CN111980581A - Multifunctional full-automatic drilling machine - Google Patents
Multifunctional full-automatic drilling machine Download PDFInfo
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- CN111980581A CN111980581A CN202010931551.5A CN202010931551A CN111980581A CN 111980581 A CN111980581 A CN 111980581A CN 202010931551 A CN202010931551 A CN 202010931551A CN 111980581 A CN111980581 A CN 111980581A
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- control system
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- power spring
- hydraulic cylinder
- drilling
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- 238000005553 drilling Methods 0.000 title claims abstract description 118
- 230000007246 mechanism Effects 0.000 claims abstract description 234
- 230000006835 compression Effects 0.000 claims abstract description 11
- 238000007906 compression Methods 0.000 claims abstract description 11
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000000087 stabilizing effect Effects 0.000 claims description 11
- 230000006698 induction Effects 0.000 claims description 7
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000001125 extrusion Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 238000004080 punching Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000005422 blasting Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000010438 granite Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
-
- 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
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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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
- E21B15/045—Hydraulic, pneumatic or electric circuits for their positioning
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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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
- E21B19/086—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods with a fluid-actuated cylinder
-
- 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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
- E21B19/089—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods with a spring or an additional weight
-
- 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
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary 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
- 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
-
- 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
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/023—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting the mast being foldable or telescopically retractable
-
- 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
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/024—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting having means for adapting to inclined terrain; having means for stabilizing the vehicle while drilling
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a multifunctional full-automatic drilling machine, which comprises a control system and a folding lifting mechanism, wherein a rotating shaft is arranged on the folding lifting mechanism, a linear feeding device is arranged on the rotating shaft, the linear feeding device is provided with an automatic propelling mechanism, a mounting seat and a power spring of the automatic propelling mechanism are sleeved on a screw rod, the power spring is positioned between a screw nut and the mounting seat, at least one drilling mechanism is arranged on the mounting seat, and a screw rod driving mechanism is used for driving the screw nut to drive the drilling mechanism to move forwards and backwards through the power spring; the automatic propelling mechanism is used for detecting the compression amount of the power spring, sending a signal to the control system when the power spring is compressed to a preset stop position, controlling the screw rod driving mechanism to stop acting, and driving the drilling mechanism to move forwards through the elasticity of the power spring; and if the power spring rebounds to the preset starting position, a signal is sent to the control system to control the starting action of the screw rod driving mechanism. The invention has simple structure, wide application and more accurate drilling.
Description
Technical Field
The invention relates to the technical field of drilling machinery, in particular to a multifunctional full-automatic drilling machine.
Background
Along with the large-scale construction of national infrastructure, the construction amount of underground spaces such as subway tunnels is increasingly large, the current construction process is still relatively laggard, and general tunnel engineering and excavation engineering adopt the form of blasting in the past in the tunneling process, have both destroyed original geological structure, and the potential safety hazard is very big after the blasting, and not environmental protection, and construction vibrations influence is relatively wide, consequently adopts the rig to tunnel, but current rig exists the following problem:
1) the human-shaped drilling machine has the disadvantages of low drilling speed, high labor intensity and high labor cost.
2) The ordinary type rig can't adjust operating angle in operation process, can't satisfy the demand that all-round was punched, and the hole that drills can't cross drill and form faces the blank face. In the drilling process, the motor runs at a high speed, so that the whole drilling machine vibrates to generate deviation, the drilling machine head is easy to deviate, positioning and drilling cannot be carried out, and the drilling machine head is damaged. And because the construction site environment is complicated, most of the ground is uneven, the drilling machine cannot keep stable on the ground, and the positioning of the drilling position is influenced.
3) The rotary rolling type drilling machine can only aim at loose rocks, and the drill bit is hard like granite and cannot move.
Disclosure of Invention
The invention aims to overcome the prior art and provides a multifunctional full-automatic drilling machine which is simple in structure, wide in application range and high in efficiency.
The technical problem to be solved by the invention can be realized by the following technical scheme:
a multifunctional full-automatic drilling machine comprises a travelling mechanism and a control system, wherein a chassis is arranged on the travelling mechanism, a folding lifting mechanism is arranged on the chassis, at least two rotating shafts for adjusting the positions of drilling holes are arranged at the free end of the folding lifting mechanism, a rotary driving mechanism for driving the rotating shafts to rotate is arranged on each rotating shaft, a linear feeding device is arranged on each rotating shaft and comprises a lead screw, a lead screw nut, a lead screw driving mechanism and an automatic propelling mechanism, the automatic propelling mechanism comprises a mounting seat, a power spring and a sensing device, the mounting seat and the power spring are sleeved on the lead screw, the lead screw nut and the power spring are arranged in the mounting seat, the power spring is positioned between the lead screw nut and the mounting seat, and at least one drilling mechanism is arranged on the mounting seat, the screw rod driving mechanism is used for driving the screw rod nut to extrude the power spring and driving the drilling mechanism to move forwards and backwards through the power spring; the screw rod driving mechanism and the sensing device are respectively connected with the control system, the automatic propelling mechanism is used for monitoring the compression amount of the power spring through the sensing device, sending a signal to the control system if the compression amount of the power spring reaches a preset stop position, controlling the screw rod driving mechanism to stop acting through the control system, and driving the drilling mechanism to move forwards through the elasticity of the power spring; and if the power spring rebounds to the preset starting position, a signal is sent to a control system, and the control system controls the starting action of the screw rod driving mechanism.
The induction device comprises an on-off switch and a linkage rod, one end of the linkage rod is fixedly connected with the screw rod nut, the other end of the linkage rod extends out of the mounting seat, the on-off switch is arranged on the mounting seat, and the linkage rod is used for contacting with the on-off switch when the compression amount of the power spring reaches a preset starting position and a preset stopping position to start or stop the on-off switch; the on-off switch is connected with the control system, the on-off switch is used for sending signals to the control system, and the control system is used for receiving the signals of the on-off switch and controlling the screw rod driving mechanism to start or stop according to the signals.
Still be equipped with the first stop device who is used for controlling drilling depth on the sharp feeding device, first stop device includes first limit switch and first gag lever post, first gag lever post is followed the length direction of lead screw sets up, first gag lever post passes through second sliding sleeve slidable mounting on the mount pad, first limit switch with control system connects, control system is used for according to the signal of the first limit switch who receives, controls lead screw actuating mechanism starts or stops the action.
The axis of the drill bit of the drilling mechanism intersects with the center line of the rotating shaft to form an included angle.
The rotating shaft and the linear feeding device are provided with at least two radius driving mechanisms, each radius driving mechanism is respectively connected with the control system, the control system is used for controlling each radius driving mechanism to act, and the at least two radius driving mechanisms are used for adjusting the distance and the included angle between the linear feeding device and the rotating shaft.
The synchronous telescopic rod is further arranged between the rotating shaft and the linear feeding device, and a locking screw rod is arranged on the synchronous telescopic rod and used for locking the synchronous telescopic rod.
The telescopic stabilizing device comprises a top disc and a top disc driving mechanism, the top disc driving mechanism is installed on the folding lifting mechanism, the top disc driving mechanism is connected with the control system, and the top disc driving mechanism is controlled to act through the control system.
The free end of the folding lifting mechanism is further provided with a telescopic support frame used for abutting against a working face, the telescopic support frame comprises a support driving mechanism, at least two support rods and a cross beam, the support rods are hinged to the cross beam respectively, the fixed end of the support driving mechanism is installed on the folding lifting mechanism, the working end of the support driving mechanism is connected with the cross beam, the support driving mechanism is connected with a control system, and the control system is used for controlling the support driving mechanism to act.
The folding lifting mechanism comprises a first hydraulic cylinder, a second hydraulic cylinder, a first folding arm, a second folding arm, a lifting plate and a lifting driving mechanism, wherein the fixed end of the first hydraulic cylinder is hinged to the chassis, and a piston rod of the first hydraulic cylinder is connected with the first folding arm; the first folding arm is provided with a sliding groove, the lifting plate is arranged on the sliding groove of the first folding arm, the lifting driving mechanism is connected with the control system and controls the lifting driving mechanism to act through the control system, and the lifting driving mechanism is used for driving the lifting plate to slide up and down along the first folding arm; the fixed end of the second hydraulic cylinder is hinged to the lifting plate, a piston rod of the second hydraulic cylinder is connected with a second folding arm, and two sides of the second folding arm are respectively connected with the rotating shaft through first sliding sleeves; the first hydraulic cylinder and the second hydraulic cylinder are respectively connected with a hydraulic system, the hydraulic system is connected with a control system, and the control system is used for respectively controlling the first hydraulic cylinder and the second hydraulic cylinder to act through the hydraulic system.
The first folding arm is composed of a first telescopic cylinder and a second telescopic cylinder, the first telescopic cylinder is in sliding fit with the second telescopic cylinder, a piston rod of the first hydraulic cylinder is connected with the first telescopic cylinder, a third hydraulic cylinder is arranged on the first telescopic cylinder, a piston rod of the third hydraulic cylinder is connected with the second telescopic cylinder, the third hydraulic cylinder is connected with the control system through the hydraulic system, the control system is used for controlling the third hydraulic cylinder to act, and the third hydraulic cylinder is used for driving the second telescopic cylinder to move up and down along the first telescopic cylinder; the second telescopic cylinder is provided with a sliding groove and is in sliding fit with the lifting plate.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
the folding drilling machine is simple in structure, the height of the drilling mechanism can be adjusted through the folding lifting mechanism, the occupied space of the whole drilling machine is reduced after the folding drilling machine is folded, and the folding drilling machine is convenient to transport. Install linear feed device in the pivot, this linear feed device installs an at least drilling mechanism through the mount pad, drives drilling mechanism on the linear feed device rotatory through each pivot, can adjust drilling mechanism's angle wantonly according to the demand, has satisfied the demand of all-round punching, and has realized alternately punching to be convenient for form and face the free face. When a drill bit of the drilling mechanism encounters resistance, the screw rod nut compresses the power spring, the sensing device detects the compression amount of the power spring, and if the preset stop position is reached, the screw rod driving mechanism is stopped through the control system, and the elastic force of the power spring is utilized to drive the drilling mechanism to advance. And if the preset starting position is reached, starting the screw rod driving mechanism through the control system. The automatic screw rod driving mechanism of the linear feeding device is controlled to start and stop through the automatic propelling mechanism, so that the automatic tunneling can be carried out on rocks made of different materials, a drill bit of a drilling mechanism is protected, the service life of the drill bit is prolonged, and the equipment cost is reduced. Therefore, the invention solves the defect that the drilling can not be carried out in all directions, lightens the labor intensity, reduces the labor cost, reduces the potential safety hazard, is environment-friendly and improves the working efficiency. And is suitable for drilling and mining various special-shaped working faces such as round, arched, square and the like in various non-excavation projects and tunnel projects.
Drawings
FIG. 1 is a schematic structural view of embodiment 1;
FIG. 2 is a schematic structural view of the expanded state of embodiment 1;
FIG. 3 is an enlarged view taken at A in FIG. 2;
FIG. 4 is a schematic structural view of the linear feeding device in FIG. 2 provided with a first limiting device;
FIG. 5 is a schematic view showing the operation of the radius driving mechanism in embodiment 1;
FIG. 6 is an enlarged view of FIG. 5 at B;
FIG. 7 is a schematic structural view of the telescopic supporting frame of FIG. 5;
FIG. 8 is a schematic structural view of installing two drilling mechanisms according to embodiment 1;
FIG. 9 is a schematic structural view of embodiment 2;
fig. 10 is a schematic structural diagram of embodiment 3.
In the figure: 1 is a walking mechanism, 2 is a drilling mechanism, 2-1 is a drill driving motor, 2-2 is a speed reducer, 2-3 is a drill, 3 is a hydraulic system, 4 is a control system, 5 is a chassis, 6 is a telescopic stabilizing foot, 7 is a folding lifting mechanism, 7-1 is a first hydraulic cylinder, 7-2 is a second hydraulic cylinder, 7-3 is a first folding arm, 7-3-1 is a first telescopic cylinder, 7-3-2 is a second telescopic cylinder, 7-4 is a second folding arm, 7-5 is a lifting plate, 7-6 is a lifting driving mechanism, 8 is a supporting table, 9 is a rotating shaft, 10 is a rotary driving mechanism, 10-1 is a second rotary support, 10-2 is a second hydraulic motor, 11 is a linear feeding device, 11-1 is a screw rod, 11-2 is a screw rod nut, 11-3 is a guide rail, 11-4 is a bracket, 12 is an automatic propelling mechanism, 12-1 is an on-off switch, 12-2 is a linkage rod, 12-3 is a power spring, 12-4 is a mounting seat, 13 is a first limiting device, 13-1 is a first limiting switch, 13-2 is a first limiting rod, 14 is a second limiting device, 14-1 is a stop block, 14-2 is a limiting block, 15 is a third limiting device, 16 is a telescopic support frame, 16-1 is a bracket driving mechanism, 16-2 is a support rod, 16-3 is a beam, 16-4 is a bolt, 17 is a telescopic stabilizing device, 18 is a radius driving mechanism, 19 is a synchronous telescopic rod, and 19-1 is a handle.
Detailed Description
Detailed description of the preferred embodiment 1
Referring to fig. 1 to 8, the multifunctional full-automatic drilling machine includes a traveling mechanism 1, at least two drilling mechanisms 2, a hydraulic system 3 and a control system 4, where the traveling mechanism 1 is a vehicle-mounted self-propelled mechanism or a crawler self-propelled mechanism, and in this embodiment: the travelling mechanism 1 is a crawler self-travelling mechanism, and ensures that the drilling machine can be suitable for various working environments. The drilling machine is characterized in that a chassis 5 is arranged on the traveling mechanism 1, the chassis 5 is fixedly installed on the traveling mechanism 1, telescopic stabilizing feet 6 are arranged at the lower end of the chassis 5, the stabilizing feet can be tightened up when the drilling machine travels, the telescopic stabilizing feet 6 adopt seventh hydraulic cylinders, and the seventh hydraulic cylinders are connected with the hydraulic system 3. Be equipped with folding elevating system 7 and brace table 8 on the chassis 5, in this embodiment: the folding lifting mechanism 7 comprises a first hydraulic cylinder 7-1, a second hydraulic cylinder 7-2, a first folding arm 7-3, a second folding arm 7-4, a lifting plate 7-5 and a lifting driving mechanism 7-6, connecting lugs are arranged at the middle parts of the first folding arm 7-3 and the second folding arm 7-4, the first hydraulic cylinder 7-1 is obliquely arranged on the chassis 5, the fixed end of the first hydraulic cylinder 7-1 is hinged to the chassis 5 through a connecting seat, and a piston rod of the first hydraulic cylinder 7-1 is fixedly connected with the connecting lugs of the first folding arm 7-3. The first folding arm 7-3 is provided with a sliding groove, the inner side wall of the sliding groove is provided with sliding teeth, the lifting plate 7-5 is arranged on the sliding groove, the lifting driving mechanism 7-6 is connected with the control system and controls the lifting mechanism to act through the control system, and the lifting driving mechanism 7-6 is used for driving the lifting plate 7-5 to slide up and down along the sliding groove of the first folding arm 7-3. In this particular embodiment: the lifting driving mechanism 7-6 comprises a first hydraulic motor, a first slewing bearing, a supporting seat and a transmission shaft, the first slewing bearing is fixedly mounted on the lifting plate 7-5 through the supporting seat, the transmission shaft is arranged in the supporting seat, the upper end of the transmission shaft is meshed with the inner ring of the first slewing bearing, a gear is arranged at the lower end of the transmission shaft, the gear is meshed with a sliding tooth of the sliding groove, the first hydraulic motor is meshed with the outer ring of the first slewing bearing, the first hydraulic motor is connected with the control system, the first hydraulic motor is controlled to act through the control system, and the first hydraulic motor is used for driving the first slewing bearing to drive the lifting plate 7-5 to move up and down along the first folding arm 7-3. The fixed end of the second hydraulic cylinder 7-2 is hinged to the lifting plate 7-5 through a connecting seat, and a piston rod of the second hydraulic cylinder 7-2 is fixedly connected with a connecting lug of the second folding arm 7-4. The first hydraulic cylinder 7-1 and the second hydraulic cylinder 7-2 are respectively connected with the hydraulic system 3, and the control system 4 controls the first hydraulic cylinder 7-1 and the second hydraulic cylinder 7-2 to move through the hydraulic system 3, so that the folding or the extension of the first folding arm 7-3 and the second folding arm 7-4 is realized. The folding lifting mechanism 7 is simple in structure, the two folding arms are folded through the two hydraulic cylinders, the second hydraulic cylinder 7-2 is arranged on the lifting plate 7-5, the height of the second folding arm 7-4 can be adjusted through adjusting the position of the lifting plate, and the height adjustable range of the drilling mechanism 2 is expanded. The first folding arm 7-3 is in an inclined state after being folded, the upper end face of the support table 8 is an inclined face and is used for supporting the folding lifting mechanism 7 during folding, and the support table 8 prevents the folding lifting mechanism 7 from shaking during traveling.
The free end of the folding lifting mechanism 7 is provided with at least two rotating shafts 9 for adjusting the drilling position, in this embodiment, the free end of the folding lifting mechanism 7 is provided with two rotating shafts 9 for adjusting the drilling position, the free end of the folding lifting mechanism 7 is located at the second folding arm 7-4, the second folding arm 7-4 is transversely arranged, two sides of the second folding arm 7-4 are respectively connected with the two rotating shafts 9 through first sliding sleeves, and the two rotating shafts 9 are respectively perpendicular to the second folding arm 7-4 to form an H-shaped structure. Each rotating shaft 9 is provided with a rotary driving mechanism 10 for driving the rotating shaft to rotate, the rotary driving mechanism 10 comprises a second slewing bearing 10-1 and a second hydraulic motor 10-2, the second slewing bearing 10-1 is sleeved at the end part of the rotating shaft 9, the rotating shaft 9 is provided with a rotating tooth meshed with an inner gear ring of the second slewing bearing 10-1, the second hydraulic motor 10-2 is meshed with an outer gear ring of the second slewing bearing 10-1, the second hydraulic motor 10-2 is connected with a hydraulic system 3, and the second hydraulic motor 10-2 is used for driving the second slewing bearing 10-1 and the rotating shaft 9 to rotate.
The two rotating shafts 9 are respectively provided with a linear feeding device 11, each linear feeding device 11 comprises a support 11-4, a screw rod 11-1, a screw rod nut 11-2, a guide rail 11-3 and a screw rod driving mechanism, the screw rod 11-1 is a ball screw rod, the screw rod 11-1 and the guide rail 11-3 are arranged on the support 11-4 in parallel, the linear feeding device 11 is provided with an automatic propelling mechanism 12, the automatic propelling mechanism 12 comprises a mounting seat 12-4, a power spring 12-3 and an induction device, and the mounting seat 12-4 is at least provided with a front baffle and a rear baffle. The mounting seat 12-4 and the power spring 12-3 are sleeved on the screw rod 11-1, the screw rod nut 11-2 and the power spring 12-3 are arranged in the mounting seat 12-4, the power spring 12-3 is located between the screw rod nut 11-2 and the mounting seat 12-4, one side of the mounting seat 12-4 is provided with a guide block in sliding fit with the guide rail 11-3, the screw rod driving mechanism is connected with one end of the screw rod 11-1, the screw rod driving mechanism is connected with the control system 4, and the screw rod driving mechanism is used for driving the screw rod nut 11-2 to extrude the power spring 12-3 and driving the mounting seat 12-4 to move forwards and backwards through the power spring 12-3. In this embodiment, the screw rod driving mechanism adopts a third hydraulic motor, the third hydraulic motor is connected with a hydraulic system, and the control system 4 controls the third hydraulic motor to act through the hydraulic system 3. The induction device is connected with the control system, the automatic propelling mechanism 12 is used for detecting the compression amount of the power spring 12-3 through the induction device, sending a signal to the control system 4 if the compression amount of the power spring reaches a preset stop position, controlling the screw rod driving mechanism to stop acting through the control system 4, and driving the drilling mechanism to move forwards through the elasticity of the power spring 12-3; and if the power spring 12-3 rebounds to the preset starting position, sending a signal to a control system, and controlling the starting action of the screw rod driving mechanism through the control system.
The sensing device comprises an on-off switch 12-1 and a linkage rod 12-2, one end of the linkage rod 12-2 is fixedly connected with the lead screw nut 11-2, the other end of the linkage rod 12-2 extends out of the mounting seat 12-4, and the on-off switch 12-1 is arranged on one outer side wall of the mounting seat 12-4. The on-off switch 12-1 is a normally open normally closed switch, a contactor is arranged on the normally open normally closed switch, the contactor is composed of two contacts perpendicular to each other, the linkage rod 12-2 is in contact with any one contact of the contactor to start or turn off the normally open normally closed switch, in the specific embodiment: the normally open and normally closed switch adopts a CWLCA32-42/M double-loop type limit switch. When the drilling mechanism meets resistance, the feed screw nut compresses the power spring 12-3, and the linkage rod moves along with the feed screw nut. The linkage rod 12-2 is used for starting the on-off switch when the compression amount of the power spring 12-3 reaches a preset stop position and the linkage rod 12-2 is contacted with a contact of the on-off switch 12-1; when the power spring 12-3 rebounds to a preset starting position, the linkage rod 12-2 is in contact with the other contact of the on-off switch 12-1, and the on-off switch is turned off; the on-off switch 12-1 is connected with the control system 4, and the on-off switch 12-1 is used for sending signals to the control system 4. The control system 4 is used for receiving the signal of the on-off switch 12-1 and controlling the screw rod driving mechanism to start or stop according to the signal. The induction device can be replaced by two sensors which are respectively connected with a control system, and the two sensors are used for starting or stopping the screw rod driving mechanism through the control system when the power spring stretching amount reaches a preset starting position and a preset stopping position.
The mounting seat 12-4 is provided with at least one drilling mechanism 2, the drilling mechanism 2 adopts a water mill drilling mechanism, the water mill drilling mechanism comprises a drill bit driving motor 2-1, a speed reducer 2-2 and a drill bit 2-3, the drill bit 2-3 adopts a drill cylinder, and the drill bit driving motor 2-1 is connected with a control system 4. In this particular embodiment: two drilling mechanisms 2 are arranged on the mounting seat 12-4, and the two drilling mechanisms 2 are respectively positioned at the upper side and the lower side of the mounting seat 12-4. The two drilling mechanisms 2 are arranged on the linear feeding device 11 through the mounting seats 12-4, and one linear feeding device 11 drives the two drilling mechanisms to act simultaneously, so that the drilling efficiency is improved.
The utility model discloses a straight line feed device, including pivot 9, straight line feed device 11, radius actuating mechanism 18, other end fixed mounting is on the support 11-4 of straight line feed device 11, pivot 9 with be equipped with two at least radius actuating mechanism 18 between the straight line feed device 11, radius actuating mechanism is located respectively the preceding, the back both ends of pivot, radius actuating mechanism 18 one end fixed mounting is in pivot 9, other end fixed mounting on straight line feed device 11, radius actuating mechanism 18 can adopt cylinder and pneumatic cylinder, each radius actuating mechanism respectively with control system links to each other, control system is used for controlling each radius actuating mechanism action, two piece at least radius actuating mechanism are used for adjusting straight line feed device 11 with distance and contained angle between the pivot. In this embodiment, two radius driving mechanisms 18 are disposed between the rotating shaft 9 and the linear feeding device 11, the two radius driving mechanisms are respectively located at the front end and the rear end of the rotating shaft, the radius driving mechanism 18 is a sixth hydraulic cylinder, and the sixth hydraulic cylinder is connected to the hydraulic system. The distance between the linear feeding device 11 and the rotating shaft can adjust the radius range of the drill hole of the drilling mechanism, so that the requirements of the drill holes with different diameters can be met. The included angle is formed by adjusting different driving forces of the radius driving mechanisms at the front end and the rear end of the rotating shaft to enable the linear feeding device 11 to be obliquely arranged, so that the axis of a drill bit of the drilling mechanism 2 is intersected with the center line of the rotating shaft 9 to form the included angle. The drill bit is arranged in an inclined mode through the included angle, and the drill bit can process inclined drill holes under the driving of the linear feeding device 11, so that the drilling mechanism can dig forwards and deeply.
Further, a first limiting device 13 used for controlling the drilling depth is further arranged on the linear feeding device 11, the first limiting device 13 is arranged on the mounting base 12-4, the first limiting device 13 comprises a first limiting switch 13-1 and a first limiting rod 13-2, the first limiting rod 13-2 is slidably mounted on the mounting base 12-4 through a second sliding sleeve, the first limiting rod 13-2 is arranged along the length direction of the lead screw 11-1, the first limiting switch 13-1 is connected with the control system 4, and the control system is used for controlling the lead screw driving mechanism to start or stop according to a received signal of the first limiting switch. When the first limit switch 13-1 contacts with the first limit rod 13-2 to start the first limit device 13, the first limit switch 13-1 sends a signal, in the embodiment, the first limit switch 13-1 is a travel switch, and the depth of each drill hole can be guaranteed to be the same through the first limit device, so that the flatness of the whole drilling section is guaranteed.
Further, a second limiting device 14 and a third limiting device 15 for limiting the drilling mechanism 2 are respectively arranged at the front end and the rear end of the linear feeding device 11. The second limiting device 14 includes a stopper 14-1, a limiting block 14-2 and a second limiting switch, in this embodiment, the stopper 14-1 is disposed at the front end of the bracket 11-4 of the linear feeding device 11, and the limiting block 14-2 is fixedly disposed on the first limiting rod 13-2 of the first limiting device 13. Since the limit block 14-2 is fixedly arranged on the first limit rod 13-2, the first limit switch 13-1 of the first limit device can be utilized, and the second limit switch is omitted. When the limiting block 14-2 contacts the stop block 14-1, the limiting block 14-2 and the first limiting rod 13-2 stop moving, the first limiting switch 13-1 moves forwards continuously along with the mounting seat 12-4, the first limiting rod 13-2 contacts the first limiting switch 13-1 to start the second limiting device, the control system 4 controls the screw rod driving mechanism to stop moving, the drilling mechanism is prevented from moving forwards continuously, the drilling mechanism is protected, the first limiting device and the second limiting device realize limiting control by using one limiting switch, the setting of the limiting switch is reduced, and the cost is reduced.
The third limiting device 15 comprises a third limiting switch, the third limiting switch is arranged at the rear end of the support 11-4 of the linear feeding device 11, the third limiting switch is connected with the control system, the third limiting device 15 is used for being in contact with the mounting seat 12-4 through the third limiting switch to start the third limiting device, and the control system is used for controlling the screw rod driving mechanism to start or stop according to a received signal of the third limiting switch. The drilling mechanism on the mounting seat is prevented from continuously retreating, and the drilling mechanism is protected. In addition, the structure utilizes the mounting seat 12-4 to be in contact with the third limit switch, the arrangement of a limit block is omitted, the structure is simplified, and the cost is reduced.
Furthermore, the free end of the folding lifting mechanism 7 is further provided with a telescopic support frame 16 used for abutting against a working surface, the telescopic support frame 16 comprises a support driving mechanism 16-1, two support rods 16-2 and a cross beam 16-3 used for connecting the two support rods, the two support rods 16-2 are respectively provided with a first strip-shaped adjusting hole, the two sides of the cross beam 16-3 are respectively provided with a second strip-shaped adjusting hole, and the two support rods 16-2 are respectively hinged to the two ends of the cross beam 16-3 through the matching of bolts 16-4 and the first strip-shaped adjusting hole and the second strip-shaped adjusting hole. The fixed end of the support driving mechanism 16-1 is installed on the second folding arm 7-4 of the folding lifting mechanism 7, the working end of the support driving mechanism 16-1 is fixedly connected with the cross beam 16-3, the support driving mechanism 16-1 is connected with the control system 4, and the support driving mechanism 16-1 is driven to act through the control system 4. The support driving mechanism 16-1 may be an air cylinder or a hydraulic cylinder, in this embodiment, the support driving mechanism 16-1 employs a fourth hydraulic cylinder, the fourth hydraulic cylinder is connected to the hydraulic system, and the control system controls the fourth hydraulic cylinder to operate through the hydraulic system. This telescopic support frame 16 supports tight working face, has prevented that drilling mechanism whole rig from rocking when punching, makes whole rig more definite, has avoided drilling mechanism's drill bit skew to set for the position simultaneously, has improved the drilling precision. The two support rods 16-2 are hinged to the cross beam 16-3 through the first strip-shaped adjusting holes and the second strip-shaped adjusting holes, so that when the work surface is uneven, the length of the two support rods 16-2 can be adjusted, and the two support rods 16-2 can be guaranteed to be pressed on the uneven work surface. The two support rods 16-2 are sleeved with anti-slip rubber heads, and the support rods 16-2 can be prevented from slipping when in contact with a working surface through the anti-slip rubber heads. Furthermore, the rotating shaft 9 is of a hollow structure, and the two support rods 16-2 of the telescopic support frame 16 are arranged in the hollow structure of the rotating shaft 9, so that the occupied space of the whole drilling machine is reduced, and the drilling machine is convenient to transport.
Further, the telescopic stabilizing device 17 is used for abutting against the top of the drilled hole, the telescopic stabilizing device 17 comprises a top disc and a top disc driving mechanism, the top disc is installed on the top disc driving mechanism, the top disc driving mechanism is arranged on the folding lifting mechanism, the top disc driving mechanism is connected with a control system, and the top disc driving mechanism is controlled to act through the control system. The top disk driving mechanism can adopt an air cylinder or a hydraulic cylinder, and in the specific embodiment: the top disc driving mechanism adopts a fifth hydraulic cylinder, the first folding arm of the folding lifting mechanism is of a hollow structure, and the fifth hydraulic cylinder is fixedly installed in the first folding arm of the folding lifting mechanism, so that the reasonable layout is realized, and the size of the drilling machine is reduced. The telescopic stabilizing device 17 is supported on the top surface of the tunnel, so that the shaking of the whole drilling machine caused by the working of the drilling mechanism is reduced, and the whole drilling machine is stabilized. The top disc is provided with friction teeth, and friction force between the top disc and the top of the tunnel is increased through the friction teeth, so that the telescopic stabilizing device can be in better contact with the top surface of the tunnel, and the whole drilling machine is stabilized.
The liquid system 3 comprises an oil tank, a hydraulic pump, a plurality of electromagnetic valves and a cooler, the cooler is used for cooling hydraulic oil, the hydraulic oil in the hydraulic system needs to be cooled by the cooler before flowing back to the oil tank, so that the system breakdown caused by the overhigh temperature of the hydraulic oil is prevented, and the normal working operation of the drilling machine is ensured. A plurality of electromagnetic valves of the hydraulic system 3 are respectively connected with the control system 4, and the control system 4 controls the hydraulic system through the electromagnetic valves. The rotary driving mechanism, the lifting driving mechanism and the screw rod driving mechanism all adopt hydraulic motors, so that the whole drilling machine adopts hydraulic control, the arrangement of an electric control device is reduced, a control system is simpler, and the cost is reduced.
The working principle of the invention is as follows:
firstly, the height of the two drilling mechanisms 2 is adjusted by unfolding the folding lifting mechanism 7, the drilling mechanisms 2 are driven by the rotating shafts 9 to rotate and adjust the drilling positions of the drilling mechanisms 2, then the drilling mechanisms 2 are driven by the lead screw driving mechanism of the linear feeding device 11 to advance to send the drill bit to the working position, and finally the drill bit is driven to work by starting the drill bit driving motor of the drilling mechanisms 2. When the automatic drilling machine works, the drilling mechanism 2 is abutted to a working face by using the automatic propelling mechanism, the drilling mechanism 2 and the mounting seat 12-4 stop moving, the screw nut 11-2 extrudes the power spring 12-3, when the screw nut 11-2 drives the linkage rod 12-2 to move to a preset stop position, the linkage rod 12-2 is contacted with the on-off switch 12-1, the on-off switch 12-1 is started, a signal is transmitted to the control system 4, and the control system 4 controls the screw driving mechanism to stop acting through the hydraulic system 3. The elastic force of the power spring 12-3 is used for driving the drilling mechanism to move forwards. When the power spring 12-3 rebounds to drive the screw rod nut 11-2 and the linkage rod 12-2 to move back to the preset starting position, the on-off switch 12-1 is closed, a signal is sent to the control system, and the control system 4 starts the screw rod driving mechanism through the hydraulic system 3 so as to drive the drilling mechanism to continue to advance. In the working process of the drilling mechanism, the expansion amount of the power spring is continuously detected through the sensing device, so that the screw rod driving mechanism is controlled to start or stop, the automatic propulsion of the drilling mechanism 2 is realized by utilizing the elasticity of the power spring, the drill bit of the drilling mechanism 2 is protected, and the service life of the drill bit is prolonged.
When the drilling mechanism 2 tunnels to a set depth, the first limiting rod 13-2 is in contact with the working surface and stops moving; and the screw rod driving mechanism still drives the mounting seat and the first limit switch 13-1 to move forwards, when the first limit rod 13-2 is contacted with the first limit switch 13-1, the first limit device is started, the control system controls the screw rod driving mechanism to stop moving forwards according to the received first limit switch signal, and adjusts the screw rod driving mechanism to drive the drilling mechanism to return to a certain position and then stop, until the rotating shaft 9 rotates to adjust the next position of the drilling mechanism, the control system 4 restarts the screw rod driving mechanism and the drilling mechanism 2.
Specific example 2:
referring to fig. 9, the present embodiment is characterized in that: the first folding arm 7-3 is composed of a first telescopic cylinder 7-3-1 and a second telescopic cylinder 7-3-2, the first telescopic cylinder 7-3-1 and the second telescopic cylinder 7-3-2 are square cylinders, the first telescopic cylinder 7-3-1 and the second telescopic cylinder 7-3-2 are in sliding fit, a piston rod of the first hydraulic cylinder 7-1 is connected with the first telescopic cylinder, a third hydraulic cylinder is arranged on the first telescopic cylinder 7-3-1, a piston rod of the third hydraulic cylinder is connected with the second telescopic cylinder 7-3-2, the third hydraulic cylinder is connected with a hydraulic system, a control system 4 controls the third hydraulic cylinder to act through the hydraulic system, and the third hydraulic cylinder is used for driving the second telescopic cylinder 7-3-2 to move up and down along the first telescopic cylinder 7-3-1, the second telescopic cylinder 7-3-2 is provided with a sliding groove, and the second telescopic cylinder 7-3-2 is in sliding fit with the lifting plate 7-5. The first folding arm 7-3 adopts the first telescopic cylinder 7-3-1 and the second telescopic cylinder 7-3-2 which are in sliding fit, so that the length of the first folding arm 7-3 is prolonged, the folding lifting mechanism 7 can further adjust the height of the drilling mechanism 2, and the application range of the drilling machine is expanded. The other structure is the same as embodiment 1, so this embodiment is omitted here.
Specific example 3:
referring to fig. 10, the present embodiment is characterized in that: still be equipped with synchronous telescopic link 19 between pivot 7 and the linear feeding device 11, synchronous telescopic link 19 includes sleeve and interior screw rod the sleeve is rectangle, sleeve fixed mounting in the pivot, the one end setting of interior screw rod is in the sleeve, the other end of interior screw rod links to each other with linear feeding device 11's support, the mounting hole has been seted up on the sleeve, the outer welding machine of mounting hole is fixed with a nut. The synchronous telescopic rod 19 is provided with a locking screw rod for locking the internal screw rod of the synchronous telescopic rod 19, the locking screw rod is provided with a handle 19-1, the locking screw rod is matched with the nut, and the locking screw rod is inserted into the sleeve through the nut and abuts against the internal screw rod. The quantity of synchronous telescopic link corresponds with radius actuating mechanism's quantity, and synchronous telescopic link sets up in radius actuating mechanism's below, and synchronous telescopic link and radius actuating mechanism are synchronous flexible, have strengthened pivot and linear feed device 11's stability through synchronous telescopic link. Other structures are the same as those in embodiment 1 or embodiment 2, and thus this embodiment is omitted here.
Claims (10)
1. The utility model provides a multi-functional full-automatic rig which characterized in that: including running gear and control system, the last chassis that is equipped with of running gear, be equipped with folding elevating system on the chassis, be equipped with two piece at least pivots that are used for adjusting the drilling position on folding elevating system's the free end, all be equipped with in each pivot and be used for the drive the rotatory rotary driving mechanism of pivot all installs a linear feeding device in each pivot, linear feeding device includes lead screw, screw-nut, screw-driving mechanism and self-advancing mechanism, and self-advancing mechanism includes mount pad, power spring and induction system, the mount pad with power spring all overlaps and establishes on the lead screw, screw-nut with power spring sets up in the mount pad, just power spring is located screw-nut with between the mount pad, install an at least drilling mechanism on the mount pad, screw-driving mechanism is used for the drive screw-nut extrusion power spring reaches through power spring drives institute The drilling mechanism moves forwards and backwards; the screw rod driving mechanism and the sensing device are respectively connected with the control system, the automatic propelling mechanism is used for monitoring the compression amount of the power spring through the sensing device, sending a signal to the control system if the compression amount of the power spring reaches a preset stop position, controlling the screw rod driving mechanism to stop acting through the control system, and driving the drilling mechanism to move forwards through the elasticity of the power spring; and if the power spring rebounds to the preset starting position, a signal is sent to a control system, and the control system controls the starting action of the screw rod driving mechanism.
2. The multifunctional full automatic drilling machine according to claim 1, characterized in that: the induction device comprises an on-off switch and a linkage rod, one end of the linkage rod is fixedly connected with the screw rod nut, the other end of the linkage rod extends out of the mounting seat, the on-off switch is arranged on the mounting seat, and the linkage rod is used for contacting with the on-off switch when the compression amount of the power spring reaches a preset starting position and a preset stopping position to start or stop the on-off switch; the on-off switch is connected with the control system, the on-off switch is used for sending signals to the control system, and the control system is used for receiving the signals of the on-off switch and controlling the screw rod driving mechanism to start or stop according to the signals.
3. The multifunctional full automatic drilling machine according to claim 1, characterized in that: still be equipped with the first stop device who is used for controlling drilling depth on the sharp feeding device, first stop device includes first limit switch and first gag lever post, first gag lever post is followed the length direction of lead screw sets up, first gag lever post passes through second sliding sleeve slidable mounting on the mount pad, first limit switch with control system connects, control system is used for according to the signal of the first limit switch who receives, controls lead screw actuating mechanism starts or stops the action.
4. The multifunctional full automatic drilling machine according to claim 1, characterized in that: the axis of the drill bit of the drilling mechanism intersects with the center line of the rotating shaft to form an included angle.
5. The multifunctional full automatic drilling machine according to any one of claims 1 to 4, characterized in that: the rotating shaft and the linear feeding device are provided with at least two radius driving mechanisms, each radius driving mechanism is respectively connected with the control system, the control system is used for controlling each radius driving mechanism to act, and the at least two radius driving mechanisms are used for adjusting the distance and the included angle between the linear feeding device and the rotating shaft.
6. The multifunctional full automatic drilling machine according to claim 5, characterized in that: the synchronous telescopic rod is further arranged between the rotating shaft and the linear feeding device, and a locking screw rod is arranged on the synchronous telescopic rod and used for locking the synchronous telescopic rod.
7. The multifunctional full automatic drilling machine according to claim 1, characterized in that: the telescopic stabilizing device comprises a top disc and a top disc driving mechanism, the top disc driving mechanism is installed on the folding lifting mechanism, the top disc driving mechanism is connected with the control system, and the top disc driving mechanism is controlled to act through the control system.
8. The multifunctional full automatic drilling machine according to claim 1, characterized in that: the free end of the folding lifting mechanism is further provided with a telescopic support frame used for abutting against a working face, the telescopic support frame comprises a support driving mechanism, at least two support rods and a cross beam, the support rods are hinged to the cross beam respectively, the fixed end of the support driving mechanism is installed on the folding lifting mechanism, the working end of the support driving mechanism is connected with the cross beam, the support driving mechanism is connected with a control system, and the control system is used for controlling the support driving mechanism to act.
9. The multifunctional fully automatic drilling machine according to claim 1, 7 or 8, characterized in that: the folding lifting mechanism comprises a first hydraulic cylinder, a second hydraulic cylinder, a first folding arm, a second folding arm, a lifting plate and a lifting driving mechanism, wherein the fixed end of the first hydraulic cylinder is hinged to the chassis, and a piston rod of the first hydraulic cylinder is connected with the first folding arm; the first folding arm is provided with a sliding groove, the lifting plate is arranged on the sliding groove of the first folding arm, the lifting driving mechanism is connected with the control system and controls the lifting driving mechanism to act through the control system, and the lifting driving mechanism is used for driving the lifting plate to slide up and down along the first folding arm; the fixed end of the second hydraulic cylinder is hinged to the lifting plate, a piston rod of the second hydraulic cylinder is connected with a second folding arm, and two sides of the second folding arm are respectively connected with the rotating shaft through first sliding sleeves; the first hydraulic cylinder and the second hydraulic cylinder are respectively connected with a hydraulic system, the hydraulic system is connected with a control system, and the control system is used for respectively controlling the first hydraulic cylinder and the second hydraulic cylinder to act through the hydraulic system.
10. The multifunctional fully automatic drilling machine according to claim 9, characterized in that: the first folding arm is composed of a first telescopic cylinder and a second telescopic cylinder, the first telescopic cylinder is in sliding fit with the second telescopic cylinder, a piston rod of the first hydraulic cylinder is connected with the first telescopic cylinder, a third hydraulic cylinder is arranged on the first telescopic cylinder, a piston rod of the third hydraulic cylinder is connected with the second telescopic cylinder, the third hydraulic cylinder is connected with the control system through the hydraulic system, the control system is used for controlling the third hydraulic cylinder to act, and the third hydraulic cylinder is used for driving the second telescopic cylinder to move up and down along the first telescopic cylinder; the second telescopic cylinder is provided with a sliding groove and is in sliding fit with the lifting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010931551.5A CN111980581A (en) | 2020-09-08 | 2020-09-08 | Multifunctional full-automatic drilling machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010931551.5A CN111980581A (en) | 2020-09-08 | 2020-09-08 | Multifunctional full-automatic drilling machine |
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| CN111980581A true CN111980581A (en) | 2020-11-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236120A (en) * | 2021-05-10 | 2021-08-10 | 北京科技大学 | Vehicle-mounted drilling rig moving platform and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236120A (en) * | 2021-05-10 | 2021-08-10 | 北京科技大学 | Vehicle-mounted drilling rig moving platform and system |
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