CN113482622A - Drilling and blasting cleaning and protecting shaft tunneling robot - Google Patents
Drilling and blasting cleaning and protecting shaft tunneling robot Download PDFInfo
- Publication number
- CN113482622A CN113482622A CN202110973609.7A CN202110973609A CN113482622A CN 113482622 A CN113482622 A CN 113482622A CN 202110973609 A CN202110973609 A CN 202110973609A CN 113482622 A CN113482622 A CN 113482622A
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- shaft
- drilling
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- protecting
- cleaning
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D1/00—Sinking shafts
- E21D1/03—Sinking shafts mechanically, e.g. by loading shovels or loading buckets, scraping devices, conveying screws
Abstract
The invention discloses a drilling, blasting, cleaning and protecting shaft tunneling robot which comprises a crawler carrier vehicle for conveying equipment, wherein an air compressor and a control host are arranged on the crawler carrier vehicle, the control host is detachably connected with four working platforms for shaft tunneling in a control mode, one of the working platforms is connected with a slag removal device, the other three working platforms are connected with a mechanical arm, the mechanical arm is provided with shaft tunneling equipment, the shaft tunneling equipment is detachably connected in a control mode through the control host, and the air compressor is connected with the shaft tunneling equipment in a matching mode. In this application, because the setting of crawler, the nimble transportation of the relevant equipment of robot of can being convenient for, the tunnelling robot of being convenient for reachs, lacks peripheral places such as water source, power, pavement and uses, moreover because work platform, arm, scarfing cinder device and each shaft tunnelling equipment of last transportation of crawler can carry out the dismouting, makes the equipment use comparatively nimble, is convenient for promote the practicality.
Description
Technical Field
The invention relates to the technical field of drilling explosion cleaning and protecting, in particular to a drilling explosion cleaning and protecting shaft tunneling robot.
Background
The drilling and blasting vertical shaft cleaning and protecting tunneling robot (hereinafter referred to as the robot) has the main functions of realizing automatic or semi-automatic operation of the working procedures of drilling, charging, connecting, detonating, slag removing, wall protecting and the like in vertical shaft tunneling, reducing manual operation, improving working efficiency, and realizing the purposes of full-day operation and uninterrupted manual shutdown.
The robot is a system and is not a single machine. The whole system is carried by a self-propelled tracked vehicle, and the tracked vehicle can be controlled by wireless remote control. Hydraulic and high-pressure gas stations and small hoisting equipment are erected on the tracked vehicle, and the complete in and out of the system is realized.
However, the existing hole pile tunneling equipment is large in size, heavy in weight and not flexible enough in movement, so that the equipment is difficult to reach, the equipment is limited to be used in environments lacking of water sources, power supplies, sidewalks and other peripheral condition supports, and the universality of the equipment is greatly reduced.
Disclosure of Invention
The drilling, blasting and cleaning shaft tunneling robot is small in size, light in weight, capable of being powered by self, light in weight of a maximum disassembling component, flexible to use and convenient to improve practicability.
In order to solve the technical problem, the scheme of the invention is as follows:
the utility model provides a bore and explode clear shaft tunnelling robot that protects, is including being used for carrying the caterpillar carrier who equips, last air compressor, the main control system of being provided with of caterpillar carrier, main control system detachable control is connected with the work platform of four shaft tunnelling usefulness, one of them work platform is connected with scarfing cinder device, and is three in addition work platform is connected with the arm, the arm is provided with shaft tunnelling equipment, shaft tunnelling equipment passes through main control system detachable control connects, air compressor with shaft tunnelling equipment accordant connection.
The working platform comprises two positioning frame main beams which are arranged in a cross structure, hydraulic supporting telescopic rods are arranged at two ends of the positioning frame main beams, a lifting frame and a horizontal adjusting hydraulic supporting rod are hinged to the working platform, the horizontal adjusting hydraulic supporting rod is far away from the lifting frame, one end of the machine working platform is hinged to the lifting frame, and a lifting hook is arranged on the lifting frame.
The shaft excavation equipment comprises a drilling device, a blast hole filling device and a protective wall mounting device, wherein the drilling device, the blast hole filling device and the protective wall mounting device are respectively connected with one mechanical arm.
The drilling device comprises a drilling machine propelling device connected to the mechanical arm, a drilling machine is arranged on the drilling machine propelling device, a drilling rod is arranged on the drilling machine, and a drill bit, a hole plug and a rock debris cleaning tool are sequentially arranged on the drilling machine from bottom to top.
The blast hole filling device is including being used for the conveying pipeline of leading-in explosive, detonator and stemming for the blast hole, reaches detonator clamping tool and the metal highly-compressed air pipe of conveying pipeline entry end configuration, reaches the conveying pipeline is close to the side of detonator clamping tool and metal highly-compressed air pipe one end has been seted up and has been connect the feed bin, it disposes branch wheel mechanism to connect the feed bin, divide the wheel mechanism to be annular array and dispose four minutes silos, divide dispose on the wheel mechanism with divide the hopper that the silo matches, conveying pipeline, detonator clamping tool are connected with the arm, divide the wheel mechanism to be connected with the main control system, metal highly-compressed air pipe with air compressor connects.
The wall protection mounting device comprises a wall protection perforation mounting screw fixedly mounted on the mechanical arm, and the wall protection perforation mounting screw is matched with the mounting hole of the wall protection in a penetrating mode.
The slag removing device comprises a pushing oil cylinder connected to the middle of the bottom end of the working platform, a collecting barrel connected to the bottom end of the pushing oil cylinder through a universal joint, a driving motor which is fixedly arranged at the top of the inner side of the collecting barrel and can rotate forward and backward, a rotating shaft connected with an output shaft of the driving motor, a spiral conveying reamer connected to the rotating shaft, scraping teeth fixedly connected to the edge of the bottom of the spiral conveying reamer, and a control host connected to the pushing oil cylinder and the driving motor.
Still include the first hoisting machine of fixed setting on the caterpillar transport vehicle.
The device further comprises a second hoisting machine for hoisting the working platform, the slag removing device and the shaft tunneling equipment for the inside of the shaft.
Compared with the prior art, the invention has the beneficial effects that:
in this application, because the setting of crawler, the nimble transportation of the relevant equipment of robot of can being convenient for, the tunnelling robot of being convenient for reachs and lacks peripheral places such as water source, power, pavement and uses, moreover because work platform, arm, scarfing cinder device and each shaft tunnelling equipment of last transportation of crawler can carry out the dismouting, make the equipment use comparatively nimble, be convenient for promote the practicality.
In addition, in the application, the drilling device is mainly used for drilling, the position of the drilling machine can be adjusted and moved through the drilling machine propelling device, and the drilling and cleaning of the blast hole can be realized through controlling the drilling machine and matching with a drill rod, a drill bit, a hole plug and a rock debris cleaning tool.
When the mechanical arm is used for operating the drilling machine, ventilation and lighting equipment are not needed, the mechanical force is larger than the human force, a larger drilling machine and a larger drill bit can be selected for drilling larger blastholes, the utilization rate of the blastholes during blasting is improved, the number of the blastholes during drilling is reduced, the blasting cost is saved, and the productivity is improved; due to unmanned operation, the ventilation and air pressure of the pneumatic rock drill can be increased, and the broken bits in the blast hole can be blown out of the blast hole more easily by high air pressure, so that the risk of jamming of the drill rod is reduced; because the strength of the mechanical arm is greater than that of a person, the mechanical arm is more beneficial to applying greater pressure on the drilling machine and accelerating the drilling speed of the drilling machine.
The blast hole filling device is mainly used for filling explosives, detonators and stemming; in this application, owing to adopt mechanical operation, can reduce because of the mistake is controlled the potential safety hazard that leads to explosion personnel casualties, help improving work efficiency simultaneously.
The application of dado installation device adopts the prefabricated reinforced concrete part of modularization as the dado of hole stake, and lashing up of steel reinforcement cage, concrete placement and maintenance are all gone on subaerially, can realize batch production mass production, and the maintenance time is longer, and the quality obtains the guarantee more easily. Meanwhile, the prefabricated parts can reduce the time for binding the reinforcement cage with the cast concrete, supporting the mold, pouring the concrete and solidifying the concrete, thereby greatly improving the production efficiency.
The slag removing device is mainly used for cleaning and removing the debris in the vertical shaft; the automatic cleaning of the fragments in the vertical shaft digging hole is realized through the slag removing device, the danger generated during manual cleaning is eliminated, and the work efficiency is improved.
Drawings
FIG. 1 is a working state diagram of the present invention during synchronous drilling and slag removal;
FIG. 2 is a view showing the operation of the present invention with the simultaneous installation of the retaining wall and explosive charge;
FIG. 3 is a top view of the present invention with simultaneous drilling, slag removal, retaining wall installation and explosive loading;
FIG. 4 is a schematic structural view of a work platform according to the present invention;
FIG. 5 is a schematic view of the construction of the drilling apparatus of the present invention;
FIG. 6 is a schematic structural view of a slag removal device according to the present invention;
FIG. 7 is a schematic view showing the construction of a blast hole filling apparatus according to the present invention;
FIG. 8 is a schematic structural diagram of the material distributing wheel mechanism of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1-8, the drilling and blasting shaft tunneling robot comprises a crawler carrier 1 for conveying equipment, wherein an air compressor 2 and a control host machine 3 are arranged on the crawler carrier 1, the control host machine 3 is detachably controlled and connected with four working platforms 4 for shaft tunneling, one of the working platforms 4 is connected with a slag removal device 8, the other three working platforms 4 are connected with a mechanical arm 5, the mechanical arm 5 is provided with shaft tunneling equipment, the shaft tunneling equipment is detachably controlled and connected through the control host machine 3, and the air compressor 2 is connected with the shaft tunneling equipment in a matched mode.
The shaft tunneling equipment comprises a drilling device 6, a blast hole filling device 7 and a protective wall mounting device, wherein the drilling device 6, the blast hole filling device 7 and the protective wall mounting device are respectively connected with a mechanical arm 5.
The drilling device 6 comprises a drilling machine propelling device 15 connected to the mechanical arm 5, a drilling machine 16 is arranged on the drilling machine propelling device 15, a drilling rod 17 is arranged on the drilling machine 16, and a drill bit 18, a hole plug 19 and a rock debris cleaning tool 20 are sequentially arranged on the drilling rod 17 from bottom to top.
The drilling device 6 is mainly used for drilling, the position of the drilling machine 16 can be adjusted and moved through the drilling machine propelling device 15, and drilling and cleaning of blast holes can be achieved through controlling the drilling machine 16 and matching with the drill rod 17, the drill bit 18, the hole plug 19 and the rock debris cleaning tool 20. When the mechanical arm 5 is used for operating the drilling machine 16, ventilation and lighting equipment is not needed, the mechanical force is larger than the human force, a larger drilling machine 16 and a larger drill bit 18 can be selected for drilling larger blastholes, the utilization rate of the blastholes during blasting is improved, the number of the blastholes during drilling is reduced, the blasting cost is saved, and the productivity is improved; due to unmanned operation, the ventilation and air pressure of the pneumatic rock drill can be increased, and the broken bits in the blast hole can be blown out of the blast hole more easily by high air pressure, so that the risk of jamming of the drill rod is reduced; the mechanical arm has the strength greater than that of a person, so that greater pressure can be applied to the drilling machine, and the drilling speed of the drilling machine can be increased;
the blast hole filling device 7 comprises a conveying pipe 22 for introducing explosive, detonator and stemming into a blast hole 21, a detonator clamping tool 23 and a metal high-pressure air pipe (not shown in the figure) arranged at the inlet end of the conveying pipe 22, a receiving bin 25 arranged at the side edge of the conveying pipe 22 close to one end of the detonator clamping tool 23 and one end of the metal high-pressure air pipe, a distributing wheel mechanism 26 arranged on the receiving bin 25, four distributing troughs 27 arranged in an annular array by the distributing wheel mechanism 26, hoppers 28 matched with the distributing troughs 27 arranged on the distributing wheel mechanism 26, a mechanical arm 5 connected with the conveying pipe 22 and the detonator clamping tool 23, a control host 3 connected with the distributing wheel mechanism 6, and an air compressor 2 connected with the metal high-pressure air pipe.
The blast hole filling device 7 is mainly used for filling explosives, detonators and stemming; in operation, firstly, the control host machine 3 controls the metal high-pressure air pipe to blow air into the blast hole 21 to blow out the scraps in the blast hole 21, then the metal high-pressure air pipe is drawn out, the control delivery pipe 22 is inserted into the blast hole 21, then the explosive for filling the bottom of the blast hole 21 is injected into the distribution groove 27 through the hopper 28, the control host machine controls the distribution wheel mechanism 26 to rotate 90 degrees anticlockwise, the explosive for filling the bottom of the blast hole 21 by rotating 90 degrees is guided into the delivery pipe 22 through the receiving bin 25, then the explosive is pushed to the bottom of the blast hole 21 through the central push rod (not shown in the figure) in the detonator clamping tool 23 and the compressed air, then the central push rod is withdrawn, the detonator clamping head (not shown in the figure) in the detonator clamping tool 23 is controlled to clamp the corresponding detonator, and then the telescopic tongue (not shown in the figure) in the detonator clamping tool 23 is operated to stretch the detonator to the bottom of the blast hole 21 for installation, and then, withdrawing the detonator clamping head, filling corresponding explosive again, and continuing filling the stemming after the explosive and the detonator are filled. In this application, owing to adopt mechanical operation, can reduce because of the mistake is controlled the potential safety hazard that leads to explosion personnel casualties, help improving work efficiency simultaneously.
In this application, the blast hole filling device 7 is also equipped with useful storage detonators, and the mechanism 39 is stored to the detonator of installation is taken to arm 5 of being convenient for. The wall protection mounting device comprises a wall protection perforation mounting screw rod 9 fixedly mounted on the mechanical arm 5, and the wall protection perforation mounting screw rod 9 is matched with the mounting hole 39 of the wall protection in a penetrating mode. The retaining wall mounting device is mainly convenient for mounting the retaining wall in the vertical shaft, and during actual operation, the mechanical arm 5 is controlled and operated to move, so that the retaining wall punching mounting screw rod 9 is controlled to rotate inside a thread lifting hole of the retaining wall, the retaining wall is grabbed and lifted to mount the retaining wall of the vertical shaft, and the rapid mounting of the retaining wall is realized. The application of dado installation device adopts the prefabricated reinforced concrete part of modularization as the dado of hole stake, and lashing up of steel reinforcement cage, concrete placement and maintenance are all gone on subaerially, can realize batch production mass production, and the maintenance time is longer, and the quality obtains the guarantee more easily. Meanwhile, the prefabricated parts can reduce the time for binding the reinforcement cage with the cast concrete, supporting the mold, pouring the concrete and solidifying the concrete, thereby greatly improving the production efficiency.
The slag removing device 8 comprises a pushing oil cylinder 30 connected with the middle part of the bottom end of the working platform 4, a collecting barrel 32 connected with the bottom end of the pushing oil cylinder 30 through a universal joint 31, a driving motor 33 which is fixedly arranged at the top of the inner side of the collecting barrel 32 and can rotate forward and backward, a rotating shaft 34 connected with an output shaft of the driving motor 33, a spiral conveying reamer 35 connected with the rotating shaft 34, and scraping teeth 36 fixedly connected with the bottom edge of the spiral conveying reamer 35, wherein the pushing oil cylinder 30 and the driving motor 33 are connected with the control host 3.
The slag removal device 8 is mainly used for cleaning and removing the debris in the vertical shaft; when the slag removing device 8 is used, the slag removing device 8 and the mechanical arm 5 are lifted to the bottom of the vertical shaft by using the second hoisting machine 38, and the swing oil cylinder 29 and the pushing oil cylinder 30 in the slag removing device 8 are in a withdrawing state; after the slag removing device 8 and the mechanical arm 5 are in place, the hydraulic support telescopic rod 11 of the working platform 4 extends outwards and is fixed on the concrete retaining wall; the driving motor 33 operates to twist the rock debris below the device into the collecting barrel 32, and the pushing oil cylinder 30 extends outwards along with the reduction of the bottom working pressure to keep a certain pressure on the working surface; due to the existence of the protective wall, the diameter of the collecting barrel 32 is smaller than that of the slag to be cleaned, and the purpose of the swing oil cylinder 2930 is to enlarge the working range of scraping teeth (not shown in the figure) inside the slag cleaning device 8, so that the collecting barrel 32 can make swing motion to collect the debris to a larger extent; the inside clastic automatic clearance in hole is dug to shaft is realized to slag removal device 8 of this application, the danger that produces when not only eliminating artifical clearance still helps promoting work efficiency.
And after the first slag removal, inspecting the hole bottom by using an instrument, and if the hole bottom is not cleaned or has scraps or uneven height, lowering the slag removal device 8 for second operation, scraping the hole bottom into a plane as much as possible, and creating a good working surface for the next cycle operation.
And the first hoisting machine 37 is fixedly arranged on the crawler transport vehicle 1. This setting is mainly be convenient for with the loading and unloading transportation of the equipment that needs the transportation on the tracked carrier 1, makes equipment loading and unloading more convenient.
And a second hoisting machine 38 for hoisting the working platform 4, the slag removal device 8 and the shaft tunneling equipment in the shaft is also included. The arrangement is mainly convenient for hoisting the equipment in the shaft.
In this application, because the setting of crawler 1, the nimble transportation of the relevant equipment of robot of being convenient for, the tunnelling robot of being convenient for reachs, lacks peripheral places such as water source, power, shit and uses, moreover because work platform 4, arm 5, scarfing cinder device 8 and each shaft tunnelling equipment of transport can carry out the dismouting on crawler 1, make equipment use comparatively nimble, are convenient for promote the practicality.
In addition, in the present application, the drilling device 6 is mainly used for drilling, the position of the drilling machine 16 can be adjusted and moved by the drilling machine propulsion device 15, and drilling and cleaning of the drilled hole can be realized by controlling the drilling machine 16 and matching with the drill rod 17, the drill bit 18, the hole plug 19 and the rock debris cleaning tool 20.
When the mechanical arm 5 is used for operating the drilling machine 16, ventilation and lighting equipment is not needed, the mechanical force is larger than the human force, a larger drilling machine 16 and a larger drill bit 18 can be selected for drilling larger blastholes, the utilization rate of the blastholes during blasting is improved, the number of the blastholes during drilling is reduced, the blasting cost is saved, and the productivity is improved; due to unmanned operation, the ventilation and air pressure of the pneumatic rock drill can be increased, and the broken bits in the blast hole can be blown out of the blast hole more easily by high air pressure, so that the risk of jamming of the drill rod is reduced; because the strength of the mechanical arm is greater than that of a person, the mechanical arm is more beneficial to applying greater pressure on the drilling machine and accelerating the drilling speed of the drilling machine.
The blast hole filling device 7 is mainly used for filling explosives, detonators and stemming; in this application, owing to adopt mechanical operation, can reduce because of the mistake is controlled the potential safety hazard that leads to explosion personnel casualties, help improving work efficiency simultaneously.
The application of dado installation device adopts the prefabricated reinforced concrete part of modularization as the dado of hole stake, and lashing up of steel reinforcement cage, concrete placement and maintenance are all gone on subaerially, can realize batch production mass production, and the maintenance time is longer, and the quality obtains the guarantee more easily. Meanwhile, the prefabricated parts can reduce the time for binding the reinforcement cage with the cast concrete, supporting the mold, pouring the concrete and solidifying the concrete, thereby greatly improving the production efficiency.
The slag removal device 8 is mainly used for cleaning and removing the debris in the vertical shaft; the automatic cleaning of the fragments in the shaft excavation hole is realized through the slag removal device 8, the danger generated during manual cleaning is eliminated, and the work efficiency is also improved.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (9)
1. The utility model provides a bore and explode clear protection shaft tunnelling robot which characterized in that: including crawler carrier (1) that is used for carrying equipment, be provided with air compressor (2), main control system (3) on crawler carrier (1), main control system (3) detachable control is connected with work platform (4) that four shaft tunnelling were used, one of them work platform (4) are connected with scarfing cinder device (8), and is three in addition work platform (4) are connected with arm (5), arm (5) are provided with shaft tunnelling equipment, shaft tunnelling equipment passes through main control system (3) detachable control connects, air compressor (2) with shaft tunnelling equipment accordant connection.
2. The drill blasting shaft cleaning and protecting tunneling robot according to claim 1, characterized in that: work platform (4) including being two locating rack girder (10) that the cross structure set up, and hydraulic pressure that locating rack girder (10) both ends set up supports telescopic link (11), reaches articulated setting hoist and mount frame (12) and level (l) ing hydraulic support pole (13) on work platform (4), level (l) ing hydraulic support pole (13) with hoist and mount frame (12) are kept away from the one end of machines work platform (2) is articulated, be provided with lifting hook (14) on hoist and mount frame (12).
3. The drill blasting shaft cleaning and protecting tunneling robot according to claim 1, characterized in that: the shaft excavation equipment comprises a drilling device (6), a blast hole filling device (7) and a protective wall mounting device, wherein the drilling device (6), the blast hole filling device (7) and the protective wall mounting device are respectively connected with one mechanical arm (5).
4. The drill blasting shaft cleaning and protecting tunneling robot according to claim 3, characterized in that: the drilling device (6) comprises a drilling machine propelling device (15) connected to the mechanical arm (5), a drilling machine (16) is arranged on the drilling machine propelling device (15), a drilling rod (17) is arranged on the drilling machine (16), and a drill bit (18), a hole plug (19) and a rock debris cleaning tool (20) are sequentially arranged on the drilling rod (17) from bottom to top.
5. The drill blasting shaft cleaning and protecting tunneling robot according to claim 3, characterized in that: the blast hole filling device (7) comprises a conveying pipe (22) for leading explosive, detonator and stemming into a blast hole (21), a detonator clamping tool (23) and a metal high-pressure air pipe which are arranged at the inlet end of the conveying pipe (22), a material receiving bin (25) is arranged at the side edge of the conveying pipe (22) close to one end of the detonator clamping tool (23) and one end of the metal high-pressure air pipe, the material receiving bin (25) is provided with a material distributing wheel mechanism (26), the material distributing wheel mechanism (26) is provided with four material distributing grooves (27) in an annular array, a hopper (28) matched with the material distributing groove (27) is arranged on the material distributing wheel mechanism (26), the material conveying pipe (22) and the detonator clamping tool (23) are connected with a mechanical arm (5), divide material wheel mechanism (6) to be connected with control host computer (3), metal high-pressure air pipe with air compressor (2) are connected.
6. The drill blasting shaft cleaning and protecting tunneling robot according to claim 3, characterized in that: the wall protection mounting device comprises a wall protection perforation mounting screw rod (9) fixedly mounted on the mechanical arm (5), and the wall protection perforation mounting screw rod (9) is matched with a mounting hole (39) of the wall protection in a penetrating mode.
7. The drill blasting shaft cleaning and protecting tunneling robot according to claim 1, characterized in that: scarfing cinder device (8) include top push hydro-cylinder (30) that work platform (4) bottom middle part is connected, and collecting vessel (32) that top push hydro-cylinder (30) bottom is connected through universal joint (31), and fixed driving motor (33) that sets up in collecting vessel (32) inboard top can just reverse, and pivot (34) of the output shaft of driving motor (33) connection, and spiral transport reamer (35) of connecting on pivot (34), and spiral transport reamer (35) bottom border fixed connection scrape tooth (36), top push hydro-cylinder (30) and driving motor (33) are connected with control host (3).
8. The drill blasting shaft cleaning and protecting tunneling robot according to claim 1, characterized in that: the crawler-type hoisting device is characterized by further comprising a first hoisting machine (37) fixedly arranged on the crawler-type transport vehicle (1).
9. The drill blasting shaft cleaning and protecting tunneling robot according to claim 1, characterized in that: the device also comprises a second hoisting machine (38) for hoisting the working platform (4), the slag removing device (8) and the shaft tunneling equipment for the inside of the shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110973609.7A CN113482622A (en) | 2021-08-24 | 2021-08-24 | Drilling and blasting cleaning and protecting shaft tunneling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110973609.7A CN113482622A (en) | 2021-08-24 | 2021-08-24 | Drilling and blasting cleaning and protecting shaft tunneling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113482622A true CN113482622A (en) | 2021-10-08 |
Family
ID=77947054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110973609.7A Pending CN113482622A (en) | 2021-08-24 | 2021-08-24 | Drilling and blasting cleaning and protecting shaft tunneling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113482622A (en) |
-
2021
- 2021-08-24 CN CN202110973609.7A patent/CN113482622A/en active Pending
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