CN113385710A - Automatic hole opening method and system for down-the-hole equipment, readable storage medium and equipment - Google Patents
Automatic hole opening method and system for down-the-hole equipment, readable storage medium and equipment Download PDFInfo
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- CN113385710A CN113385710A CN202110314124.7A CN202110314124A CN113385710A CN 113385710 A CN113385710 A CN 113385710A CN 202110314124 A CN202110314124 A CN 202110314124A CN 113385710 A CN113385710 A CN 113385710A
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- hole
- hole opening
- drill bit
- smooth
- automatic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/005—Devices for removing chips by blowing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
Abstract
The invention relates to the technical field of engineering machinery automation, in particular to an automatic hole opening method, a system, a readable storage medium and equipment of down-the-hole equipment, wherein the method comprises the following steps: controlling the drill bit to move to the hole opening position; adjusting an angle between a drill bit and the location of the opening; judging whether the hole opening position is a preset position or not, and judging whether the angle is a preset angle or not; judging whether the hole opening process is smooth or not through the monitoring module; and judging whether the hole opening depth is the preset depth or not, and controlling the drill bit to finish the hole opening operation if the hole opening depth is the preset depth. The automatic hole opening method provided by the invention can realize automatic hole opening of the drilling machine, can automatically judge whether the hole opening process is smooth or not in the hole opening process, automatically adjusts the equipment according to the problems encountered in the hole opening process, replaces manual operation through automatic control, improves the hole opening efficiency, does not need to monitor on site by an operator, and does not influence the health of the operator.
Description
Technical Field
The invention relates to the technical field of engineering machinery automation, in particular to an automatic hole opening method and system of down-the-hole equipment, a readable storage medium and equipment.
Background
The down-the-hole equipment has wide application in quarries, mines, tunnels and the like; down-the-hole equipment normally comprises two stages in operation, the first stage being the tapping, i.e. the tapping is performed at a set location, the depth of the tapping is not normally very deep, and after the tapping stage has ended, the second stage being the drilling stage, i.e. the drilling is performed on the basis of the drilling performed in the first stage in order to extend the depth of the hole. The process of the tapping stage of the existing down-the-hole equipment needs to be monitored manually to observe whether tapping is smooth or not.
However, the working environment of the working site of the down-the-hole equipment is generally very severe, a large amount of dust can be caused to permeate in the air in the running process of the down-the-hole equipment, the health can be influenced when an operator works in the environment full of dust for a long time, and the manual monitoring depends on personal experience to judge, so that the accuracy for judging whether the opening is smooth is lacked.
Disclosure of Invention
The invention aims to provide an automatic hole opening method of down-the-hole equipment, which aims to overcome the defect of inaccurate hole opening judgment of the down-the-hole equipment in the prior art caused by manpower.
In order to achieve the above object, the present invention provides an automatic hole opening method of a down-the-hole device, comprising the steps of:
controlling the drill bit to move to the hole opening position;
adjusting an angle between a drill bit and the location of the opening;
judging whether the hole opening position is a preset position or not, and judging whether the angle is a preset angle or not; if the hole opening position is a preset position and the angle is a preset angle, controlling the drill bit to open a hole at the hole opening position;
judging whether the hole opening process is smooth or not through the monitoring module, and controlling the drill bit to adjust the preset distance back and forth if the hole opening process is not smooth;
and judging whether the hole opening depth is the preset depth or not, and controlling the drill bit to finish the hole opening operation if the hole opening depth is the preset depth.
Further, the hole opening process specifically comprises the following steps:
and applying a preset pressure to the drill bit, and controlling the drill bit to rotate, wherein the preset pressure range is 30-380MPa, and the rotating speed range of the drill bit is 20-140 r/min.
Further, the method also comprises a water filling step, wherein the water filling step is to control the water filling module to fill water in the holes in the hole opening process.
Furthermore, the number of times of watering is 1-10.
Further, the step of judging whether the hole opening process is smooth through the monitoring module specifically comprises the following steps:
whether noise exists in the hole opening process is judged through the sound sensor, and if the noise exists, the hole opening process is not smooth.
And/or judging whether the dust discharge amount in the hole is normal or not in the hole opening process through the visual sensor, and if the dust discharge amount is abnormal, the hole opening process is not smooth.
And/or judging whether the lifting speed of a lifting device connected with the drill bit is stable or not through the control module, and if the lifting speed is not stable, the hole opening process is not smooth;
and/or, judging whether the air pressure is normal or not through the pressure sensor, and if not, the hole opening process is not smooth;
and/or, judging whether the air flow is normal or not through the flow sensor, and if not, the hole opening process is not smooth;
and/or, whether the hydraulic pressure of the drill rod is normal is judged through a hydraulic sensor, and if the hydraulic pressure of the drill rod is abnormal, the hole opening process is not smooth.
Further, the range of the predetermined depth is less than or equal to 6 meters.
Further, the method also comprises a dust discharging step, and specifically comprises the following steps:
and controlling a drill rod connected with the drill bit to inject gas with preset air pressure into the hole, and blowing out the particles accumulated in the hole from the hole.
Correspondingly, an automatic hole-drilling system of the down-the-hole equipment is provided, which comprises a control module, a positioning module, a lifting device, a hole-drilling device and a monitoring module,
the control module is respectively connected with the positioning module, the lifting device, the hole forming device, the monitoring module and the wireless communication module, and controls the lifting device and the hole forming device according to the hole forming method according to the instruction sent by the wireless communication module;
the hole forming device comprises a drill bit, the lifting device is connected with the hole forming device, the lifting device drives the hole forming device to perform lifting motion, the monitoring module is connected with the hole forming device and used for monitoring the state of the hole forming device in the hole forming process, and the monitoring module comprises a visual sensor, a sound sensor, a pressure sensor, a flow sensor or a hydraulic sensor.
Accordingly, a computer-readable storage medium is provided, having stored thereon an automatic tapping method program for a down-the-hole device, which is executable by one or more processors to carry out the steps of the automatic tapping method for a down-the-hole device.
Correspondingly, the down-the-hole equipment comprises a down-the-hole equipment body, and the down-the-hole equipment body is used for realizing the steps of the automatic hole drilling method of the down-the-hole equipment.
Compared with the prior art, the invention has the following beneficial effects:
the automatic hole opening method provided by the invention can realize automatic hole opening of a drilling machine, can automatically judge whether the hole opening process is smooth or not in the hole opening process, automatically adjusts the equipment according to problems encountered in the hole opening process, replaces manual operation through automatic control, improves the hole opening efficiency, does not need to monitor on site by an operator, does not influence the health of the operator, and can greatly improve the accuracy rate of judging whether the hole opening process is smooth or not through automatic control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is an automatic hole opening system for a down-the-hole device according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an automatic hole opening method of a down-the-hole device according to an embodiment of the present invention.
Reference numerals:
100-a control module; 200-a positioning module; 300-a lifting device; 400-a tapping device; 500-a monitoring module; 501-vision sensor; 502-a sound sensor; 600-a wireless communication module; 700-a watering module; 701-a water pump; 702-water spray means.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
FIG. 1 is an automatic tapping system for a down-the-hole device according to an embodiment of the present invention.
Referring to fig. 1, the system of the embodiment specifically includes a control module 100, a positioning module 200, a lifting device 300, a hole forming device 400, a monitoring module 500, a wireless communication module 600, and a water filling module 700. The control module 100 is connected to the positioning module 200, the lifting device 300, the hole forming device 400, the monitoring module 500, the wireless communication module 600 and the irrigation module 700 respectively.
In this embodiment, the wireless communication module 600 communicates with the remote control terminal, and the control command is sent to the control module 100 through the wireless communication module 600, and the control module 100 controls the lifting device 300, the hole opening device 400 or the water filling module 700 according to the control command. The hole forming device 400 comprises a drill, the lifting device 300 is connected with the hole forming device 400, and the lifting device 300 drives the hole forming device 400 to move up and down to form a hole. The irrigation module 700 comprises a water pump 701 and a water spraying device 702, the water pump 701 is connected with the water spraying device 702, and the control module 100 controls the irrigation module 700 to irrigate the holes.
In this embodiment, a monitoring module 500 is connected to the hole forming device 400, the monitoring module 500 is used for monitoring the operation state of the hole forming device 400 during the hole forming process, and the monitoring module 500 includes a visual sensor 501 and an audio sensor 502, and in other embodiments, may further include other sensors, such as a vibration sensor, etc. The sensors send collected parameter information of the hole forming device 300 in the operation process to the control module 100, the control module 100 sends the parameter information to the remote control terminal through the wireless communication module 600 after processing and judgment, and an operator sends a control instruction to adjust the operation states of the lifting device 300, the hole forming device 400 and the irrigation module 700 through the feedback information received by the remote control terminal.
In this embodiment, the positioning module 200 is a GPS positioning system or a beidou navigation positioning system, and may also be other navigation systems. The positioning module 200 is used for positioning down-the-hole equipment of the loading automatic tapping system, and positioning tapping points of the tapping device 400.
In this embodiment, the control module 100 is a single chip.
In this embodiment, the drilling rod storage device further comprises a rod bin, wherein the rod bin is used for storing or switching the drilling rods, and the number of the drilling rods is several.
FIG. 2 is a schematic flow chart illustrating an automatic hole opening method according to an embodiment of the present invention.
Referring to fig. 2, the method specifically includes the following steps:
s1, controlling the drill bit to move to the hole opening position
The positioning module acquires the position of the drilling machine equipment and the hole opening position, and sends position information to the remote control terminal through the wireless communication module, and an operator controls the drilling machine equipment to move to the hole opening position through the remote control terminal and then controls a drill bit of the drilling machine equipment to move to the hole opening position;
or in other embodiments, the positioning module acquires the position of the drilling machine equipment and the hole opening position, and sends the position information to the control module, and the control module controls the drilling machine equipment to move to the hole opening position according to the position information and then controls the drill bit of the drilling machine equipment to move to the hole opening position;
s2, adjusting the angle between the drill bit and the position of the open hole
The control module controls the drill bit to form a set angle with the position of the hole, and the angle is set according to the actual environment of the hole on site;
s3, determining whether the opening position is the set position and whether the angle is the set angle
If the hole-opening position is a set position and the hole-opening angle is a set angle, the drill bit is controlled to open the hole at the hole-opening position, if the hole-opening position or the hole-opening angle is different from the set position, the control module controls the drill bit equipment or the drill bit to perform fine adjustment,
the judgment of the set position and the set angle can be carried out through a positioning module, can also be carried out through a monitoring module, or can be carried out through the cooperation judgment of the positioning module and the monitoring module;
s4, judging whether the hole opening process is smooth or not
If the hole opening process is not smooth, controlling the drill bit to perform back-and-forth adjustment operation, wherein the back-and-forth adjustment operation aims at discharging particles in the hole, and the back-and-forth adjustment operation is performed for multiple times until powder is discharged normally in the hole opening process;
if the hole opening process is smooth, continuing the hole opening operation; acquiring the working state of the hole opening process through a monitoring module, and judging whether the hole opening process is smooth or not;
s5, judging whether the opening depth is the set depth
If the drilling depth is the set depth, controlling the drill bit to finish the drilling operation; the set depth may be the length of a single drill rod or may be a set down-the-hole depth, the depth of the hole being typically no greater than 5 metres.
In this embodiment, the hole forming process specifically includes the following steps: and applying pressure to the drill bit to control the drill bit to rotate. The drill performs the drilling operation under the action of pressure and rotation. In this embodiment, the pressure range is 30-380MPa, and the rotational speed range of the drill is 20-140 rpm.
In the embodiment, the method further comprises a water filling step, wherein in the hole opening process, the control module controls the water pump system to fill water into the holes. The purpose of watering is to make the dust in the process of opening the hole gather on the hole wall, and avoid the blockage of the down-the-hole caused by excessive dust. Specifically, the number of times of watering in one tapping process is approximately 1-10 times.
In this embodiment, judging whether the tapping process is smooth through the monitoring module specifically includes the following steps: whether noise exists in the hole opening process is judged through the sound sensor, and if the noise exists, the hole opening process is not smooth. Specifically, if the hole-opening process is smooth, the frequency of the sound emitted from the hole is usually a fluctuation value within a range, and if the hole-opening process is problematic, the sound emitted from the hole is not within a normal range, and the back-dragging operation is required.
Or whether the dust discharge amount in the hole is normal or not is judged through the visual sensor, and if the dust discharge amount is abnormal, the hole opening process is not smooth. The amount of dust generated during normal hole forming is usually a stable value within a range, and if the amount of dust suddenly decreases, the hole forming process is not smooth and needs to be pulled back.
Or the control module judges whether the lifting speed of the lifting device connected with the drill bit is stable, and if the lifting speed is not stable, the hole opening process is not smooth. The propelling speed and the back dragging speed of the drill bit in the normal hole opening process are generally stable, if the propelling speed is reduced, the problem exists in the hole opening process, and the back dragging operation or the water filling and dust removing are needed.
Or whether the air pressure of the air communicated in the drill rod is normal is judged through the pressure sensor, and if the air pressure is abnormal, the hole opening process is not smooth. The air pressure of the gas communicated in the drill rod is usually stable in the normal hole opening process, and if the air pressure is unstable, the hole opening process has problems, and the problems need to be checked and determined.
Or whether the gas flow of the gas communicated in the drill rod is normal is judged through the flow sensor, and if not, the hole opening process is not smooth. The flow rate of the gas communicated in the drill rod is usually stable in the normal drilling process, and if the flow rate is not stable, the drilling process has problems, and the problems need to be checked and determined.
Or whether the hydraulic pressure of a pressure device connected with the drill rod is normal is judged through the hydraulic pressure sensor, and if the hydraulic pressure is abnormal, the hole opening process is not smooth. The hydraulic pressure of the pressure device applying pressure in the normal hole opening process is normal, if the hydraulic pressure is abnormal, the hole opening process is in a problem, and the problem needs to be checked and determined. In other embodiments, whether the hole opening process is smooth or not is judged by adopting the cooperative operation of the sound sensor, the vision sensor, the control module, the pressure sensor, the flow sensor and the hydraulic sensor.
In this embodiment, the method further includes a dust discharging step, specifically including the following steps: the drill rod connected with the drill bit is controlled to inject gas with certain air pressure into the hole, and dust accumulated in the hole is blown out of the hole, so that the dust is prevented from being accumulated in the hole.
The invention also provides an embodiment of a computer-readable storage medium having stored thereon an automatic hole-drilling method program for a down-the-hole device, the automatic hole-drilling method program for a down-the-hole device being executable by one or more processors for carrying out the steps of the automatic hole-drilling method for a down-the-hole device.
In summary, the automatic hole opening method provided by the embodiment of the invention can realize automatic hole opening of a drilling machine, automatically judge whether the hole opening process is smooth in the hole opening process, automatically adjust equipment according to problems encountered in the hole opening process, improve the hole opening efficiency by replacing manual operation through automatic control, enable an operator not to monitor on site, and have no influence on the health of the operator, and greatly improve the accuracy of judging whether the hole opening process is smooth through automatic control.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (12)
1. An automatic hole opening method for a down-the-hole device, comprising the steps of:
controlling the drill bit to move to the hole opening position;
adjusting an angle between a drill bit and the location of the opening;
judging whether the hole opening position is a preset position or not, and judging whether the angle is a preset angle or not; if the hole opening position is a preset position and the angle is a preset angle, controlling the drill bit to open a hole at the hole opening position;
judging whether the hole opening process is smooth or not through the monitoring module, and controlling the drill bit to adjust the preset distance back and forth if the hole opening process is not smooth;
and judging whether the hole opening depth is the preset depth or not, and controlling the drill bit to finish the hole opening operation if the hole opening depth is the preset depth.
2. The automatic tapping method of a down-the-hole device according to claim 1, wherein the tapping process comprises the steps of:
and applying a preset pressure to the drill bit, and controlling the drill bit to rotate, wherein the preset pressure range is 30-380MPa, and the rotating speed range of the drill bit is 20-140 r/min.
3. The automatic hole opening method of a down-the-hole device according to claim 1, further comprising a water filling step, wherein the water filling step is to control a water filling module to fill water into the hole during the hole opening process.
4. The automatic hole opening method for a down-the-hole device according to claim 2, wherein the number of times of watering is 1 to 10.
5. The automatic hole opening method of the down-the-hole device as claimed in claim 1, wherein the step of determining whether the hole opening process is smooth by the monitoring module specifically comprises the steps of:
whether noise exists in the hole opening process is judged through the sound sensor, and if the noise exists, the hole opening process is not smooth.
6. And/or judging whether the dust discharge amount in the hole is normal or not in the hole opening process through the visual sensor, and if the dust discharge amount is abnormal, the hole opening process is not smooth.
7. And/or judging whether the lifting speed of a lifting device connected with the drill bit is stable or not through the control module, and if the lifting speed is not stable, the hole opening process is not smooth;
and/or, judging whether the air pressure is normal or not through the pressure sensor, and if not, the hole opening process is not smooth;
and/or, judging whether the air flow is normal or not through the flow sensor, and if not, the hole opening process is not smooth;
and/or, whether the hydraulic pressure of the drill rod is normal is judged through a hydraulic sensor, and if the hydraulic pressure of the drill rod is abnormal, the hole opening process is not smooth.
8. The method of claim 1, wherein the predetermined depth is in the range of 6 meters or less.
9. The automatic hole opening method for the down-the-hole equipment according to claim 1, further comprising a dust discharging step, specifically comprising the steps of:
and controlling a drill rod connected with the drill bit to inject gas with preset air pressure into the hole, and blowing out the particles accumulated in the hole from the hole.
10. An automatic hole-drilling system of down-the-hole equipment is characterized by comprising a control module, a positioning module, a lifting device, a hole-drilling device, a monitoring module and a wireless communication module,
the control module is respectively connected with the positioning module, the lifting device, the hole forming device, the monitoring module and the wireless communication module, and controls the lifting device and the hole forming device according to the hole forming method of any one of claims 1 to 7 according to instructions sent by the wireless communication module;
the hole forming device comprises a drill bit, the lifting device is connected with the hole forming device, the lifting device drives the hole forming device to perform lifting motion, the monitoring module is connected with the hole forming device and used for monitoring the state of the hole forming device in the hole forming process, and the monitoring module comprises a visual sensor, a sound sensor, a pressure sensor, a flow sensor or a hydraulic sensor.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an automatic tapping method program of a down-the-hole device, which automatic tapping method program is executable by one or more processors for carrying out the steps of an automatic tapping method of a down-the-hole device according to any one of claims 1-7.
12. A down-the-hole apparatus comprising a down-the-hole apparatus body for carrying out the steps of the method of automatically perforating a down-the-hole apparatus of any of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110314124.7A CN113385710A (en) | 2021-03-24 | 2021-03-24 | Automatic hole opening method and system for down-the-hole equipment, readable storage medium and equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110314124.7A CN113385710A (en) | 2021-03-24 | 2021-03-24 | Automatic hole opening method and system for down-the-hole equipment, readable storage medium and equipment |
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| CN113385710A true CN113385710A (en) | 2021-09-14 |
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| CN202110314124.7A Pending CN113385710A (en) | 2021-03-24 | 2021-03-24 | Automatic hole opening method and system for down-the-hole equipment, readable storage medium and equipment |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3613805A (en) * | 1969-09-03 | 1971-10-19 | Bucyrus Erie Co | Automatic control for rotary drill |
| CN2690553Y (en) * | 2004-03-03 | 2005-04-06 | 吴万荣 | Open-air down-the-hole drill |
| CN108710754A (en) * | 2018-05-18 | 2018-10-26 | 中国矿业大学 | A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force |
| CN208057048U (en) * | 2018-03-28 | 2018-11-06 | 于勉 | A kind of down-the-hole drill applied to water conservancy construction |
| CN109630019A (en) * | 2018-12-29 | 2019-04-16 | 北京中岩大地科技股份有限公司 | Drilling rod, hole-drilling system, drilling method for correcting error with deviation-correcting function |
| CN112253083A (en) * | 2020-10-23 | 2021-01-22 | 中煤科工集团重庆研究院有限公司 | Automatic positioning device and method for drilling |
-
2021
- 2021-03-24 CN CN202110314124.7A patent/CN113385710A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3613805A (en) * | 1969-09-03 | 1971-10-19 | Bucyrus Erie Co | Automatic control for rotary drill |
| CN2690553Y (en) * | 2004-03-03 | 2005-04-06 | 吴万荣 | Open-air down-the-hole drill |
| CN208057048U (en) * | 2018-03-28 | 2018-11-06 | 于勉 | A kind of down-the-hole drill applied to water conservancy construction |
| CN108710754A (en) * | 2018-05-18 | 2018-10-26 | 中国矿业大学 | A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force |
| CN109630019A (en) * | 2018-12-29 | 2019-04-16 | 北京中岩大地科技股份有限公司 | Drilling rod, hole-drilling system, drilling method for correcting error with deviation-correcting function |
| CN112253083A (en) * | 2020-10-23 | 2021-01-22 | 中煤科工集团重庆研究院有限公司 | Automatic positioning device and method for drilling |
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