder brill and rock.
Optionally, the rotary drilling device includes drilling rod, power head and the master winch for transferring the drilling rod, described
Detection device includes first detection unit for detecting the decentralization length of the master winch and for detecting the power head
The second detection unit of rotating cycle.
Optionally, the first detection unit is encoder, and/or, the second detection unit includes for detecting
State the spline rotation of drilling rod close to switch and with described close to the counting element that is electrically connected of switch.
Optionally, the control device is also used to control the operation of the rotary drilling device.
Through the above technical solutions, can be calculated and be obtained by the running parameter of rotary drilling device during rotary digging
The compression strength of rock, so as in real time, effectively obtain the compression strength of rock, then can according to the compression strength into
Row corresponding parameter adjustment, the problems such as to avoid bit freezing.
Detailed description of the invention
Fig. 1 is the schematic diagram for illustrating a kind of embodiment of compressive strength of rock identification equipment of the invention.
Description of symbols
100- rotary drilling device, 110- drilling rod, 120- power head, 200- detection device, 210- first detection unit,
220- second detection unit, 300- control device.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, left and right " typically refers to
With reference to upper and lower, left and right shown in the drawings；" inside and outside " refers to the inside and outside of the profile relative to each component itself.Below with reference to
Attached drawing and in conjunction with embodiment come the present invention will be described in detail.
According to an aspect of the present invention, a kind of compressive strength of rock recognition methods is provided, wherein the described method includes:
S1,100 rock drilling of rotary drilling device is used；
S2,100 work done of rotary drilling device and rock are calculated by the running parameter of the rotary drilling device 100
The friction energy on surface, according to the friction energy of 100 work done of rotary drilling device and catalase function and rock surface it
The compression strength σ of the conservation of energy of sum and the catalase function and the rockPressureRelational expression calculate and obtain the rock
Compression strength σPressure。
Using compressive strength of rock recognition methods of the invention, during rotary digging, pass through the work of rotary drilling device 100
Make parameter and calculates the compression strength for obtaining rock, it, then can root so as to compression strength that is real-time, effectively obtaining rock
Corresponding parameter adjustment is carried out according to the compression strength, the problems such as to avoid bit freezing.
Wherein, 100 work done W of rotary drilling device includes torque and oil cylinder plus-pressure work done, catalase
Function W1=σPressure× V (volume that V is fragmented rock), the friction energy W2 of rock surface can be calculated according to calculus.According to rotation
Turn the specific structure of the drilling tool of drilling apparatus 100, catalase function, the friction energy of rock surface and rotary drilling device 100
Work done can be calculated or be characterized by drilling tool and running parameter (including operating parameter and structural parameters).
Specifically, a kind of embodiment according to the present invention, the rotary drilling device 100 includes catalase face in circle
The drill bit of shape, step S1 include using 100 rock drilling predetermined time of the rotary drilling device t, and P is rotary drilling dress
The plus-pressure of 100 outputs is set, M is the output torque of the rotary drilling device 100, and h is the drill bit in the predetermined time t
The depth of interior rock drilling, n are the circle number that rotates in the predetermined time t of the drill bit, and μ is rubbing for the drill bit and rock
Coefficient is wiped, A is the cross-sectional area of the drill bit.
Wherein, W=2 π M+Ph/n, W1=σPressureAh/n,In conjunction with conservation of energy W=W1+W2
It obtains
Selectable, another embodiment according to the present invention, the rotary drilling device 100 is bored including cylinder, step
S1 includes using 100 rock drilling predetermined time of the rotary drilling device t, and P is adding for the rotary drilling device 100 output
Pressure, M are the output torque of the rotary drilling device 100, and h is that the cylinder bores the rock drilling in the predetermined time t
Depth, n are that the cylinder bores the circle number rotated in the predetermined time t, and r is the radius that the cylinder bores, and t is the wall that the cylinder bores
Thickness, μ are the coefficient of friction of cylinder brill and rock.
Wherein, W=2 π M+Ph/n, W1=σPressure2 π trh/n, W2=2 π μ Pr can be obtained in conjunction with conservation of energy W=W1+W2
Out
The compression strength σ that compressive strength of rock recognition methods through the invention obtainsPressure, on the one hand can be used for judging rock
On the other hand the compression strength of stone can be used for assisting rotary digging rock.
According to another aspect of the present invention, a kind of method of rotary drilling rock is provided, wherein the method uses rotation
Drilling apparatus 100 simultaneously includes:
S1 ', compressive strength of rock recognition methods through the invention obtain the compression strength σ of rock to be dugPressure；
S2 ', according to the compression strength σPressureAdjust or keep the running parameter of the rotary drilling device 100.
Specifically, test drilling can be carried out using rotary drilling device 100 first, with compressive strength of rock through the invention
Recognition methods obtains the compression strength σ of rock to be dugPressure, it is possible thereby to according to the compression strength σ of rockPressureJudge current rotary drilling
Whether the running parameter (such as plus-pressure, output torque) into device 100 is suitable, and can adjust or keep as the case may be
The running parameter of the rotary drilling device 100.
According to another aspect of the present invention, a kind of compressive strength of rock identification equipment is provided, wherein the rock pressure resistance
Degree identification equipment includes rotary drilling device 100, detection device 200 and control device 300, and the detection device 200 is for examining
The running parameter of the rotary drilling device 100 is surveyed, the control device 300 is electrically connected with the detection device 200, to pass through
The running parameter that the detection device 200 detects calculates the friction energy of rotary drilling device 100 work done and rock surface, from
And according to the conservation of energy between 100 work done of rotary drilling device and catalase function and the friction energy of rock surface
The compression strength σ of calculating and the catalase function and the rockPressureRelational expression obtain the compression strength σ of the rockPressure。
Equipment is identified using compressive strength of rock of the invention, and during rotary digging, control device 300 can pass through rotation
The running parameter of drilling apparatus 100 calculates the compression strength for obtaining rock, so as to resistance to compression that is real-time, effectively obtaining rock
Intensity then can carry out corresponding parameter adjustment according to the compression strength, the problems such as to avoid bit freezing.
Wherein, 100 work done W of rotary drilling device includes torque and oil cylinder plus-pressure work done, catalase
Function W1=σ pressure × V (volume that V is fragmented rock), the friction energy W2 of rock surface can be calculated according to calculus.According to rotation
Turn the specific structure of the drilling tool of drilling apparatus 100, catalase function, the friction energy of rock surface and rotary drilling device 100
Work done can be calculated or be characterized by the structural parameters and running parameter of drilling tool.
A kind of embodiment according to the present invention, the rotary drilling device 100 include the rounded brill in catalase face
Head, wherein P is the plus-pressure of the rotary drilling device 100 output, and M is the output torque of the rotary drilling device 100, h
For the depth of drill bit rock drilling in predetermined time t, n is the circle number that the drill bit rotates in the predetermined time t,
μ is the coefficient of friction of the drill bit and rock, and A is the cross-sectional area of the drill bit.
Wherein, W=2 π M+Ph/n, W1=σPressureAh/n,It is described in conjunction with conservation of energy W=W1+W2
Control device 300 can be according to formulaCalculate the compression strength σ pressure.
Another embodiment according to the present invention, the rotary drilling device 100 are bored including cylinder, wherein P is the rotation
Turn the plus-pressure of the output of drilling apparatus 100, M is the output torque of the rotary drilling device 100, and h is that the cylinder is bored described
The depth of rock drilling in predetermined time t, n are that the cylinder bores the circle number rotated in the predetermined time t, and r is cylinder brill
Radius, t is the wall thickness that the cylinder bores, and μ is that the cylinder bores and the coefficient of friction of rock.
Wherein, W=2 π M+Ph/n, W1=σPressure2 π trh/n, W2=2 π μ Pr, in conjunction with conservation of energy W=W1+W2, the control
Device 300 processed can be according to formulaCalculate the compression strength σPressure。
Wherein, the depth h of rock drilling and the drill bit or cylinder brill in the predetermined time t are bored to obtain the cylinder
The circle number n rotated in the predetermined time t, detection device 200 can be set to form appropriate.For example, as shown in Figure 1,
In one embodiment of the invention, the rotary drilling device 100 is including drilling rod 110, power head 120 and for transferring
The master winch of drilling rod is stated, the detection device 200 includes the first detection unit for detecting the decentralization length of the master winch
210 and the rotating cycle for detecting the power head second detection unit 220.Thus, it is possible to pass through first detection unit
The result of 210 detections obtains the depth h of the rock drilling in the predetermined time t, and can pass through second detection unit 220
The result of detection obtains drill bit or cylinder bores the circle number n rotated in the predetermined time t.
More specifically, the first detection unit 210 can be encoder, and/or, the second detection unit 220 can
To include for detecting that the spline of the drilling rod rotates close to switch and with described close to the counting element that is electrically connected of switch.
On the one hand compressive strength of rock identification equipment of the invention can be used for judging the compression strength of rock, on the other hand
It can be used for assisting rotary digging rock.
It, can also be in addition, compressive strength of rock identification equipment of the invention can be only used for identification compressive strength of rock
It works continuously while identifying compressive strength of rock as rotary drilling equipment (such as can be rotary drilling rig).To carry out
It works continuously, selectable, the control device 300 can be also used for controlling the operation of the rotary drilling device 100.By
This, in the compression strength for recognizing rock firstσAfter pressure, rotary drilling device 100 can be adjusted by control device 300 in time
Running parameter, to realize continuous rotary digging operation.
Predetermined time t can according to need to be arranged by control device 300.For in the case where working continuously, control to be filled
It sets 300 and is arranged to compressive strength of rock identification equipment with test drilling mode and operating mode, under test drilling mode, control
Device 300 processed is by setting predetermined time t, according to the rotating cycle n of plus-pressure P, output torque M, drill bit or drilling pipe and rotation
The structural parameters for turning drilling apparatus 100 can obtain σPressure.Then, according to the σ of acquisitionPressure, the control rotary drilling dress of control device 300
It sets 100 holdings or adjustment operating parameter (P, M) carries out rotary drilling operation in the operational mode.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited thereto.At this
It, can be with various simple variants of the technical solution of the present invention are made in the range of the technology design of invention.The present invention includes each tool
Body technique feature is combined in any suitable manner.In order to avoid unnecessary repetition, the present invention is to various possible groups
No further explanation will be given for conjunction mode.But it should also be regarded as the disclosure of the present invention for these simple variants and combination, belongs to
Protection scope of the present invention.
Claims (10)
1. a kind of compressive strength of rock recognition methods, which is characterized in that the described method includes:
S1, rotary drilling device (100) rock drilling is used；
S2, calculated by the running parameter of the rotary drilling device (100) rotary drilling device (100) work done and
The friction energy of rock surface, according to rubbing for the rotary drilling device (100) work done and catalase function and rock surface
Wipe the conservation of energy of the sum of energy and the compression strength σ of the catalase function and the rockPressureRelational expression obtain the rock
The compression strength σ of stonePressure。
2. compressive strength of rock recognition methods according to claim 1, which is characterized in that step S1 includes using the rotation
Turn drilling apparatus (100) rock drilling predetermined time t, the rotary drilling device (100) includes that catalase face is rounded
Drill bit,Wherein, P is the plus-pressure of the rotary drilling device (100) output,
M is the output torque of the rotary drilling device (100), and h is the depth of drill bit rock drilling in the predetermined time t
Degree, n are the circle number that the drill bit rotates in the predetermined time t, and μ is the coefficient of friction of the drill bit and rock, and A is described
The cross-sectional area of drill bit.
3. compressive strength of rock recognition methods according to claim 1, which is characterized in that step S1 includes using the rotation
Turning drilling apparatus (100) rock drilling predetermined time t, the rotary drilling device (100) includes that cylinder bores,Wherein, P is the plus-pressure of the rotary drilling device (100) output, and M is described
The output torque of rotary drilling device (100), h are the depth that the cylinder bores the rock drilling in the predetermined time t, and n is institute
It states cylinder and bores the circle number rotated in the predetermined time t, r is the radius that the cylinder bores, and t is the wall thickness that the cylinder bores, and μ is described
Cylinder bores the coefficient of friction with rock.
4. a kind of method of rotary drilling rock, which is characterized in that the method is using rotary drilling device (100) and includes:
S1 ', the compression strength σ that rock to be dug is obtained by method described in any one of claim 1-3Pressure；
S2 ', according to the compression strength σPressureAdjust or keep the running parameter of the rotary drilling device (100).
5. a kind of compressive strength of rock identifies equipment, which is characterized in that the compressive strength of rock identification equipment includes rotary drilling
Into device (100), detection device (200) and control device (300), the detection device (200) is for detecting the rotary drilling
Into the running parameter of device (100), the control device (300) is electrically connected with the detection device (200), to pass through the inspection
The running parameter for surveying device (200) detection calculates the friction energy of rotary drilling device (100) work done and rock surface, thus
According to the conservation of energy between the rotary drilling device (100) work done and catalase function and the friction energy of rock surface
And the compression strength σ of the catalase function and the rockPressureRelational expression obtain the compression strength σ of the rockPressure。
6. compressive strength of rock according to claim 5 identifies equipment, which is characterized in that the rotary drilling device
It (100) include the rounded drill bit in catalase face, the control device (300) is according to formulaCalculate the compression strength σPressure, wherein P is the rotary drilling device (100)
The plus-pressure of output, M are the output torque of the rotary drilling device (100), and h is that the drill bit is crept into predetermined time t
The depth of rock, n are the circle number that the drill bit rotates in the predetermined time t, and μ is the friction system of the drill bit and rock
Number, A are the cross-sectional area of the drill bit.
7. compressive strength of rock according to claim 5 identifies equipment, which is characterized in that the rotary drilling device
It (100) include that cylinder bores, the control device (300) is according to formulaCalculate the resistance to compression
Intensity σPressure, wherein P is the plus-pressure of the rotary drilling device (100) output, and M is the defeated of the rotary drilling device (100)
Torque out, h are the depth that the cylinder bores the rock drilling in the predetermined time t, and n is that the cylinder is bored in the predetermined time t
The circle number of interior rotation, r are the radius that the cylinder bores, and t is the wall thickness that the cylinder bores, and μ bores the coefficient of friction with rock for the cylinder.
8. compressive strength of rock according to claim 6 or 7 identifies equipment, which is characterized in that the rotary drilling device
It (100) include drilling rod (110), power head (120) and the master winch for transferring the drilling rod, detection device (200) packet
Include the first detection unit (210) of the decentralization length for detecting the master winch and the rotation circle for detecting the power head
Several second detection units (220).
9. compressive strength of rock according to claim 8 identifies equipment, which is characterized in that the first detection unit
It (210) is encoder, and/or, the second detection unit (220) includes for detecting the close of the spline rotation of the drilling rod
Switch and the counting element being electrically connected with the close switch.
10. compressive strength of rock according to claim 5 identifies equipment, which is characterized in that the control device (300) is also
For controlling the operation of the rotary drilling device (100).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112855113A (en) * | 2021-01-28 | 2021-05-28 | 北京三一智造科技有限公司 | Automatic drilling method and controller of rotary drilling rig, storage medium and electronic equipment |
| CN113032944A (en) * | 2019-12-24 | 2021-06-25 | 中联重科股份有限公司 | Stuck drill database construction method, stuck drill prevention matching method and system and rotary drilling rig |
| CN113090248A (en) * | 2019-12-23 | 2021-07-09 | 中联重科股份有限公司 | Control method and device of rotary drilling rig and rotary drilling rig |
| CN113338892A (en) * | 2021-06-01 | 2021-09-03 | 北京市政建设集团有限责任公司 | Intelligent shallow-buried underground excavation performance monitoring method and device |
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| CN113090248A (en) * | 2019-12-23 | 2021-07-09 | 中联重科股份有限公司 | Control method and device of rotary drilling rig and rotary drilling rig |
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| CN113032944B (en) * | 2019-12-24 | 2023-03-14 | 中联重科股份有限公司 | Stuck drill database construction method, stuck drill prevention matching method and system and rotary drilling rig |
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| CN113338892A (en) * | 2021-06-01 | 2021-09-03 | 北京市政建设集团有限责任公司 | Intelligent shallow-buried underground excavation performance monitoring method and device |
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