CN112593935A - Multi-degree-of-freedom rock drilling mechanical arm and rock drill - Google Patents
Multi-degree-of-freedom rock drilling mechanical arm and rock drill Download PDFInfo
- Publication number
- CN112593935A CN112593935A CN202011267662.7A CN202011267662A CN112593935A CN 112593935 A CN112593935 A CN 112593935A CN 202011267662 A CN202011267662 A CN 202011267662A CN 112593935 A CN112593935 A CN 112593935A
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- mechanical arm
- rock drilling
- balladeur train
- driving mechanism
- freedom
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- 239000011435 rock Substances 0.000 title claims abstract description 73
- 238000005553 drilling Methods 0.000 title claims abstract description 65
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 230000009471 action Effects 0.000 claims description 17
- 230000006978 adaptation Effects 0.000 claims 2
- 230000000694 effects Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/08—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for adjusting parts of the machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a multi-degree-of-freedom rock drilling mechanical arm and a rock drill, wherein the rock drill is provided with the multi-degree-of-freedom rock drilling mechanical arm, and the multi-degree-of-freedom rock drilling mechanical arm comprises: pitching mechanical arms, swinging mechanical arms, rotating mechanical arms, a propelling beam and a rock drilling mechanism. The invention can perform pitching adjustment, swinging adjustment and rotation adjustment, has various adjustment modes and wider adjustment range, can adapt to the operation of a plurality of working surfaces without moving the machine, and has strong practicability.
Description
Technical Field
The invention relates to tunneling equipment, in particular to a multi-degree-of-freedom rock drilling mechanical arm and a rock drill.
Background
Rock drilling refers to the drilling of a borehole into rock (or ore), typically with a rock drill. The rock drill mainly comprises a rock drilling mechanism, a drill boom and a frame, the rock drill travels to a working place through the frame, the angle of the rock drilling mechanism is adjusted through the drill boom, and finally a blast hole is drilled through the rock drilling mechanism. In the traditional rock drill, the drill boom is single in adjustment mode and small in adjustment range, and the rock drill needs to be frequently moved to adapt to the position of a blast hole.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, in the first aspect, the invention provides a multi-degree-of-freedom rock drilling mechanical arm which has more adjusting modes and a wider adjusting range.
In a second aspect, the present invention provides a rock drill, which can effectively overcome the disadvantages of the conventional structure.
According to an embodiment of the first aspect of the invention, the rock drilling mechanical arm with multiple degrees of freedom comprises:
the pitching mechanical arm is connected with a pitching driving mechanism and is used for performing pitching action under the action of the pitching driving mechanism;
the swinging mechanical arm is rotatably arranged at the tail end of the pitching mechanical arm and is provided with a swinging driving mechanism, the swinging driving mechanism is used for swinging under the action of the swinging driving mechanism, and a rotating shaft of the swinging mechanical arm is vertical to the rotating shaft of the pitching mechanical arm;
the rotary mechanical arm is rotatably arranged on the swinging mechanical arm and is provided with a rotary driving mechanism for rotating under the action of the rotary driving mechanism, and a rotating shaft of the rotary mechanical arm is vertical to the rotating shaft of the swinging mechanical arm;
the pushing beam is rotatably arranged at the tail end of the rotary mechanical arm and is provided with an adjusting driving mechanism, and the pushing beam is used for rotating around the direction vertical to the rotating shaft of the rotary mechanical arm under the action of the adjusting driving mechanism;
and the rock drilling mechanism is slidably mounted on the push beam.
According to the embodiment of the invention, at least the following technical effects are achieved:
the multi-degree-of-freedom rock drilling mechanical arm with the structure can be adjusted in pitching mode, in swinging mode and in rotating mode, is wide in adjustment range, can adapt to operation of multiple working faces without moving, and is high in practicability.
According to some embodiments of the invention, the feed beam is provided with a first carriage main beam and a second carriage main beam, the second carriage main beam is slidably arranged on the first carriage main beam, and the length direction of the second carriage main beam is identical to the length direction of the first carriage main beam, and the rock drilling mechanism is slidably arranged on the second carriage main beam.
According to some embodiments of the invention, the propulsion beam is further provided with a bracket for connecting the rotary robot arm, the bracket is located below and slidably connected with the first carriage main beam, a first telescopic driving mechanism is arranged between the bracket and the first carriage main beam, and a second telescopic driving mechanism is arranged between the first carriage main beam and the second carriage main beam.
According to some embodiments of the invention, the bracket is provided with a first positioning portion at one end of the first carriage main beam, a second positioning portion at one end of the second carriage main beam close to the first positioning portion, and drill tool positioning holes are provided on the first positioning portion and the second positioning portion corresponding to the rock drilling mechanism.
According to some embodiments of the present invention, first protrusions having a tapered cross section are disposed on two sides of the first carriage main beam near the bottom, first mounting seats are disposed on two sides of the first carriage main beam, and the first mounting seats are provided with first sliding grooves adapted to the first protrusions.
According to some embodiments of the present invention, a second protrusion having a tapered cross section is disposed at a position close to the bottom of the second carriage main beam, a third protrusion having a tapered cross section is disposed at a position close to the top of the second carriage main beam, a second mounting seat is disposed at two sides of the second carriage main beam of the first carriage main beam, the second mounting seat is provided with a second sliding slot adapted to the second protrusion, a third mounting seat is disposed at two sides of the second carriage main beam of the rock drilling mechanism, and the third mounting seat is provided with a third sliding slot adapted to the third protrusion.
According to some embodiments of the invention, the swing arm is a gimbal structure.
According to some embodiments of the invention, the axis of rotation of the rotating arm is also perpendicular to the axis of rotation of the pitching arm.
According to a second aspect of the invention, a rock drill is provided with the multiple degree of freedom rock drilling manipulator described in any of the above embodiments.
According to the embodiment of the invention, at least the following technical effects are achieved:
the rock drill with the structure has the advantages that the rock drilling mechanical arm with multiple degrees of freedom is adopted, so that the rock drilling mechanism has more adjusting modes and adjusting ranges, the defects of the traditional structure can be effectively overcome, and the practicability is high.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of an overall structure of the present invention;
FIG. 2 is an axial side schematic view of a feed beam;
FIG. 3 is a schematic view of one configuration of the second carriage main beam;
FIG. 4 is a schematic view of the feed beam in an undeployed state;
fig. 5 is a schematic view of the propulsion beam in an unfolded state.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 5, the invention provides a multi-degree-of-freedom rock drilling mechanical arm, which comprises:
the pitching mechanical arm 701 is connected with a pitching driving mechanism 702 and is used for performing pitching action under the action of the pitching driving mechanism 702;
the swinging mechanical arm 703 is rotatably mounted at the tail end of the pitching mechanical arm 701 and is provided with a swinging driving mechanism for swinging under the action of the swinging driving mechanism, and a rotating shaft of the swinging mechanical arm 703 is perpendicular to the rotating shaft of the pitching mechanical arm 701;
the rotary mechanical arm 704 is rotatably mounted on the swinging mechanical arm 703 and is provided with a rotary driving mechanism for performing rotary motion under the action of the rotary driving mechanism, and a rotating shaft of the rotary mechanical arm 704 is perpendicular to the rotating shaft of the swinging mechanical arm 703;
the propelling beam 706 is rotatably mounted at the tail end of the rotary mechanical arm 704 and is provided with an adjusting driving mechanism 705, and the propelling beam is used for rotating around the direction vertical to the rotating shaft of the rotary mechanical arm 704 under the action of the adjusting driving mechanism 705;
the rock drilling mechanism 400 is slidably mounted on a feed beam 706.
The multi-degree-of-freedom rock drilling mechanical arm with the structure can be adjusted in pitching mode, in swinging mode and in rotating mode, is wide in adjustment range, can adapt to operation of multiple working faces without moving, and is high in practicability.
In the conventional structure, when the drilling depth is large, the drilling can be carried out only by adding a drill rod, so that the rock drilling efficiency is influenced. In view of this, in some embodiments of the present invention, the push beam 706 is provided with a first carriage main beam 200 and a second carriage main beam 300, the second carriage main beam 300 is slidably provided on the first carriage main beam 200, and the length direction of the second carriage main beam 300 coincides with the length direction of the first carriage main beam 200, and the rock drilling mechanism 400 is slidably provided on the second carriage main beam 300.
Adopt the structure setting in this embodiment, when drilling depth is darker, can expand relatively through first balladeur train girder 200 and second balladeur train girder 300, can increase the length of single drilling rod, realize bigger propulsion stroke in limited size, more traditional structure, can reduce the installation quantity of drilling rod to the reduction connects the pole time, improves drilling efficiency.
In some embodiments of the present invention, the push beam 706 is further provided with a bracket 100 for connecting the rotary robot 704, the bracket 100 is located below the first carriage main beam 200 and is slidably connected to the first carriage main beam 200, a first telescopic driving mechanism 500 is provided between the bracket 100 and the first carriage main beam 200, and a second telescopic driving mechanism 600 is provided between the first carriage main beam 200 and the second carriage main beam 300. In this embodiment, by additionally providing the bracket 100, the adjustment stroke range of the multi-degree-of-freedom rock drilling mechanical arm can be further increased, and the aforementioned effects can be enhanced.
In some embodiments of the present invention, the bracket 100 is provided with a first positioning portion 102 at one end of the first carriage main beam 200, the first carriage main beam 200 can move in a direction away from the first positioning portion 102 under the action of the first telescopic driving mechanism 500, and the second carriage main beam 300 can move in a direction away from the first positioning portion 102 under the action of the second telescopic driving mechanism 600. The first positioning portion 102 is mainly used for positioning in conformity with a working surface during rock drilling work, and therefore the first carriage main beam 200 and the second carriage main beam 300 can move in a direction away from the first positioning portion 102 to avoid affecting the rock drilling positioning work.
In some embodiments of the invention, the second carriage main beam 300 is provided with a second positioning portion 301 at an end thereof close to the first positioning portion 102, and the first positioning portion 102 and the second positioning portion 301 are provided with drill positioning holes corresponding to the rock drilling mechanism 400. Therefore, when the first carriage main beam 200 and the second carriage main beam 300 are unfolded and extended, the drill rod can be positioned through the drill rod positioning hole, and the stability is improved.
It will be appreciated that corresponding positioning structures may also be provided at the end of the first carriage main beam 200 adjacent the first positioning portion 102.
In some embodiments of the present invention, first protrusions with a tapered cross section are disposed on two sides of the first carriage main beam 200 near the bottom, the bracket 100 is provided with first mounting seats 101 on two sides of the first carriage main beam 200, and the first mounting seats 101 are provided with first sliding grooves adapted to the first protrusions. Wherein the first protrusion extends in the length direction of the first carriage main beam 200. The first convex part is conical, so that guiding can be realized when the first convex part is installed in the first sliding groove, and weight can be borne by the lower surface of the first convex part. In order to improve the mounting stability, a plurality of first mounting seats 101 may be provided.
Similarly, in some embodiments of the present invention, the two sides of the second carriage main beam 300 are provided with a second protrusion 303 having a tapered cross section near the bottom, and a third protrusion 304 having a tapered cross section near the top, the two sides of the second carriage main beam 300 of the first carriage main beam 200 are provided with a second mounting seat 201, the second mounting seat 201 is provided with a second sliding slot adapted to the second protrusion 303, the rock drilling mechanism 400 is provided with a third mounting seat 401 at the two sides of the second carriage main beam 300, and the third mounting seat 401 is provided with a third sliding slot adapted to the third protrusion 304. The second protrusion 303 and the third protrusion 304 have a structure similar to that of the first protrusion, and can perform both sliding guidance and weight bearing by means of a slope.
In some embodiments of the present invention, the carriage 100 and the second carriage main beam 300 are both frame structures with open upper ends, the first telescopic driving mechanism 500 is disposed in an inner hollow position of the carriage 100, and the second carriage main beam 300 is provided with a third telescopic driving mechanism for controlling the sliding of the rock drilling mechanism 400. In this embodiment, the bracket 100 and the second carriage main beam 300 are both configured as a frame structure with an open upper end, so that the first telescopic driving mechanism 500 and the third telescopic driving mechanism can be mounted in a concealed manner, and the sliding support can be realized.
Similarly, the first carriage main beam 200 is configured as a hollow structure, and the second telescopic driving mechanism 600 is hidden and disposed in the first carriage main beam 200.
Referring to fig. 2, in some embodiments of the present invention, an end of the second carriage main beam 300 remote from the second positioning portion 301 is provided with a third positioning portion 302, and the third positioning portion 302 is configured to abut against the first carriage main beam 200 for limiting when the second carriage main beam 300 moves in a direction approaching the first positioning portion 102. When the first and second carriage main beams 200, 300 are not deployed, the front ends thereof abut or are close to the first positioning portions 102, and the rear ends thereof abut or are close to the third positioning portions 302.
Correspondingly, in order to avoid interference of the corresponding driving, in some embodiments of the present invention, the first telescopic driving mechanism 500 is connected to the first carriage main beam 200 at an end of the bracket 100 away from the first positioning portion 102, and the second telescopic driving mechanism 600 is connected to the second carriage main beam 300 at an end of the first carriage main beam 200 away from the first positioning portion 102.
The first telescopic driving mechanism 500, the second telescopic driving mechanism 600 and the third telescopic driving mechanism in the present invention may adopt a hydraulic cylinder, and may also adopt a motor screw mechanism, which is not limited specifically herein.
Referring to fig. 1, in some embodiments of the invention, the swing robot 703 is a gimbal structure. The axis of rotation of the rotating robot arm 704 is also perpendicular to the axis of rotation of the pitch robot arm 701. The drive in the present invention may be a hydraulic drive or a motor drive, and is not limited in particular.
In addition, the invention also provides a rock drilling machine which is provided with the multi-degree-of-freedom rock drilling mechanical arm described in any one of the embodiments.
The rock drill with the structure has the advantages that the rock drilling mechanical arm with multiple degrees of freedom is adopted, so that the rock drilling mechanism has more adjusting modes and adjusting ranges, the rock drilling mechanical arm can adapt to operation of multiple working faces without moving, the defects of a traditional structure can be effectively overcome, and the practicability is high.
Specifically, the rock drilling machine is provided with a frame 700, a multi-degree-of-freedom rock drilling mechanical arm is mounted on the frame 700, the rock drilling mechanism can be adjusted to swing up and down around a horizontal rotating shaft through a pitching mechanical arm 701, the rock drilling mechanism can swing left and right around the rotating shaft in a vertical plane through a swinging mechanical arm 703, the rock drilling mechanism is controlled to rotate through a rotating mechanical arm 704, the pitching angle between the rock drilling mechanism and the rotating mechanical arm 704 is controlled through a propelling beam 706, and meanwhile the tunneling stroke of the rock drilling mechanism is controlled through the propelling beam 706.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A multi-degree-of-freedom rock drilling mechanical arm is characterized by comprising:
the pitching mechanical arm is connected with a pitching driving mechanism and is used for performing pitching action under the action of the pitching driving mechanism;
the swinging mechanical arm is rotatably arranged at the tail end of the pitching mechanical arm and is provided with a swinging driving mechanism, the swinging driving mechanism is used for swinging under the action of the swinging driving mechanism, and a rotating shaft of the swinging mechanical arm is vertical to the rotating shaft of the pitching mechanical arm;
the rotary mechanical arm is rotatably arranged on the swinging mechanical arm and is provided with a rotary driving mechanism for rotating under the action of the rotary driving mechanism, and a rotating shaft of the rotary mechanical arm is vertical to the rotating shaft of the swinging mechanical arm;
the pushing beam is rotatably arranged at the tail end of the rotary mechanical arm and is provided with an adjusting driving mechanism, and the pushing beam is used for rotating around the direction vertical to the rotating shaft of the rotary mechanical arm under the action of the adjusting driving mechanism;
and the rock drilling mechanism is slidably mounted on the push beam.
2. A multiple degree of freedom rock drilling robot arm as claimed in claim 1, further comprising: the propulsion beam is provided with first balladeur train girder and second balladeur train girder, second balladeur train girder slide set up in on the first balladeur train girder, just the length direction of second balladeur train girder with the length direction of first balladeur train girder is unanimous, rock drilling mechanism slide set up in on the second balladeur train girder.
3. A multiple degree of freedom rock drilling robot arm as claimed in claim 2, wherein: the propelling movement roof beam still is provided with and is used for connecting the bracket of rotatory arm, the bracket is located the below of first balladeur train girder and with first balladeur train girder sliding connection, the bracket with be provided with first flexible actuating mechanism between the first balladeur train girder, first balladeur train girder with be provided with the flexible actuating mechanism of second between the second balladeur train girder.
4. A multiple degree of freedom rock drilling robot arm as claimed in claim 3, wherein: the bracket in the one end of first balladeur train girder is provided with first location portion, the second balladeur train girder is close to the one end of first location portion is provided with second location portion, first location portion with correspond on the second location portion rock drilling mechanism is provided with the drilling tool locating hole.
5. A multiple degree of freedom rock drilling robot arm as claimed in claim 4, wherein: the two sides of the first sliding frame main beam are provided with first convex parts with tapered sections at positions close to the bottom, the bracket is provided with first mounting seats at the two sides of the first sliding frame main beam, and the first mounting seats are provided with first sliding grooves matched with the first convex parts.
6. A multiple degree of freedom rock drilling robot arm as claimed in claim 5, wherein: the both sides of second balladeur train girder in the position that is close to the bottom be provided with the second convex part that the cross-section is the taper, be provided with the third convex part that the cross-section is the taper in the position that is close to the top, first balladeur train girder in the both sides of second balladeur train girder are provided with the second mount pad, the second mount pad be provided with the second spout of second convex part adaptation, rock drilling mechanism in the both sides of second balladeur train girder are provided with the third mount pad, the third mount pad be provided with the third spout of third convex part adaptation.
7. A multiple degree of freedom rock drilling robot arm as claimed in claim 1, further comprising: the swing mechanical arm is of a universal joint structure.
8. A multiple degree of freedom rock drilling robot arm as claimed in claim 1, further comprising: the rotating shaft of the rotating mechanical arm is also perpendicular to the rotating shaft of the pitching mechanical arm.
9. A rock drill provided with a multiple degree of freedom rock drilling robot as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011267662.7A CN112593935A (en) | 2020-11-13 | 2020-11-13 | Multi-degree-of-freedom rock drilling mechanical arm and rock drill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011267662.7A CN112593935A (en) | 2020-11-13 | 2020-11-13 | Multi-degree-of-freedom rock drilling mechanical arm and rock drill |
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| Publication Number | Publication Date |
|---|---|
| CN112593935A true CN112593935A (en) | 2021-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011267662.7A Pending CN112593935A (en) | 2020-11-13 | 2020-11-13 | Multi-degree-of-freedom rock drilling mechanical arm and rock drill |
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| Country | Link |
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| CN (1) | CN112593935A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983147A (en) * | 2021-11-03 | 2022-01-28 | 连城凯克斯科技有限公司 | Adjusting device for non-concentricity of shaft and nut of self-adaptive speed reducer |
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| GB1374853A (en) * | 1973-02-13 | 1974-11-20 | Coal Industry Patents Ltd | Mining mchines |
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| CN109854264A (en) * | 2019-01-25 | 2019-06-07 | 中国铁建重工集团有限公司 | A kind of brill for tunnel excavation splits device |
| CN209539352U (en) * | 2018-12-25 | 2019-10-25 | 河南省耿力工程设备有限公司 | A kind of hydraulic anchor trolley |
| CN209586265U (en) * | 2019-03-08 | 2019-11-05 | 四川钻神智能机械制造有限公司 | A kind of compound oscillating arm mechanisms of drill jumbo |
| CN209742902U (en) * | 2019-04-02 | 2019-12-06 | 许和翔 | Full-hydraulic splitting trolley |
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2020
- 2020-11-13 CN CN202011267662.7A patent/CN112593935A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1374853A (en) * | 1973-02-13 | 1974-11-20 | Coal Industry Patents Ltd | Mining mchines |
| CN104727753A (en) * | 2013-12-20 | 2015-06-24 | 山特维克矿山工程机械有限公司 | Drilling tool support and method of collaring |
| CN209539352U (en) * | 2018-12-25 | 2019-10-25 | 河南省耿力工程设备有限公司 | A kind of hydraulic anchor trolley |
| CN109854264A (en) * | 2019-01-25 | 2019-06-07 | 中国铁建重工集团有限公司 | A kind of brill for tunnel excavation splits device |
| CN209586265U (en) * | 2019-03-08 | 2019-11-05 | 四川钻神智能机械制造有限公司 | A kind of compound oscillating arm mechanisms of drill jumbo |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113983147A (en) * | 2021-11-03 | 2022-01-28 | 连城凯克斯科技有限公司 | Adjusting device for non-concentricity of shaft and nut of self-adaptive speed reducer |
| CN113983147B (en) * | 2021-11-03 | 2024-02-20 | 连城凯克斯科技有限公司 | Self-adaptive speed reducer shaft and nut non-concentric adjusting device |
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