CN115559953A - Anti-drill-rod-jamming hydraulic oil path structure of rock drill and hydraulic control method - Google Patents
Anti-drill-rod-jamming hydraulic oil path structure of rock drill and hydraulic control method Download PDFInfo
- Publication number
- CN115559953A CN115559953A CN202211284096.XA CN202211284096A CN115559953A CN 115559953 A CN115559953 A CN 115559953A CN 202211284096 A CN202211284096 A CN 202211284096A CN 115559953 A CN115559953 A CN 115559953A
- Authority
- CN
- China
- Prior art keywords
- valve
- hydraulic
- pressure
- impact
- propulsion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000011435 rock Substances 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title claims abstract description 36
- 239000010720 hydraulic oil Substances 0.000 title claims abstract description 15
- 239000003921 oil Substances 0.000 claims abstract description 150
- 230000002265 prevention Effects 0.000 claims abstract description 17
- 238000005553 drilling Methods 0.000 claims description 37
- 230000009471 action Effects 0.000 abstract description 25
- 230000000694 effects Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 4
- 239000002893 slag Substances 0.000 description 3
- 238000010009 beating Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B1/00—Percussion drilling
- E21B1/02—Surface drives for drop hammers or percussion drilling, e.g. with a cable
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides a hydraulic oil path structure of a rock drill for preventing drill rod clamping and a hydraulic control method, belongs to the technical field of tunnel engineering equipment, and solves the problem that the drill rod clamping still exists in the traditional rock drill control method by adopting electrical control; the device comprises a propulsion control oil way for connecting a pump and a propulsion oil cylinder, an impact control oil way for connecting the pump and an impact oil cylinder, a rotary control oil way for connecting the pump and a rotary motor, a propulsion control valve group and an anti-jamming valve group which are arranged on the propulsion control oil way, and an impact control valve group and an anti-idle-driving valve group which are arranged on the impact control oil way; the thrust control oil way is also connected with an idle-trip prevention valve group through a first hydraulic feedback oil way, the impact control oil way is also connected with the thrust control valve group through a second hydraulic feedback oil way, and the rotary control oil way is also connected with an anti-jamming valve group through a third hydraulic feedback oil way; the invention directly feeds back the hydraulic pressure to various action valves by a hydraulic method, and has the effects of preventing drill rod clamping and quick response in the aspect of matching of the hydraulic action time sequence of the key rock drill.
Description
Technical Field
The invention belongs to the technical field of tunnel engineering equipment, is applied to rock drill equipment, and particularly relates to a rock drill hydraulic oil path structure for preventing drill rod clamping and a hydraulic control method.
Background
In the use process of the rock drill, the movement process of the rock drill relates to a plurality of control modes such as water path control, gas path control, lubrication control, hydraulic control and the like; the hydraulic control is used for enabling the rock drill to make various hydraulic actions including a propelling action, a rotating action and an impacting action, wherein the propelling action is divided into a forward action and a backward action, the rotating action is divided into a forward rotation and a backward rotation, and the impacting action is divided into a high-pressure impact and a low-pressure impact; in order to realize the mutual matching and the time sequence control between the hydraulic actions, meet the adaptability requirements of the rock drill on different rock strata and avoid the occurrence of the phenomenon of drill rod clamping, the hydraulic actions need to be accurately controlled.
The existing control method is a pressure sensing type electrical control method, namely, the pressure sensor is used for detecting the pressure of a corresponding pipeline of each hydraulic motion, and after program comparison and calculation, an electrical control signal is output to control the corresponding electromagnetic valve to act so as to realize corresponding hydraulic action; meanwhile, the hydraulic actions are closely matched, for example, when the rock drilling machine carries out high-pressure impact, the rock drilling machine simultaneously carries out forward propelling action and forward rotating action so as to carry out normal excavation operation.
In the normal excavation operation process, if the drill bit enters a crack, the resistance of the drill rod to rotation is suddenly increased and exceeds the maximum rotation torque provided by the system; at the moment, the drill rod needs to be retracted quickly, the drill rod can be pushed forward continuously after being pulled out, and the drill rod can be clamped and cannot be pulled out if the retraction is not quick; in the prior art, when a drill bit is about to enter a crack, the rotary pressure is suddenly increased, and the rotary pressure value reaches P after testing max In time, the bit will jam, so the following control logic is set: the pressure sensor detects the revolving pressure, and when the pressure value reaches P max 4 (MPa), cutting off the advanceThe electromagnetic valve stops propelling; when the pressure continues to increase, the pressure value reaches P max When the pressure is below 2 (MPa), the propulsion electromagnetic valve is reversely electrified, and the propulsion action is carried out for retreating; therefore, the prior art prevents the rotation pressure from reaching P by extracting the sensed pressure max Thereby avoiding the phenomenon that the drill bit is stuck after entering the crack.
However, the control method of the prior art has certain disadvantages as follows:
1. because of the pressure feedback of the sensor, the program calculation, the electrical output, the electromagnetic valve action and the pipeline pressure change, a certain time is required; even if the time course is short, whether the variation value of the actual pressure during the time is a preset value of 2 or 4 (MPa) or not is uncertain; the electromagnetic sensor type control method needs to accumulate a large amount of working condition data, needs to calculate effective control logic according to the working condition data, further tests the working condition, has long period, is difficult to accurately control, and is difficult to consider various working conditions, particularly the condition of sudden change of the working condition;
2. if the working condition suddenly changes, for example, the stratum suddenly hardens, the pressure change value containing the pressure peak value is more than 2 or 4 (MPa) possibly, so that the P is instantly reached max The value and the program are difficult to respond immediately, so that equipment misoperation is caused, the phenomenon of clamping a drill rod is caused, and the progress of a project is influenced;
3. the electric control of the sensor is easily influenced by the excavation environment, and the consequences of high temperature, loose plug, falling rocks, cable breaking, data disorder and the like caused by the excavation environment are all possible to occur, so that hydraulic misoperation is caused, and the reliability of the existing control method is poor.
Disclosure of Invention
The hydraulic control method directly feeds back the hydraulic control signals to various action valves by a hydraulic method, and has the effect of preventing drill rod clamping in the aspect of the key hydraulic action time sequence matching of the rock drill; under different working conditions, the rock drilling machine has the advantages of wide adaptability, quick response and reliable action, so that the rock drilling operation stability and reliability of the rock drilling machine are extremely high.
The invention adopts the following technical scheme to realize the purpose:
a hydraulic oil circuit structure of a rock drill for preventing drill rod clamping comprises a propulsion control oil circuit for connecting a pump and a propulsion oil cylinder, an impact control oil circuit for connecting the pump and an impact oil cylinder, and a rotation control oil circuit for connecting the pump and a rotation motor;
a propulsion control valve group and an anti-jamming valve group are arranged on the propulsion control oil circuit;
an impact control valve group and an idle-run prevention valve group are arranged on the impact control oil path;
the propulsion control oil path is also connected to the idle running prevention valve group through a first hydraulic feedback oil path;
the impact control oil path is also connected to the propulsion control valve group through a second hydraulic feedback oil path;
the rotary control oil path is also connected to the anti-jamming valve bank through a third hydraulic feedback oil path;
the propulsion control valve group is used for switching the working state of the propulsion oil cylinder, and the impact control valve group is used for switching the working state of the impact oil cylinder;
the idle-fighting prevention valve group is used for receiving the feedback of the rock drilling propulsion pressure and changing the working state of the impact oil cylinder;
the anti-jamming valve group is used for receiving the feedback of the rotating pressure of the drill bit and changing the working state of the propulsion oil cylinder.
Furthermore, the propulsion control valve group comprises a first hydraulic reversing valve, a first mechanical overflow valve and a first electromagnetic proportional overflow valve, wherein the first hydraulic reversing valve is used for receiving impact pressure fed back by a second hydraulic feedback oil way;
the impact control valve group comprises a first electromagnetic directional valve, a second mechanical overflow valve and a second electromagnetic proportional overflow valve;
the idle driving prevention valve group comprises a second hydraulic reversing valve, a third mechanical overflow valve and a fourth mechanical overflow valve, wherein the second hydraulic reversing valve is used for receiving the propelling pressure fed back by the first hydraulic feedback oil way;
the anti-jamming valve group comprises a third hydraulic reversing valve, a fourth hydraulic reversing valve and a one-way valve, wherein the third hydraulic reversing valve and the fourth hydraulic reversing valve are used for receiving the rotating pressure fed back by a third hydraulic feedback oil path, and the one-way valve is used for ensuring that the propulsion oil cylinder normally returns when the working condition of the third hydraulic reversing valve is open circuit.
Preferably, the idle operation preventing valve group further comprises a second electromagnetic directional valve; the second electromagnetic directional valve is used for independently controlling a high-pressure impact state during low-pressure propulsion to shake the drill rod, and the clamped drill rod can be loosened and replaced.
Furthermore, adjustable pressure springs are arranged inside the third hydraulic reversing valve and the fourth hydraulic reversing valve, and the adjustable pressure springs are used for enabling the third hydraulic reversing valve and the fourth hydraulic reversing valve to act according to the rotating pressure fed back by the third hydraulic feedback oil path, so that the working state of the propulsion oil cylinder is changed.
Optionally, the anti-jamming valve group further includes a fifth mechanical overflow valve and a sixth mechanical overflow valve, and the fifth mechanical overflow valve and the sixth mechanical overflow valve are configured to change a working state of the thrust cylinder according to rotation pressures received and transmitted by the third hydraulic reversing valve and the fourth hydraulic reversing valve.
The invention provides a rock drill hydraulic control method for preventing drill clamping according to the rock drill hydraulic oil circuit structure for preventing drill clamping, which comprises the following steps:
s1, during rock drilling, starting a propulsion oil cylinder to be in a forward state, and enabling a drill rod to be bound to a rock stratum;
s2, starting an impact oil cylinder and a rotary motor to rotate a drill rod and perform low-pressure impact tapping on a rock stratum;
s3, enabling the first hydraulic reversing valve to be in a normal position, and performing low-impact low-push propulsion to enable the drill rod to slowly enter a rock stratum;
s4, after the drill rod enters the rock stratum for a certain distance, enabling the first electromagnetic reversing valve to be electrified and carrying out high-pressure impact on the rock stratum;
and S5, when high-pressure impact occurs, setting a threshold value of the first hydraulic reversing valve to enable a feedback pressure value of the second hydraulic feedback oil path to be higher than the threshold value, closing the first hydraulic reversing valve, and enabling the propulsion oil cylinder to be in a high-impact high-thrust propulsion state.
Preferably, when the propelling pressure is lower than the set pressure of the fourth mechanical overflow valve, the second hydraulic directional control valve is in a normal position, the impact pressure is the set pressure of the third mechanical overflow valve, and the impact oil cylinder is in a low-impact state;
when the propelling pressure is higher than the set pressure of the fourth mechanical overflow valve, the second hydraulic directional control valve is in an open position, so that the first electromagnetic directional control valve and the second electromagnetic proportional overflow valve are electrified, and the impact oil cylinder is in a high-impact state;
when the first electromagnetic directional valve, the second electromagnetic directional valve and the second electromagnetic proportional overflow valve are electrified, the impact oil cylinder is in a high impact state and a drill rod shaking state even if the propelling pressure is lower than the set pressure of the fourth mechanical overflow valve.
Furthermore, when the conventional rock drilling work state is realized, the second hydraulic reversing valve is closed, and the idle-beating preventing valve group does not act; when meeting soft rock or cavity suddenly, propulsion pressure reduces rapidly, and when the second hydraulic reversing valve sensed the propulsion pressure value through first hydraulic pressure feedback oil circuit and reduced rapidly, the second hydraulic reversing valve switched to the open mode by the closed state, and fourth machinery overflow valve moved, and the percussion pressure reduced.
Further, under the working state of conventional rock drilling, if the rotating pressure is increased due to sudden abnormal working conditions, the rotating pressure is fed back to the anti-jamming valve group through the third hydraulic feedback oil way in real time, and when the rotating pressure is increased to the spring pressure value of the third hydraulic reversing valve, the advancing speed of the propulsion oil cylinder is slowed down until the propulsion oil cylinder finally stops; when the rotating pressure rises to the spring pressure value of the fourth hydraulic reversing valve, the propulsion oil cylinder enters a retreating state, and the two states can be mutually switched at any time along with the change of the rotating pressure.
Optionally, the rotation pressure is fed back to the anti-jamming valve group through a third hydraulic feedback oil path in real time, the rotation pressure is transmitted to a fifth mechanical overflow valve and a sixth mechanical overflow valve through a third hydraulic reversing valve and a fourth hydraulic reversing valve, and when the rotation pressure rises to a set threshold of the fifth mechanical overflow valve, the advancing speed of the propulsion oil cylinder is slowed until the propulsion oil cylinder finally stops; when the rotation pressure rises to a set threshold value of the sixth mechanical overflow valve, the propulsion oil cylinder enters a retreating state, and the two states can be switched with each other at any time along with the change of the rotation pressure.
In summary, due to the adoption of the technical scheme, the invention has the following beneficial effects:
compared with the prior art that an electrical control method is adopted when the phenomenon of drill rod clamping is prevented, the hydraulic control method is innovatively adopted to solve the problem; in the aspect of key hydraulic action time sequence matching of the rock drill, the hydraulic control oil way and the hydraulic feedback oil way are redesigned, and a hydraulic control method is adopted, so that hydraulic pressure is directly fed back to corresponding valve action, the drill rod clamping is avoided, and meanwhile, the control operation of normal production is more convenient; therefore, compared with electromagnetic drive control, the rock drilling machine has the advantages that under the common control of the plurality of hydraulic feedback oil paths, the rock drilling machine is reliable and stable in action, high in mechanical efficiency, capable of adapting to severe environments of rock drilling sites, capable of avoiding unnecessary power loss such as heating in an electric control mode and high in economic value brought by practical application.
Drawings
FIG. 1 is a schematic view of the structural connections of the hydraulic circuit of the rock drill of the present invention;
fig. 2 is another structural connection diagram of the hydraulic oil circuit of the rock drilling machine.
The symbols in the drawings represent the following meanings:
1-a propulsion control valve group, 11-a first hydraulic reversing valve, 12-a first mechanical overflow valve, 13-a first electromagnetic proportional overflow valve, 2-an impact control valve group, 21-a first electromagnetic reversing valve, 22-a second mechanical overflow valve, 23-a second electromagnetic proportional overflow valve, 3-an idle-trip prevention valve group, 31-a second hydraulic reversing valve, 32-a third mechanical overflow valve, 33-a fourth mechanical overflow valve, 4-an anti-jamming valve group, 41-a third hydraulic reversing valve, 42-a fourth hydraulic reversing valve, 43-a check valve, 44-an orifice, 45-a fifth mechanical overflow valve, 46-a sixth mechanical overflow valve, 5-a pump, 61-a first hydraulic feedback oil path, 62-a second hydraulic feedback oil path, 63-a third hydraulic feedback oil path, 71-a propulsion oil cylinder, 72-an impact oil cylinder, 73-a rotary motor and 8-an electric proportional multi-way valve.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
Example 1
As shown in fig. 1 or fig. 2, a hydraulic oil path structure of a rock drill for preventing drill rod jamming comprises a propulsion control oil path connecting a pump 5 and a propulsion oil cylinder 71, an impact control oil path connecting the pump 5 and an impact oil cylinder 72, and a rotation control oil path connecting the pump 5 and a rotation motor 73; the propulsion control oil path, the impact control oil path and the rotation control oil path are all provided with an electric proportional multi-way valve 8 which is used for controlling the propulsion oil cylinder 71, the impact oil cylinder 72 and the rotation motor 73 to be operated normally, such as start and stop and the like, and is a basic control device.
A propulsion control valve group 1 and an anti-jamming valve group 4 are arranged on the propulsion control oil circuit;
an impact control valve group 2 and an idle-fighting prevention valve group 3 are arranged on the impact control oil path;
the propulsion control oil path is also connected to the idle running prevention valve group 3 through a first hydraulic feedback oil path 61;
the impact control oil path is also connected to the propulsion control valve group 1 through a second hydraulic feedback oil path 62;
the rotary control oil path is also connected to the anti-jamming valve group 4 through a third hydraulic feedback oil path 63;
the propulsion control valve group 1 is used for switching the working state of the propulsion oil cylinder 71, and the impact control valve group 2 is used for switching the working state of the impact oil cylinder 72;
the idle-fighting valve group 3 is used for receiving the feedback of the rock drilling propulsion pressure and changing the working state of the impact oil cylinder 72;
the anti-jamming valve group 4 is used for receiving feedback of bit rotation pressure and changing the working state of the propulsion oil cylinder 71.
Wherein, the working state of the propulsion oil cylinder 71 comprises forward movement and backward movement, and the propulsion pressure comprises low-pressure propulsion and high-pressure propulsion; the working state of the impact cylinder 72 includes low-pressure impact and high-pressure impact; the operation state of the rotation motor 73 includes forward rotation and reverse rotation.
In this embodiment, the functional valve groups are specifically set as follows:
the propulsion control valve group 1 comprises a first hydraulic reversing valve 11, a first mechanical overflow valve 12 and a first electromagnetic proportional overflow valve 13, wherein the first hydraulic reversing valve 11 is used for receiving impact pressure fed back by a second hydraulic feedback oil path 62;
the impact control valve group 2 comprises a first electromagnetic directional valve 21, a second mechanical overflow valve 22 and a second electromagnetic proportional overflow valve 23;
the idle operation preventing valve group 3 comprises a second hydraulic reversing valve 31, a third mechanical overflow valve 32 and a fourth mechanical overflow valve 33, wherein the second hydraulic reversing valve 31 is used for receiving the propelling pressure fed back by the first hydraulic feedback oil path 61;
the anti-jamming valve group 4 comprises a third hydraulic reversing valve 41, a fourth hydraulic reversing valve 42 and a one-way valve 43, wherein the third hydraulic reversing valve 41 and the fourth hydraulic reversing valve 42 are used for receiving the rotating pressure fed back by the third hydraulic feedback oil path 63, and the one-way valve 43 is used for ensuring the normal retraction of the propulsion oil cylinder when the working condition of the third hydraulic reversing valve 41 is open circuit.
In the propulsion control valve group 1, the first mechanical overflow valve 12 is used for controlling the low-pressure propulsion pressure of the propulsion oil cylinder 71, and the first electromagnetic proportional overflow valve 13 is used for controlling the high-pressure propulsion pressure of the propulsion oil cylinder 71;
in the impact control valve group 2, the pressure of the low-pressure impact state of the impact oil cylinder 72 is controlled by the second mechanical overflow valve 22; the pressure in the high-pressure impact state is controlled by the second electromagnetic proportional relief valve 23.
In this embodiment, as a more convenient arrangement in actual use, a second electromagnetic directional valve (not shown in the figure) controlled manually or by a program can be added at the idle operation prevention valve group 3; the second electromagnetic directional valve is used for independently switching the impact oil cylinder 72 to be in a high-pressure impact state during low-pressure propulsion to shake the drill rod, so that the clamped drill rod can be loosened and replaced; because the impact cylinder 72 is in a low-pressure impact state in a low-pressure propulsion state under a conventional condition, the second electromagnetic directional valve is realized as a manual switch on an oil path structure.
In this embodiment, as shown in fig. 1, specifically, the third hydraulic directional control valve 41 and the fourth hydraulic directional control valve 42 are internally provided with adjustable pressure springs, and the adjustable pressure springs are used for actuating the third hydraulic directional control valve 41 and the fourth hydraulic directional control valve 42 according to the rotation pressure fed back by the third hydraulic feedback oil path 63, so as to change the working state of the thrust oil cylinder 71.
At present, the diameter of a rotating rod used for the rock drilling machine at home can be divided into phi 45, phi 51, phi 76, phi 89 and phi 102, and for the third hydraulic reversing valve 41 and the fourth hydraulic reversing valve 42 used in the embodiment, the working state of the propulsion oil cylinder 71 is changed into a propulsion stopping state and a reverse propulsion stopping state, namely, forward movement stopping and backward movement stopping when the feedback rotating pressure reaches a set value; therefore, the present embodiment provides specific set values of the adjustable pressure spring (the set values may be influenced by various factors such as specific rock formation, drill bit style, whether slag discharge is smooth, rotation speed, propulsion speed, etc., and are not necessarily set according to the following pressure values, and the following set values are only used as references) as follows:
for rotating rods with the diameter of phi 45 and phi 51, the spring pressure value of the third hydraulic reversing valve is adjusted to 6MPa, and the spring pressure value of the fourth hydraulic reversing valve is adjusted to 8MPa;
for rotating rods with diameters phi 76 and phi 89, the spring pressure value of the third hydraulic reversing valve is adjusted to 7MPa, and the spring pressure value of the fourth hydraulic reversing valve is adjusted to 9MPa;
for a rotating rod with the diameter of phi 102, the spring pressure value of the third hydraulic reversing valve is adjusted to be 8MPa, and the spring pressure value of the fourth hydraulic reversing valve is adjusted to be 9MPa.
The spring pressure of the third hydraulic directional control valve 41 and the fourth hydraulic directional control valve 42 is directly adjusted to be set, and the hydraulic directional control valve has the characteristic of simple and convenient adjustment in the practical application process; the maximum adjusting pressure of the valve is 10.5MPa, and the adjusting pressure of each circle of the adjusting screw is 2.1MPa (the adjusting range of the valve is 5 circles), so that the pressure can be adjusted more accurately; through the control of the hydraulic load feedback oil way, the hydraulic load feedback oil way can be timely and better suitable for different working condition requirements, has the advantages of timely, reliable, effective and stable action (compared with electromagnetic drive program control), high mechanical efficiency, unnecessary power loss such as overflow, throttling and the like, less system heating and the like, and has strong pollution resistance, difficult blockage and low fault.
Example 2
On the basis of embodiment 1, this embodiment specifically describes a rock drill hydraulic control method for preventing drill jamming by using a rock drill hydraulic oil path structure therein.
The control method of the conventional rock drilling working state comprises the following steps:
s1, during rock drilling, starting the propulsion oil cylinder 71 to be in a forward state, and enabling the drill rod to be jacked to a rock stratum;
s2, starting the impact oil cylinder 72 and the rotary motor 73 to rotate the drill rod and perform low-pressure impact tapping on the rock stratum;
s3, enabling the first hydraulic reversing valve 11 to be in a normal position, and performing low-impact low-push propelling to enable the drill rod to slowly enter a rock stratum;
s4, after the drill rod enters the rock stratum for a certain distance, enabling the first electromagnetic directional valve 21 to be electrified, and performing high-pressure impact on the rock stratum;
s5, when high pressure impacts, the feedback pressure value of the second hydraulic feedback oil path 62 is higher than the threshold value by setting the threshold value of the first hydraulic reversing valve 11, the first hydraulic reversing valve 11 is closed, and the propulsion oil cylinder 71 is in a high-impact high-thrust propulsion state.
Due to the hydraulic active mode, the high-pressure thrust is actively carried out during high-pressure impact, the action is rapid and reliable, the working efficiency is improved, and the operation difficulty is reduced.
The working process of the idle-fighting valve group 3 can comprise the following steps:
when the propelling pressure is lower than the set pressure of the fourth mechanical overflow valve 33, the second hydraulic directional control valve 31 is in a normal position, the impact pressure is the set pressure of the third mechanical overflow valve 32, and the impact oil cylinder 72 is in a low-impact state;
when the propelling pressure is higher than the set pressure of the fourth mechanical overflow valve 33, the second hydraulic directional control valve 31 is in an open position, so that the first electromagnetic directional control valve 21 and the second electromagnetic proportional overflow valve 23 are electrified, and the impact oil cylinder 72 is in a high-impact state;
when the first electromagnetic directional valve 21, the second electromagnetic directional valve (not shown in the figure) and the second electromagnetic proportional relief valve 23 are powered on, even if the propelling pressure is lower than the set pressure of the fourth mechanical relief valve 33, the impact cylinder 72 is in a high-impact state and a drill-shaking state; the control method is convenient to switch the working state of the impact oil cylinder 72 according to the situation in actual use.
The following describes the control method principle when sudden abnormal conditions are encountered in the conventional rock drilling process.
In the rock drilling process, the following three drill clamping working conditions are met:
1. when the rock drilling is advanced, the rock drilling suddenly encounters soft rock or cavities;
2. when the rock drilling is pushed, the slag discharge is not smooth due to reasons such as unsmooth waterway and the like, and the rotation resistance of the drill rod is gradually increased;
3. when the rock drilling advances, the drill rod suddenly encounters a crack, and the rotation resistance of the drill rod is suddenly increased.
When the working condition 1 is met, timely control is needed, and idle drilling is avoided; when the rock drilling is in a normal working state, the second hydraulic directional control valve 31 is closed, and the idle-beating preventing valve group 3 does not act; when the rock is suddenly soft or in a cavity, the propelling pressure can be rapidly reduced, at the moment, the second hydraulic directional control valve 31 senses that the propelling pressure value is rapidly reduced through the first hydraulic feedback oil path 61, the second hydraulic directional control valve 31 is switched from a closed state to an open state, the fourth mechanical overflow valve 33 acts, and the impact pressure is reduced.
When the working conditions of 2 nd and 3 rd are met, timely control is needed, and idle drilling is avoided; under the working state of conventional rock drilling, if the rotating pressure is increased due to sudden abnormal working conditions, the rotating pressure is fed back to the anti-jamming valve group 4 in real time through the third hydraulic feedback oil path 63, and when the rotating pressure is increased to the spring pressure value of the third hydraulic reversing valve 41, the advancing speed of the propulsion oil cylinder 71 is slowed down until the propulsion oil cylinder finally stops; when the rotation pressure rises to the spring pressure value of the fourth hydraulic directional control valve 42, the thrust cylinder 71 enters a retreating state, and the two states are switched with each other constantly along with the change of the rotation pressure, so that the purpose of timely, quickly and effectively protecting the rotating rod in a hydraulic manner and preventing the drill rod from being jammed is achieved.
Example 3
On the basis of the embodiments 1 and 2, the latter two of the three drill clamping working conditions which can be met in the rock drilling process are as follows:
1. when the rock drilling is pushed, the slag discharge is not smooth due to reasons such as unsmooth waterway and the like, and the rotation resistance of the drill rod is gradually increased;
2. when the rock drilling advances, the drill rod suddenly encounters a crack, and the rotation resistance of the drill rod is suddenly increased.
In this embodiment, on the basis of the hydraulic oil path structure in embodiment 1, the following structure is adopted to implement the control method:
the anti-jamming valve group 4 further comprises a fifth mechanical overflow valve 45 and a sixth mechanical overflow valve 46, wherein the fifth mechanical overflow valve 45 and the sixth mechanical overflow valve 46 are used for changing the working state of the propulsion cylinder 71 according to the rotation pressure received and transmitted by the third hydraulic reversing valve 41 and the fourth hydraulic reversing valve 42.
In this embodiment, the spring pressure of the third hydraulic directional control valve 41 and the fourth hydraulic directional control valve 42 does not need to be adjusted according to the specific diameter of the rotating rod, but the set opening pressure of the fifth mechanical overflow valve 45 and the sixth mechanical overflow valve 46 is adopted, and the purpose of protecting the rotating rod and avoiding the jamming of the drilling rod by matching with the throttle hole 44 arranged on the corresponding oil path structure is realized; the third hydraulic directional control valve 41 and the fourth hydraulic directional control valve 42 have the characteristics of reducing the complexity of structural operations and increasing the reliability thereof, and each of them has advantages as compared with embodiment 1.
The specific control method is based on embodiment 2, and has the following differences:
when the two abnormal working conditions are met, timely control is needed, and idle drilling is avoided; the rotation pressure is fed back to the anti-jamming valve group 4 in real time through a third hydraulic feedback oil path 63, the rotation pressure is transmitted to a fifth mechanical overflow valve 45 and a sixth mechanical overflow valve 46 through a third hydraulic reversing valve 41 and a fourth hydraulic reversing valve 42, and when the rotation pressure rises to a set threshold value of the fifth mechanical overflow valve 45, the advancing speed of a propulsion oil cylinder 71 is slowed until the final stop is achieved; when the rotation pressure rises to the set threshold value of the sixth mechanical relief valve 46, the thrust cylinder 71 enters a retreating state, and the two states are switched with each other constantly along with the change of the rotation pressure, so that the purposes of timely, quickly and effectively protecting the rotating rod and preventing the drill rod from being clamped in a hydraulic mode are also achieved.
Claims (10)
1. The utility model provides a rock drill hydraulic oil circuit structure of anti-sticking borer which characterized in that: the device comprises a propulsion control oil path for connecting a pump and a propulsion oil cylinder, an impact control oil path for connecting the pump and an impact oil cylinder, and a rotation control oil path for connecting the pump and a rotation motor;
a propulsion control valve group and an anti-jamming valve group are arranged on the propulsion control oil circuit;
an impact control valve bank and an idle-fighting prevention valve bank are arranged on the impact control oil circuit;
the propulsion control oil path is also connected to the idle running prevention valve group through a first hydraulic feedback oil path;
the impact control oil path is also connected to the propulsion control valve group through a second hydraulic feedback oil path;
the rotary control oil path is also connected to the anti-jamming valve bank through a third hydraulic feedback oil path;
the propulsion control valve group is used for switching the working state of the propulsion oil cylinder, and the impact control valve group is used for switching the working state of the impact oil cylinder;
the idle-fighting prevention valve group is used for receiving the feedback of the rock drilling propulsion pressure and changing the working state of the impact oil cylinder;
the anti-jamming valve group is used for receiving the feedback of the rotating pressure of the drill bit and changing the working state of the propulsion oil cylinder.
2. The hydraulic oil path structure of the rock drill for preventing the drill rod from being stuck as claimed in claim 1, wherein:
the propulsion control valve group comprises a first hydraulic reversing valve, a first mechanical overflow valve and a first electromagnetic proportional overflow valve, wherein the first hydraulic reversing valve is used for receiving impact pressure fed back by a second hydraulic feedback oil way;
the impact control valve group comprises a first electromagnetic directional valve, a second mechanical overflow valve and a second electromagnetic proportional overflow valve;
the idle driving prevention valve group comprises a second hydraulic reversing valve, a third mechanical overflow valve and a fourth mechanical overflow valve, wherein the second hydraulic reversing valve is used for receiving the propelling pressure fed back by the first hydraulic feedback oil way;
the anti-jamming valve group comprises a third hydraulic reversing valve, a fourth hydraulic reversing valve and a one-way valve, wherein the third hydraulic reversing valve and the fourth hydraulic reversing valve are used for receiving the rotating pressure fed back by a third hydraulic feedback oil path, and the one-way valve is used for ensuring that the propulsion oil cylinder normally returns when the working condition of the third hydraulic reversing valve is open circuit.
3. The hydraulic oil path structure of the rock drill for preventing the drill rod from being stuck as claimed in claim 2, wherein: the idle driving prevention valve group further comprises a second electromagnetic directional valve; the second electromagnetic directional valve is used for independently controlling a high-pressure impact state during low-pressure propulsion.
4. The hydraulic oil path structure of the rock drill for preventing the drill rod from being stuck as claimed in claim 2, wherein: and adjustable pressure springs are arranged inside the third hydraulic reversing valve and the fourth hydraulic reversing valve and used for enabling the third hydraulic reversing valve and the fourth hydraulic reversing valve to act according to the rotating pressure fed back by the third hydraulic feedback oil path, so that the working state of the propulsion oil cylinder is changed.
5. The hydraulic oil path structure of the rock drill for preventing the drill rod from being stuck as claimed in claim 2, wherein: the anti-jamming valve group further comprises a fifth mechanical overflow valve and a sixth mechanical overflow valve, and the fifth mechanical overflow valve and the sixth mechanical overflow valve are used for changing the working state of the thrust cylinder according to the rotating pressure received and transmitted by the third hydraulic reversing valve and the fourth hydraulic reversing valve.
6. The method for controlling the hydraulic pressure of the rock drill for preventing the drill jamming according to any one of claims 3 to 5, characterized by comprising the following steps:
s1, during rock drilling, starting a propulsion oil cylinder to be in a forward state, and enabling a drill rod to be bound to a rock stratum;
s2, starting the impact oil cylinder and the rotary motor to rotate the drill rod and perform low-pressure impact hole opening on the rock stratum;
s3, enabling the first hydraulic reversing valve to be in a normal position, and performing low-impact low-push propulsion to enable the drill rod to slowly enter a rock stratum;
s4, after the drill rod enters the rock stratum for a certain distance, enabling the first electromagnetic directional valve to be electrified, and performing high-pressure impact on the rock stratum;
and S5, when high-pressure impact occurs, setting a threshold value of the first hydraulic reversing valve to enable a feedback pressure value of the second hydraulic feedback oil path to be higher than the threshold value, closing the first hydraulic reversing valve, and enabling the propulsion oil cylinder to be in a high-impact high-thrust propulsion state.
7. The hydraulic control method for the drill rod jamming prevention rock drilling machine according to claim 6, characterized by comprising the following steps:
when the propelling pressure is lower than the set pressure of the fourth mechanical overflow valve, the second hydraulic directional control valve is in a normal position, the impact pressure is the set pressure of the third mechanical overflow valve, and the impact oil cylinder is in a low-impact state;
when the propelling pressure is higher than the set pressure of the fourth mechanical overflow valve, the second hydraulic directional control valve is in an open position, so that the first electromagnetic directional control valve and the second electromagnetic proportional overflow valve are electrified, and the impact oil cylinder is in a high-impact state;
when the first electromagnetic directional valve, the second electromagnetic directional valve and the second electromagnetic proportional overflow valve are electrified, the impact oil cylinder is in a high impact state and a drill rod shaking state even if the propelling pressure is lower than the set pressure of the fourth mechanical overflow valve.
8. The method for controlling the hydraulic pressure of the rock drill capable of preventing the drill from being blocked according to claim 6, characterized by comprising the following steps: when the second hydraulic reversing valve senses that the pushing pressure value is rapidly reduced through the first hydraulic feedback oil path, the second hydraulic reversing valve is switched from a closed state to an open state, the fourth mechanical overflow valve acts, and the impact pressure is reduced.
9. The hydraulic control method for the drill rod jamming prevention rock drilling machine according to claim 6, characterized by comprising the following steps: the rotating pressure is fed back to the anti-jamming valve bank in real time through a third hydraulic feedback oil path, and when the rotating pressure rises to the spring pressure value of a third hydraulic reversing valve, the advancing speed of the propulsion oil cylinder is slowed until the propulsion oil cylinder finally stops; when the rotating pressure rises to the spring pressure value of the fourth hydraulic reversing valve, the propulsion oil cylinder enters a retreating state.
10. The hydraulic control method for the drill rod jamming prevention rock drilling machine according to claim 6, characterized by comprising the following steps: the rotating pressure is fed back to the anti-jamming valve group through a third hydraulic feedback oil path in real time, the rotating pressure is transmitted to a fifth mechanical overflow valve and a sixth mechanical overflow valve through a third hydraulic reversing valve and a fourth hydraulic reversing valve, and when the rotating pressure rises to a set threshold value of the fifth mechanical overflow valve, the advancing speed of the propulsion oil cylinder is slowed down until the propulsion oil cylinder finally stops; and when the rotation pressure rises to a set threshold value of the sixth mechanical overflow valve, the propulsion oil cylinder enters a retreating state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211284096.XA CN115559953B (en) | 2022-10-20 | 2022-10-20 | Drill rod-blocking-preventing hydraulic oil circuit structure of rock drill and hydraulic control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211284096.XA CN115559953B (en) | 2022-10-20 | 2022-10-20 | Drill rod-blocking-preventing hydraulic oil circuit structure of rock drill and hydraulic control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115559953A true CN115559953A (en) | 2023-01-03 |
| CN115559953B CN115559953B (en) | 2023-09-08 |
Family
ID=84746316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211284096.XA Active CN115559953B (en) | 2022-10-20 | 2022-10-20 | Drill rod-blocking-preventing hydraulic oil circuit structure of rock drill and hydraulic control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115559953B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090025947A1 (en) * | 2005-04-15 | 2009-01-29 | Vesa Peltonen | Method, arrangement and valve for controlling rock drilling |
| CN107061395A (en) * | 2017-04-13 | 2017-08-18 | 宜昌精博艺工程机械设备制造有限公司 | Rock drill air defense is hit, anti-sticking energy-saving type Hydraulic system and control method |
| CN206636854U (en) * | 2017-04-13 | 2017-11-14 | 宜昌精博艺工程机械设备制造有限公司 | A kind of rock drilling machine hydraulic system of bringing onto load sensitive valve |
| CN109854553A (en) * | 2019-04-03 | 2019-06-07 | 四川钻神智能机械制造有限公司 | A kind of anti-sticking pricker system in chance cavity of drill jumbo |
| CN110242628A (en) * | 2019-07-24 | 2019-09-17 | 湖南五新隧道智能装备股份有限公司 | Anti-sticking pricker hydraulic control system and rock drilling equipment |
| JP2020007727A (en) * | 2018-07-03 | 2020-01-16 | 株式会社Taiyo | Hydraulic rock drill, damper hydraulic circuit and method for controlling pressure of damper |
| CN210343892U (en) * | 2019-07-24 | 2020-04-17 | 湖南五新隧道智能装备股份有限公司 | Anti-drill-rod-jamming hydraulic control system and rock drilling equipment |
| CN210370482U (en) * | 2019-08-08 | 2020-04-21 | 河北中瑞智能机械设备制造有限公司 | Drill jumbo anti-sticking borer system |
-
2022
- 2022-10-20 CN CN202211284096.XA patent/CN115559953B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090025947A1 (en) * | 2005-04-15 | 2009-01-29 | Vesa Peltonen | Method, arrangement and valve for controlling rock drilling |
| CN107061395A (en) * | 2017-04-13 | 2017-08-18 | 宜昌精博艺工程机械设备制造有限公司 | Rock drill air defense is hit, anti-sticking energy-saving type Hydraulic system and control method |
| CN206636854U (en) * | 2017-04-13 | 2017-11-14 | 宜昌精博艺工程机械设备制造有限公司 | A kind of rock drilling machine hydraulic system of bringing onto load sensitive valve |
| JP2020007727A (en) * | 2018-07-03 | 2020-01-16 | 株式会社Taiyo | Hydraulic rock drill, damper hydraulic circuit and method for controlling pressure of damper |
| CN109854553A (en) * | 2019-04-03 | 2019-06-07 | 四川钻神智能机械制造有限公司 | A kind of anti-sticking pricker system in chance cavity of drill jumbo |
| CN110242628A (en) * | 2019-07-24 | 2019-09-17 | 湖南五新隧道智能装备股份有限公司 | Anti-sticking pricker hydraulic control system and rock drilling equipment |
| CN210343892U (en) * | 2019-07-24 | 2020-04-17 | 湖南五新隧道智能装备股份有限公司 | Anti-drill-rod-jamming hydraulic control system and rock drilling equipment |
| CN210370482U (en) * | 2019-08-08 | 2020-04-21 | 河北中瑞智能机械设备制造有限公司 | Drill jumbo anti-sticking borer system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115559953B (en) | 2023-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4356871A (en) | Hydraulic control system for a rock drill | |
| JP5538535B2 (en) | Rock drilling rig control system and control method | |
| US4440236A (en) | Hydraulic control system for a rock drill | |
| CN103821451B (en) | Hydraulic control system of anti-clamping drill rod of rock drilling machine | |
| US6357537B1 (en) | Directional drilling machine and method of directional drilling | |
| CN112983907B (en) | Hydraulic control system for rock drilling impact | |
| CN110242628B (en) | Anti-seizing hydraulic control system and rock drilling equipment | |
| CN102383778B (en) | Logic control loop for rock drilling operations of hydraulic rock drilling machine | |
| CN112727818B (en) | Hydraulic control system of rock drill | |
| CN107061395B (en) | Rock drill air defense hits, anti-sticking energy-saving type Hydraulic system and control method | |
| CN102425401B (en) | Electro-hydraulic logic control loop of rock drilling actions of hydraulic rock drilling machine | |
| CN210343892U (en) | Anti-drill-rod-jamming hydraulic control system and rock drilling equipment | |
| CN108194444B (en) | Anti-idle-drilling hydraulic system of top hammer drilling machine and control method thereof | |
| CN203716837U (en) | Anti-clamping bit hydraulic control system for rock drill | |
| CN101358522B (en) | Implementation of jog-opening, adaptive ability and automatic anti-blocking and rotating function of drill | |
| CN109854553B (en) | Cavity anti-seizing drill rod system of drilling jumbo | |
| CN115559953A (en) | Anti-drill-rod-jamming hydraulic oil path structure of rock drill and hydraulic control method | |
| CN206636851U (en) | Rock drill air defense is hit, anti-sticking energy-saving type hydraulic system | |
| CN211039203U (en) | Multi-way reversing valve of multifunctional tunnel drilling machine | |
| CN210370482U (en) | Drill jumbo anti-sticking borer system | |
| CN112832736B (en) | Automatic anti-sticking bores hydraulic coal mine drilling machine | |
| CN210217604U (en) | Power head operating system of rotary drilling rig and rotary drilling rig | |
| CN116025330B (en) | Electric control type rock drill hydraulic control structure and control method for preventing drill rod from being blocked | |
| CN217354959U (en) | Rock drilling propulsion system controlled by electro-hydraulic proportional valve | |
| CN105332967A (en) | Self-adaptive valve bank for rock drilling machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |