CN112012755B - Sliding shoe type anchor net transportation robot - Google Patents
Sliding shoe type anchor net transportation robot Download PDFInfo
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- CN112012755B CN112012755B CN202010690410.9A CN202010690410A CN112012755B CN 112012755 B CN112012755 B CN 112012755B CN 202010690410 A CN202010690410 A CN 202010690410A CN 112012755 B CN112012755 B CN 112012755B
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- 230000007246 mechanism Effects 0.000 claims abstract description 139
- 238000005553 drilling Methods 0.000 claims abstract description 21
- 238000004873 anchoring Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 230000001012 protector Effects 0.000 claims description 3
- 239000003814 drug Substances 0.000 claims description 2
- 229940079593 drug Drugs 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 238000005493 welding type Methods 0.000 claims 1
- 239000003245 coal Substances 0.000 abstract description 3
- 230000005641 tunneling Effects 0.000 abstract description 2
- 230000007723 transport mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to the technical field of coal mine machinery, in particular to a sliding shoe type anchor net transporting robot, which comprises an anchor net transporting robot platform, a sliding shoe walking mechanism arranged at the bottom of the anchor net transporting robot platform, an anchor net transporting mechanism arranged on a front platform, an anchor net warehouse arranged on a rear platform, and a chain type net feeding mechanism and a net surfing mechanism arranged on a drilling and anchoring robot, wherein the anchor net transporting mechanism has the functions of up-down, left-right and front-back movement and is used for taking an anchor net out of the anchor net warehouse and transporting the anchor net to the chain type net feeding mechanism; the shield net surfing mechanism is positioned at the front part of the top end of the frame of the drilling and anchoring robot and mainly comprises a net jacking mechanism, a left shield, a right shield, a net unfolding mechanism and the like. The invention realizes the automatic transportation of the supporting anchor net and the automation of surfing the net, reduces the labor intensity of workers and provides a reference foundation for the design of a rapid tunneling system.
Description
Technical Field
The invention relates to the technical field of coal mine machinery, in particular to a sliding shoe type anchor net transportation robot.
Background
At present, when a coal mine roadway driving working face is in supporting operation, the transportation of the anchor nets mainly depends on manual carrying, the automation degree is low, and the roadway forming speed is seriously restricted.
Disclosure of Invention
In order to solve the problems, the invention provides a sliding shoe type anchor net transporting robot which can transport an anchor net to a net distribution mechanism of a drilling anchor unit in real time, realize automatic net taking, net sending and net surfing operation, improve net transporting efficiency and reduce labor intensity of workers.
In order to achieve the purpose, the invention adopts the technical scheme that:
a sliding shoe type anchor net transporting robot is characterized in that the front part of the anchor net transporting robot is connected with a drilling and anchoring robot and is connected with a drilling and anchoring robot body through a sliding shoe driving oil cylinder; the rear part is connected with an electric hydraulic control platform, and the electric hydraulic control platform body is connected with a sliding shoe dragging connecting rod; the anchor net transporting robot comprises an anchor net transporting robot platform consisting of a front platform and a rear platform, a sliding shoe walking mechanism arranged at the bottom of the anchor net transporting robot platform, an anchor net transporting mechanism arranged on the front platform, an anchor net warehouse arranged on the rear platform, and a chain type net feeding mechanism and an upper net mechanism which are arranged on the anchor drilling robot;
the anchor net conveying mechanism comprises a base, a left-right sliding mechanism and a three-level anchor net conveying mechanism, wherein the left-right sliding mechanism is arranged on the base through a lifting mechanism;
the base is arranged on the movable guide rail, so that the anchor net conveying mechanism can move back and forth, and is convenient to disassemble and assemble; elevating system adopts two-stage scissor holder, including one-level scissor holder, second grade scissor holder, lower connecting seat and last connecting seat, one-level scissor holder is connected with lower connecting seat, and the second grade scissor holder is connected with last connecting seat, enables tertiary anchor net transport mechanism to go up and down to not co-altitude position anchor net department and accomplish and get the net, horizontal sliding mechanism adopts V type guide rail type, tertiary anchor net transport mechanism installs on horizontal sliding mechanism's slip table, and the slip table can be with whole net mechanism horizontal slip of getting under the drive of flexible hydro-cylinder.
Furthermore, the three-level anchor net conveying mechanism comprises a first-level anchor net conveying mechanism, a second-level anchor net conveying mechanism and a third-level anchor net conveying mechanism;
the first-stage anchor net conveying mechanism adopts double sliding arms which are respectively arranged on two sides of the cross beam, a chain transmission device is adopted in a transmission mode, and the left sliding arm and the right sliding arm can synchronously slide back and forth through chain transmission and a cross beam transmission shaft under the driving of a hydraulic motor;
the second-stage anchor net conveying mechanism adopts a chain speed-multiplying mechanism, and a cross beam center slide block enables a net taking slide arm mechanism to be pushed forwards on a slide rail under the driving of a short pushing telescopic oil cylinder;
the third-level anchor net conveying mechanism is of a sliding seat structure, and the sliding rail is driven by the long pushing telescopic oil cylinder to push the net taking sliding arm mechanism and the sliding rail mechanism forwards simultaneously on the sliding seat.
Furthermore, the chain type net feeding mechanism is arranged at the top of the frame of the drilling and anchoring robot, comprises a machine body, a driving wheel, a hydraulic motor, a driven wheel, a supporting wheel, a chain/belt and a transmission shaft, and is used for conveying the anchor net in place of the anchor net conveying robot to the shield net feeding mechanism at the front end.
Further, the mechanism body of the shield net-loading mechanism is arranged at the front end of the top of the drilling and anchoring robot and consists of a net jacking mechanism, a left shield, a right shield and a net unfolding mechanism, after the anchor net is conveyed to the net jacking mechanism, the net jacking mechanism is unfolded towards the left side and the right side by a bidirectional hydraulic cylinder net unfolding mechanism, the left shield and the right shield are pushed out towards the two sides by a lower pushing hydraulic cylinder, an upper pushing hydraulic cylinder and a guide column, so that the side wall nets are tightly attached to the supporting positions of the two side walls, the net jacking mechanism is pushed to rise by the hydraulic cylinder to drive the anchor net to reach the supporting positions, the net unfolding mechanism, the side wall shields and the net jacking mechanism reset after the drilling machine finishes the supporting work, and the whole machine moves forwards to stand by.
Furthermore, the anchor net storehouse is arranged on the rear platform through a lifting base, and a pedestrian passage is reserved on one side; the lifting base is installed on the rear platform through high-strength bolts, a hydraulic support is adopted, anchor net baffles are arranged on two sides of the lifting base, and when the storage capacity of the anchor net is large, the anchor net is prevented from inclining and collapsing.
Further, an anchor rod warehouse, a mobile navigation system, a base plate and drug coil warehouse, an electric cabinet, an illumination comprehensive protector, a wireless receiver, a junction box and the like are further installed on the front platform, and safety guardrails are installed on two sides of the anchor net transportation robot platform.
Furthermore, the sliding shoe walking mechanism is divided into a left sliding shoe and a right sliding shoe, the left sliding shoe, the right sliding shoe, the front platform and the rear platform are all made of high-strength steel through tailor welding, the size is reduced on the premise that the strength is guaranteed, and the anchor net transporting robot platform and the sliding shoe walking mechanism are connected through high-strength bolts.
The invention realizes the automatic transportation of the supporting anchor net and the automation of surfing the net, reduces the labor intensity of workers and provides a reference foundation for the design of a rapid tunneling system.
Drawings
Fig. 1 is a schematic view of the overall structure of a sliding shoe type anchor net transporting robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of an anchor net transporting robot in the embodiment of the present invention.
Fig. 3 is a schematic structural view of an anchor net conveying mechanism in the embodiment of the invention.
Fig. 4 is a schematic structural diagram of a chain type net feeding mechanism in the embodiment of the invention.
Fig. 5 is a schematic structural diagram of a shield internet access mechanism in an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the anchor net transporting robot 1 is used for transporting an anchor net to a net distributing mechanism of a drilling and anchoring robot in real time to realize automatic net taking, net sending and net surfing operations, and the front part of the anchor net transporting robot is connected with the drilling and anchoring robot body by adopting a slipper driving oil cylinder; the rear part is connected with an electric hydraulic control platform, and the electric hydraulic control platform body is connected with a sliding shoe dragging connecting rod.
As shown in fig. 2, the anchor net transporting robot 1 includes an anchor net transporting robot platform composed of a front platform 104 and a rear platform 101, a slipper traveling mechanism 103 installed at the bottom of the anchor net transporting robot platform, an anchor net transporting mechanism 107 installed on the front platform 104, an anchor net storehouse 109 installed on the rear platform 101, and a chain type net feeding mechanism and a shield net surfing mechanism installed on the drilling and anchoring robot 2;
as shown in fig. 3, the anchor net transporting mechanism 107 includes a base 10703, a left-right sliding mechanism 10709 mounted on the base through a lifting mechanism 10704, and a three-level anchor net transporting mechanism mounted above the left-right sliding mechanism 10709;
the base 10703 is arranged on the movable guide rail 106, so that the anchor net conveying mechanism can move back and forth, and is convenient to disassemble and assemble; the lifting mechanism 10704 adopts a two-stage scissor frame and comprises a first-stage scissor frame, a second-stage scissor frame, a lower connecting seat 10706 and an upper connecting seat 10707, the first-stage scissor frame is connected with the lower connecting seat 10706, the second-stage scissor frame is connected with the upper connecting seat 10707, the integral structure has good rigidity, high stability and large lifting stroke, and can lift the three-stage anchor net conveying mechanism to anchor nets at different height positions to finish net taking, the left-right sliding mechanism 10709 adopts a V-shaped guide rail type, the three-stage anchor net conveying mechanism is arranged on a sliding table 10717 of the left-right sliding mechanism, and the sliding table 10717 can slide the whole net taking mechanism left and right under the driving of a telescopic oil cylinder;
the three-level anchor net conveying mechanism comprises a first-level anchor net conveying mechanism, a second-level anchor net conveying mechanism and a third-level anchor net conveying mechanism;
the first-stage anchor net conveying mechanism adopts double sliding arms which are respectively arranged at two sides of a cross beam 10711, a chain transmission device 10701 is adopted in a transmission mode, and the left sliding arm 10712 and the right sliding arm 10712 synchronously slide back and forth under the drive of a hydraulic motor 10702 through chain transmission 10701 and a cross beam transmission shaft 10718 to take out the anchor nets in an anchor net warehouse;
the second-stage anchor net conveying mechanism adopts a chain speed-multiplying mechanism 10713, and a cross beam 10711 central slide block 10714 enables a net taking sliding arm mechanism to advance on a sliding rail 10708 under the driving of a short propelling telescopic oil cylinder 10710;
the third-stage anchor net conveying mechanism is of a sliding seat structure, and under the driving of a long pushing telescopic oil cylinder 10715, a sliding rail 10708 pushes a net taking sliding arm mechanism 10712 and a sliding rail mechanism 10708 forwards on a sliding seat 10716 simultaneously.
During the use, anchor net transport mechanism 107 is in waiting to be built, and after receiving working signal, second grade scissor holder 10704 drives anchor net transport mechanism and rises under the promotion of pneumatic cylinder 10705, and folding anchor net thickness is the definite value, and the difference in height of anchor net transport mechanism 107 when anchor net storehouse 109 is got the net at every turn is 3 thicknesses of monolithic folding anchor net, judges according to pneumatic cylinder stroke distance whether get net cursor 10712 reach and get the net height. When the net taking slide arm 10712 reaches the net taking height, the hydraulic motor 10702 drives the transmission chain 10701 and the beam transmission shaft 10718 to make the left and right slide arms 10712 slide back and forth, and the displacement information of the net taking slide arm is detected by combining a hydraulic servo system. After the web take-out slider 10712 finishes taking out the web, the second-stage scissor holder 10704 rises to the limit position. The sliding table 10717 is driven by the telescopic oil cylinder to enable the whole net taking mechanism to slide left and right on the V-shaped guide rail type 10709, and the anchor net is adjusted to the middle position of the roadway. The telescopic oil cylinder 10715, the oil cylinder 10710 and the chain speed multiplying mechanism 10713 drive the beam 10711 central slider 10714 to make the net taking mechanism advance forwards on the slide rail 10708, the slide rail 10708 advance forwards on the slide carriage 10716, so that the anchor net is horizontally transported to the chain type net conveying mechanism.
As shown in fig. 4, the chain type net feeding mechanism is installed on the top of the frame of the anchor drilling robot 2, and comprises a machine body 20101, a driving wheel 20102, a hydraulic motor 20103, a driven wheel 20104, a supporting wheel 20105, a chain/belt 20106 and a transmission shaft 20107, and is used for transporting an anchor net transported in place by the anchor net transporting robot 1 to a shield net feeding mechanism at the front end through the chain type transporting mechanism.
As shown in fig. 5, the mechanism body 20202 of the shield net-loading mechanism is installed at the front end of the top of the drilling and anchoring robot and comprises a top net mechanism, a left shield, a right shield and a net-spreading mechanism, after the anchor net is conveyed to the top net mechanism, the top net mechanism is spread to the left side and the right side by a bidirectional hydraulic cylinder 20207 net-spreading mechanism 20206, the lower pushing hydraulic cylinder 20205, the upper pushing hydraulic cylinder 20201 and a guide column 20209 push the left shield 20204 and the right shield 20204 to the two sides, so that the side net is tightly attached to the supporting positions of the two sides, the top net mechanism 20208 is pushed by the hydraulic cylinder 20203 to rise, the anchor net is driven to the supporting positions, the shield net-spreading mechanism, the side shields and the top net mechanism are reset after the drilling machine finishes the supporting work, and the whole machine moves forward to stand by standby.
In this embodiment, the anchor net library 109 is installed on the rear platform 101 through a lifting base, and a pedestrian passageway is left on one side; the lifting base can realize the lifting of anchor net storehouse, highly is greater than and gets the net manipulator and snatch the height minimum to conveniently get the net, the lifting base passes through the high strength bolt and installs on rear platform 101, convenient to detach and installation adopt hydraulic support, and both sides are equipped with the anchor net plate washer, when anchor net reserves are more, prevent that the anchor net slope from collapsing.
In this embodiment, the front platform 104 is further provided with an anchor rod library 105, a mobile navigation 106, a pad coil library 108, an electric cabinet, an illumination comprehensive protector, a wireless receiver, a junction box and the like, and safety guardrails 102 are installed on two sides of the anchor network transportation robot platform.
In this embodiment, slipper walking mechanism 103 is divided into left slipper and right slipper, and left slipper, right slipper, preceding platform 104 and back platform 101 all adopt high strength steel to splice and weld and form, under the prerequisite of assurance intensity, reduce the volume, adopt high strength bolted connection between anchor net transport robot platform and the slipper walking mechanism 103, be convenient for dismouting and well descending.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (6)
1. A sliding shoe type anchor net transporting robot is characterized in that the front part of the anchor net transporting robot is connected with a drilling and anchoring robot and is connected with a drilling and anchoring robot body through a sliding shoe driving oil cylinder; the rear part is connected with an electric hydraulic control platform, and the electric hydraulic control platform body is connected with a sliding shoe dragging connecting rod; the method is characterized in that: the anchor net transporting robot comprises an anchor net transporting robot platform consisting of a front platform and a rear platform, a sliding shoe walking mechanism arranged at the bottom of the anchor net transporting robot platform, an anchor net transporting mechanism and a material box which are arranged on the front platform, an anchor net warehouse arranged on the rear platform, and a chain type net feeding mechanism and an internet surfing mechanism which are arranged on the anchor drilling robot;
the anchor net conveying mechanism comprises a base, a left-right sliding mechanism and a three-level anchor net conveying mechanism, wherein the left-right sliding mechanism is arranged on the base through a lifting mechanism;
the base is arranged on the movable guide rail, so that the anchor net conveying mechanism can move back and forth, and is convenient to disassemble and assemble; the lifting mechanism adopts two-stage scissor frames and comprises a first-stage scissor frame, a second-stage scissor frame, a lower connecting seat and an upper connecting seat, the first-stage scissor frame is connected with the lower connecting seat, the second-stage scissor frame is connected with the upper connecting seat, the three-stage anchor net conveying mechanism can be lifted to anchor nets at different height positions to complete net taking, the left-right sliding mechanism adopts a V-shaped guide rail type, the three-stage anchor net conveying mechanism is arranged on a sliding table of the left-right sliding mechanism, and the sliding table can slide the whole net taking mechanism left and right under the driving of a telescopic oil cylinder;
the three-level anchor net conveying mechanism comprises a first-level anchor net conveying mechanism, a second-level anchor net conveying mechanism and a third-level anchor net conveying mechanism;
the first-stage anchor net conveying mechanism adopts double sliding arms which are respectively arranged on two sides of the cross beam, a chain transmission device is adopted in a transmission mode, and the left sliding arm and the right sliding arm can synchronously slide back and forth through chain transmission and a cross beam transmission shaft under the driving of a hydraulic motor;
the second-stage anchor net conveying mechanism adopts a chain speed-multiplying mechanism, and a cross beam center slide block enables a net taking slide arm mechanism to be pushed forwards on a slide rail under the driving of a short pushing telescopic oil cylinder;
the third-level anchor net conveying mechanism is of a sliding seat structure, and the sliding rail is driven by the long pushing telescopic oil cylinder to push the net taking sliding arm mechanism and the sliding rail mechanism forwards simultaneously on the sliding seat.
2. A sliding shoe anchor net transporting robot as claimed in claim 1, wherein: the chain type net feeding mechanism is arranged at the top of the frame of the drilling and anchoring robot, comprises a machine body, a driving wheel, a hydraulic motor, a driven wheel, a supporting wheel, a chain/belt and a transmission shaft, and is used for conveying an anchor net in place of the anchor net conveying robot to a shield net feeding mechanism at the front end.
3. A sliding shoe anchor net transporting robot as claimed in claim 2, wherein: the mechanism body of the shield net-loading mechanism is arranged at the front end of the top of the drilling and anchoring robot and consists of a net jacking mechanism, a left shield, a right shield and a net spreading mechanism, after an anchor net is conveyed to the net jacking mechanism, the net jacking mechanism is spread towards the left side and the right side by a bidirectional hydraulic cylinder net spreading mechanism, the left shield and the right shield are pushed out towards the two sides by a lower pushing hydraulic cylinder, an upper pushing hydraulic cylinder and a guide column, so that side wall nets are tightly attached to the supporting positions of the two side walls, the net jacking mechanism is pushed by the hydraulic cylinder to rise to drive the anchor net to reach the supporting positions, the net spreading mechanism, the side wall shields and the net jacking mechanism are reset after a drilling machine finishes supporting work, and the whole machine moves forwards to stand by.
4. A sliding shoe anchor net transporting robot as claimed in claim 1, wherein: the anchor net storeroom is arranged on the rear platform through the lifting base, and a pedestrian passage is reserved on one side of the anchor net storeroom; the lifting base is installed on the rear platform through high-strength bolts, a hydraulic support is adopted, anchor net baffles are arranged on two sides of the lifting base, and when the storage capacity of the anchor net is large, the anchor net is prevented from inclining and collapsing.
5. A sliding shoe anchor net transporting robot as claimed in claim 1, wherein: the front platform is further provided with an anchor rod warehouse, a mobile navigation system, a base plate and drug coil warehouse, an electric cabinet, an illumination comprehensive protector, a wireless receiver and a junction box, and safety guardrails are arranged on two sides of the anchor net transportation robot platform.
6. A sliding shoe anchor net transporting robot as claimed in claim 1, wherein: the high-strength steel splicing welding type anchor net transportation robot platform is characterized in that the sliding shoe walking mechanism is divided into a left sliding shoe and a right sliding shoe, the left sliding shoe, the right sliding shoe, the front platform and the rear platform are all made of high-strength steel in a splicing welding mode, the size is reduced on the premise that the strength is guaranteed, and the anchor net transportation robot platform and the sliding shoe walking mechanism are connected through high-strength bolts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010690410.9A CN112012755B (en) | 2020-07-16 | 2020-07-16 | Sliding shoe type anchor net transportation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010690410.9A CN112012755B (en) | 2020-07-16 | 2020-07-16 | Sliding shoe type anchor net transportation robot |
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| CN112012755A CN112012755A (en) | 2020-12-01 |
| CN112012755B true CN112012755B (en) | 2022-03-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112554916A (en) * | 2020-12-17 | 2021-03-26 | 广州中国科学院先进技术研究所 | A automatic storage device of top anchor net for roadway support |
| CN112943312B (en) * | 2021-02-19 | 2023-05-09 | 中国铁建重工集团股份有限公司 | Automatic lapping device and tunneling and anchoring integrated machine |
| CN113090287B (en) * | 2021-04-14 | 2022-07-08 | 安徽理工大学 | Flexible supporting integrated equipment for complex roadway |
| CN114278345B (en) * | 2021-11-25 | 2023-08-08 | 中国煤炭科工集团太原研究院有限公司 | Net laying method based on anchor net anchoring operation vehicle |
| CN114320384B (en) * | 2021-11-25 | 2023-08-04 | 中国煤炭科工集团太原研究院有限公司 | Lapping actuating mechanism and stock drill carriage |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2189645Y (en) * | 1993-12-02 | 1995-02-15 | 中国矿业大学 | Special hydraulic supporting rack for temporary supporting of digging head |
| AU2008100819A4 (en) * | 2008-08-29 | 2008-09-25 | Thomas Sid Hokai | Demolition Safetynet - DEMONET |
| CN108104853B (en) * | 2017-12-22 | 2021-04-16 | 中国矿业大学(北京) | Full-automatic drilling and anchoring operation vehicle |
| CN110454204B (en) * | 2019-07-31 | 2020-10-13 | 太原理工大学 | Automatic lapping device of anchor rod drill carriage for coal mine |
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