CN200940444Y - Automatic guide system for horizontal positioning drill - Google Patents
Automatic guide system for horizontal positioning drill Download PDFInfo
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- CN200940444Y CN200940444Y CN 200620115955 CN200620115955U CN200940444Y CN 200940444 Y CN200940444 Y CN 200940444Y CN 200620115955 CN200620115955 CN 200620115955 CN 200620115955 U CN200620115955 U CN 200620115955U CN 200940444 Y CN200940444 Y CN 200940444Y
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Abstract
The utility model is a horizontal directional drilling automatic guide system of the horizontal directional drilling automatic guide crossing the trajectory according to reservation and the automatic acquisition and the management of the working condition information.The utility model relates to the technology area of the measurement, the control and the pipeline system, which is characterized in that the system comprises an industrial computer [8], PLC[1], a field monitoring sensor and a controlling switch. The industrial computer [8] is connected with the PLC[1] which has multiple path field monitoring sensor input, the controlling input and the controlling output.The utility model can realize the real time positioning, the rectification and adjustment, the working condition management, the parameters record and the data storage of the drilling process of the horizontal directional drilling.The utility model can do the real time monitor and the rectification, which can realize the guiding drilling with high precision.The operation platform of man-machine conversation becomes clear and convenient. .
Description
Technical field
The utility model is a horizontal directional drill by predeterminedly passing through the track automatic guide, finishing that work information is gathered automatically and the horizontal directional drill automatic guiding system of management, relates to measurement, control and pipe-line system technical field.
Background technology
Along with developing rapidly of China's economy and urbanization construction, the horizontal directional drill construction technology has obtained application more and more widely, especially uses more general in gas distributing system is built.Horizontal directional drill relies on high-precision location and guidance system, and to the drill bit control that detects in real time and rectify a deviation, along with the progress of electronic technology, the performance of guidance system has obtained quick raising.The indispensability that the directed guide device that bores of domestic existing level passes through as the manual operation orientation mostly is with reference to equipment, and state's interior orientation passes through and generally can't utilize guidance system to creep into automatically, can't be according to the predetermined curve full-automatic control equipment that creeps into.
In the horizontal directional drill execution control, the floor data of domestic horizontal directional drill relies on manual record for a long time, cause human error easily, error of omission, the afterthought phenomenon, especially creep at positioning drill guide, reaming, return and to drag when occurring working conditions change or construction in the process and breaking down, floor data according to the timing hand-kept, lag behind owing to the discontinuity of data with to the information data analysis, can not be timely, the historical trend that changes of analysis-by-synthesis duty parameter exactly, be difficult to accurately pass through legibly curve, construction situation when chart comes reason that analysis of failure takes place and fault to take place is unfavorable for scientifically carrying out execution control work.
New through looking into, domestic now do not have a kind of horizontal directional drill that can utilize automatic guiding system to carry out that orientation is passed through and can gather and manage work information, and along with the developing rapidly of China's economy and urbanization construction, the application of horizontal directional drill construction technology is more and more general.The domestic existing big-and-middle-sized horizontal directional drill overwhelming majority does very difficulty of some technological improvements from external introduction on the level of existing execution control.Therefore, actual requirement at the horizontal directional drill execution control, develop a kind of can the automatic guide crossing construction, the horizontal directional drill automatic guiding system that can carry out the construction information management again is very important, can replace the manual record that orientation is passed through management and work information that carries out during construction fully, can collect the real-time condition of alarm point during fault alarm apace, playback history trend helps administrative staff to carry out technical Analysis.
The utility model content
The purpose of this utility model is a kind of horizontal directional drill automatic guiding system of realizing real-time positioning, correction adjustment, working condition measuring, reference record and the data storage of horizontal directional drill drilling process of design.
The technical solution of the utility model is to build supervisory system of closed on the Industrial Personal Computer (IPC) software platform of oneself developing, it constitutes as shown in Figure 1, form by Industrial Personal Computer (IPC) 8, PLC1, field monitoring sensor and gauge tap, Industrial Personal Computer (IPC) 8 is connected with PLC1, and PLC1 has input, control input and the control output of multichannel field monitoring sensor.Wherein PLC1 is made up of power module 2, CPU module 3, analog quantity input module (1) 4, analog quantity input module (2) 5, switching input module 6, switching value output module 7, the input of an analog quantity input module connects the sensor output of collection site duty parameter, and pass to Industrial Personal Computer (IPC) by the RS232 communication port, data are handled; Another analog quantity input module is exported with the sensor in the positioning drill guide instrument 13 and is connected, and the data that drill bit advances is imported Industrial Personal Computer (IPC), and compare with the default lead curve in Industrial Personal Computer (IPC) 8 databases, sends correction to the correction propulsion system and instructs; The input of switching input module 6 connects pressure limit protection switch, system failure self check contact and the equipment start-stop button of detection system through switching value input contact 14; Switching value output module 7 is through switching value output contact 15 meet sb. at the airport electric equipment start-stop switch, emergency shutdown switch.
Wherein the field monitoring sensor has drilling rod torque sensor 9, creeps into thrust pickup 10, the bit depth sensor 16 in pull-back force sensor 12, mud flow rate sensor 13 and the positioning drill guide instrument 13, bit face be to angle transducer 17, temperature of diamond bit sensor 18, drill bit obliquity sensor 19.The gauge tap [seeing Fig. 4] that connects through switching value input contact 14 creeps into motor start and stop button, slush pump start and stop button, drags start and stop button, drilling rod automatic loading and unloading start button, drilling rod automatic loading and unloading stop button, system's emergency shutdown button, pressure limit protection switch, fault interlock protection contact automatic time.Connecing gauge tap [seeing Fig. 5] through switching value output contact 15 has slush pump start and stop control, drill bit correction motor start and stop electromagnetic valve, system's emergency shutdown switch, automatic returning to drag control electromagnetic valve, drilling rod automatic loading and unloading control electromagnetic valve and alarm lamp HL, buzzer.
The duty parameter drilling rod moment of torsion of analog quantity input module (1) 4 collection site, creep into thrust, pull-back force, mud flow rate, pass to Industrial Personal Computer (IPC) 8 by the RS232 communication port, realize dynamic demonstration, alarming and managing, report printing, history data store and playback parameter; Analog quantity input module (2) 5 is connected with positioning drill guide instrument 13, obtain physical location and state that drill bit advances, by comparing with the default lead curve in Industrial Personal Computer (IPC) 8 databases, the real-time acquisition parameter of bonding apparatus work, send the correction instruction to the correction propulsion system, reach self-propelled purpose.Switching input module has the system-wide safety interlocking protection switch of detection, pressure switch etc. for the normal operation of system provides protection; Functions such as the start and stop of the start and stop of switching value output module output execution slush pump, the start and stop control of creeping into oil cylinder, correction motor and emergency shutdown.
Used module is city's pin product in the native system, Industrial Personal Computer (IPC) 8 is optional to grind magnificent Industrial Personal Computer (IPC) IPC-610 series products, the optional AB PLC5/03 of PLC1 series products, the optional 1747-L532C/D series products of CPU3 among the PLC1, analog quantity input module (1) 4, analog quantity input module (2) 5 optional 1746-NI4 series products, switching input module 6 optional 1746-IB16 series products, switching value output module 7 optional 1746-OW16 series products, power module 2 optional 1746-P4 series products; Drilling rod torque sensor 9 optional HT-805 series products, creep into thrust pickup 10 optional HT-805 series products, pull-back force sensor 11 optional HT-805 series products, mud flow rate sensor 12 optional HT-805 series products, positioning drill guide instrument 13 optional RD386 series products; Bit depth sensor 16, bit face are utilized existing sensor in directed the boring to angle transducer 17, temperature of diamond bit sensor 18,19 of drill bit obliquity sensors.
The circuit of native system is connected to: analog quantity input module (1) 4 is connected as shown in Figure 2 with each sensor, two outputs of drilling rod torque sensor 9 connect 0,1 end of analog quantity input module (1) 4 through shielding line, two outputs of creeping into thrust pickup 10 connect 3,4 ends of analog quantity input module (1) 4 through shielding line, two outputs of pull-back force sensor 11 connect 6,7 ends of analog quantity input module (1) 4 through shielding line, and two outputs of mud flow rate sensor 12 connect 9,10 ends of analog quantity input module (1) 4 through shielding line; Analog quantity input module (2) 5 is connected as shown in Figure 3 with each sensor, two outputs of bit depth sensor 16 connect 0,1 end of analog quantity input module (2) 5 through shielding line, bit face connects 3,4 ends of analog quantity input module (2) 5 through shielding line to two outputs of angle transducer 17, two outputs of temperature of diamond bit sensor 18 connect 6,7 ends of analog quantity input module (2) 5 through shielding line, and two outputs of drill bit obliquity sensor 19 connect 9,10 ends of analog quantity input module (2) 5 through shielding line; The connection that the input of switching input module 6 connects the switching value input point through switching value input contact 14 as shown in Figure 4, the DC COM end of the COM termination switching input module of+24VDC, creep into motor starting button 1,SB1 one termination I:3/0 end, another termination+24VDC; Creep into motor stop button 1,SB2 one termination I:3/1 end, another termination+24VDC; Slush pump start button 2,SB1 one termination I:3/2 end, another termination+24VDC; Slush pump stop button 2,SB2 one termination I:3/3 end, another termination+24VDC; Automatically return and drag start button 3,SB1 one termination I:3/4 end, another termination+24VDC; Automatically return and drag stop button 3,SB2 one termination I:3/5 end, another termination+24VDC; Drilling rod automatic loading and unloading start button 4,SB1 one termination I:3/6 end, another termination+24VDC; Drilling rod automatic loading and unloading stop button 4,SB2 one termination I:3/7 end, another termination+24VDC; The emergency shutdown button 5,SB1 one termination I:3/8 of system end, another termination+24VDC; Pressure limit protection switch SL1 one termination I:3/10 end, another termination+24VDC; Fault interlock protection contact SL2 one termination I:3/12 end, another termination+24VDC.The gauge tap that connects through switching value input contact 15 connects as shown in Figure 5, and AC220V meets the L of switching value output module
1End, slush pump start and stop control YV2 one termination O:4/1 end, the other end of another termination AC220V, drill bit correction motor start and stop electromagnetic valve YV3 one termination O:4/3 end, the other end of another termination AC220V; Creeping into motor start and stop electromagnetic valve YV1 is connected between the other end of O:4/0 end and AC220V; The emergency shutdown switch YV4 of system is connected between the other end of O:4/2 end and AC220V; Automatically return and drag control electromagnetic valve YV5 to be connected between the other end of O:4/5 end and AC220V; Drilling rod automatic loading and unloading control electromagnetic valve YV6 is connected between the other end of O:4/7 end and AC220V; Alarm lamp HL is connected between the other end of O:4/4 end and AC220V; Buzzer is connected between the other end of O:4/6 end and AC220V.
Description of drawings
Fig. 1 control system theory diagram
Fig. 2 analog quantity input module (1) 4 wiring diagram
Fig. 3 analog quantity input module (2) 5 wiring diagrams
Fig. 4 switching input module 6 wiring diagrams
Fig. 5 switching value output module 7 wiring diagrams
1-PLC 2-power module wherein
3-CPU module 4-analog quantity input module (1)
5-analog quantity input module (2) 6-switching input module
7-switching value output module 8-Industrial Personal Computer (IPC)
9-drilling rod torque sensor 10-creeps into thrust pickup
11-pull-back force sensor 12-mud flow rate sensor
13-positioning drill guide instrument 14-switching value input contact
15-switching value output contact 16-bit depth sensor
The 17-bit face is to angle transducer 18-temperature of diamond bit sensor
19-drill bit obliquity sensor
The specific embodiment
Embodiment. with this example the specific embodiment of the present utility model is described, and the utility model is further described.This example is a commerical test model machine, and it constitutes as Fig. 1.Be specially: magnificent Industrial Personal Computer (IPC) IPC-610 is ground in Industrial Personal Computer (IPC) 8 choosings, PLC1 selects AB PLC5/03, CPU3 among the PLC1 selects 1747-L532C/D, analog quantity input module (1) 4 selects 1746-NI4, analog quantity input module (2) 5 selects 1746-NI4, switching input module 6 selects 1746-IB16, switching value output module 7 selects 1746-OW16, power module 2 selects 1746-P4, drilling rod torque sensor 9 selects HT-805, creeps into thrust pickup 10 and selects HT-805, and pull-back force sensor 11 selects HT-805, mud flow rate sensor 12 selects HT-805, and positioning drill guide instrument 13 selects RD386; Analog quantity input module (1) 41746-NI4 is connected as shown in Figure 2 with sensor, two outputs of drilling rod torque sensor 9 HT-805 meet 0 of analog quantity input module (1) 1746-NI4 through shielding line, 1 end, two outputs of creeping into thrust pickup 10 HT-805 meet 3 of analog quantity input module (1) 1746-NI4 through shielding line, 4 ends, two outputs of pull-back force sensor 11 HT-805 meet 6 of analog quantity input module (1) 1746-NI4 through shielding line, 7 ends, two outputs of mud flow rate sensor 12 HT-805 meet 9 of analog quantity input module (1) 41746-NI4 through shielding line, 10 ends; Analog quantity input module (2) 5 1746-NI4 are connected as shown in Figure 3 with sensor, two outputs of bit depth sensor 16 meet 0 of analog quantity input module (2) 5 1746-NI4 through shielding line, 1 end, bit face meets 3 of analog quantity input module (2) 51746-NI4 to two outputs of angle transducer 17 through shielding line, 4 ends, two outputs of temperature of diamond bit sensor 18 meet 6 of analog quantity input module (2) 5 1746-NI4 through shielding line, 7 ends, two outputs of drill bit obliquity sensor 19 meet 9 of analog quantity input module (2) 5 1746-NI4 through shielding line, 10 ends; The connection of switching value input contact 14 as shown in Figure 4, the DC COM of the COM termination switching input module 6 of+24VDC end creeps into motor starting button 1,SB1 one termination I:3/0 end, another termination+24VDC; Creep into motor stop button 1,SB2 one termination I:3/1 end, another termination+24VDC; Slush pump start button 2,SB1 one termination I:3/2 end, another termination+24VDC; Slush pump stop button 2,SB2 one termination I:3/3 end, another termination+24VDC; Automatically return and drag start button 3,SB1 one termination I:3/4 end, another termination+24VDC; Automatically return and drag stop button 3,SB2 one termination I:3/5 end, another termination+24VDC; Drilling rod automatic loading and unloading start button 4,SB1 one termination I:3/6 end, another termination+24VDC; Drilling rod automatic loading and unloading stop button 4,SB2 one termination I:3/7 end, another termination+24VDC; The emergency shutdown button 5,SB1 one termination I:3/8 of system end, another termination+24VDC; Pressure limit protection switch SL1 one termination I:3/10 end, another termination+24VDC; Fault interlock protection contact SL2 one termination I:3/12 end, another termination+24VDC.Switching value output contact 15 is connected as shown in Figure 5 with gauge tap, and AC220V meets the L of switching value output module 7
1End, slush pump start and stop control YV2 one termination O:4/1 end, the other end of another termination AC220V, drill bit correction motor start and stop electromagnetic valve YV3 one termination O:4/3 end, the other end of another termination AC220V; Creeping into motor start and stop electromagnetic valve YV1 is connected between the other end of O:4/0 end and AC220V; The emergency shutdown switch YV4 of system is connected between the other end of O:4/2 end and AC220V; Automatically return and drag control electromagnetic valve YV5 to be connected between the other end of O:4/5 end and AC220V; Drilling rod automatic loading and unloading control electromagnetic valve YV6 is connected between the other end of O:4/7 end and AC220V; Alarm lamp HL is connected between the other end of O:4/4 end and AC220V; Buzzer is connected between the other end of O:4/6 end and AC220V.
In reality guiding drilling construction, for making boring reach designing requirement, in work progress, must carry out tracking measurement, according to the drift angle at each some place in the drilling process, azimuth, horizontal plane coordinate, hole depth, tools for angle etc., can depict the actual path of boring, simultaneously the also state of drill bit present position and drilling tool as can be seen.In control system, the trajectory parameters of each survey mark all will be imported in the controller in the boring, draw actual trajectory diagram by controller accumulative total, controller can be compared the current boring actual path of describing with planned course subsequently, carrying out logic judges, if track is in accuracy rating, and inerrancy developing trend, can continue to creep into, otherwise then enter the correction calculations circulation, state according to current boring and drill bit carries out the behavior judgement, provides the selection satisfactory after correcting that can take and rectifies a deviation, and just enters a last circulation and continue to creep into after drilling track meets the demands.
Native system is the actual proof of using in transfering natural gas from the west to the east pipeline river horizontal directional drill crossing construction, automatic guide and parameter real-time acquisition and display are accomplished in the system, can realize that orientation passes through that the automatic control of overall process, parameter acquisition show, history data store, realize clear, human-computer dialogue operating platform easily, the change experience is judged as science judgment, drilling track is monitored in real time and corrected, by relatively surveying the deviation of creeping into curve and default curve, drilling direction is rectified a deviation, realize that high-precision guiding creeps into.Finish the functions such as real-time positioning, correction adjustment, working condition measuring, reference record and data storage of horizontal directional drill drilling process, obtained satisfied effect.
As seen, the utility model can be realized real-time positioning, correction adjustment, working condition measuring, reference record and the data storage of horizontal directional drill drilling process, and drilling track is monitored in real time and corrected, and realizes that high-precision guiding creeps into.And the human-computer dialogue operating platform is clear, convenient.
Claims (4)
1. one kind is passed through the horizontal directional drill automatic guiding system that track automatic guide, work information are gathered automatically and managed by predetermined, it is characterized in that this system is by Industrial Personal Computer (IPC) [8], PLC[1], field monitoring sensor and gauge tap form, Industrial Personal Computer (IPC) [8] and PLC[1] be connected PLC[1] have input, control input and the control of multichannel field monitoring sensor to export.
2. horizontal directional drill automatic guiding system according to claim 1, it is characterized in that PLC[1] form by power module [2], CPU module [3], analog quantity input module (1) [4], analog quantity input module (2) [5], switching input module [6], switching value output module [7], the input of an analog quantity input module connects the sensor output of collection site duty parameter, and passes to the Industrial Personal Computer (IPC) [8] that data are handled by the RS232 communication port; Another analog quantity input module is exported with the sensor in the positioning drill guide instrument [13] and is connected, and the data that drill bit advances is imported Industrial Personal Computer (IPC) [8], and compare with the default lead curve in Industrial Personal Computer (IPC) [8] database, sends correction to the correction propulsion system and instructs; The input of switching input module [6] is imported pressure limit protection switch, system failure self check contact and the equipment start-stop button that contact [14] connects detection system through switching value; Switching value output module [7] is through switching value output contact [15] meet sb. at the airport electric equipment start-stop switch, emergency shutdown switch.
3. horizontal directional drill automatic guiding system according to claim 1 and 2, it is characterized in that described field monitoring sensor has drilling rod torque sensor [9], creeps into thrust pickup [10], the output of pull-back force sensor [11], mud flow rate [12] sensor and and positioning drill guide instrument [13] in bit depth sensor [16], bit face to angle transducer [17], temperature of diamond bit sensor [18], drill bit inclination angle [19] sensor.
4. horizontal directional drill automatic guiding system according to claim 1 and 2 is characterized in that described gauge tap has through what switching value input contact [14] connect to creep into motor start and stop button, slush pump start and stop button, return and drag start and stop button, drilling rod automatic loading and unloading start button, drilling rod automatic loading and unloading stop button, system's emergency shutdown button, pressure limit protection switch, fault interlock protection contact automatically; The gauge tap that connects through switching value output contact [15] has slush pump start and stop control, drill bit correction motor start and stop electromagnetic valve, system's emergency shutdown switch, automatic returning to drag control electromagnetic valve, drilling rod automatic loading and unloading control electromagnetic valve and alarm lamp HL, buzzer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620115955 CN200940444Y (en) | 2006-05-23 | 2006-05-23 | Automatic guide system for horizontal positioning drill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620115955 CN200940444Y (en) | 2006-05-23 | 2006-05-23 | Automatic guide system for horizontal positioning drill |
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| Publication Number | Publication Date |
|---|---|
| CN200940444Y true CN200940444Y (en) | 2007-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200620115955 Expired - Fee Related CN200940444Y (en) | 2006-05-23 | 2006-05-23 | Automatic guide system for horizontal positioning drill |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102094580A (en) * | 2009-12-10 | 2011-06-15 | 北京中煤矿山工程有限公司 | Coal engineering hole directional drilling method |
| CN102383777A (en) * | 2011-09-30 | 2012-03-21 | 中国海洋石油总公司 | Measuring and controlling device used for rotary steering drilling system and measuring and controlling method utilizing same |
| CN101424182B (en) * | 2008-12-12 | 2012-07-11 | 清华大学 | Dynamic force multi-parameter measuring systems for rotary simulation of bottom drill string |
| CN102900365A (en) * | 2012-10-09 | 2013-01-30 | 东南大学 | Embedded type system-based control device for horizontal directional drill |
| CN103233487A (en) * | 2013-04-27 | 2013-08-07 | 杨众 | Method for grouting and floor lifting by directional drilling machine |
| CN103608545A (en) * | 2011-06-14 | 2014-02-26 | 哈利伯顿能源服务公司 | System, method, and computer program for predicting borehole geometry |
| CN104570893A (en) * | 2014-12-09 | 2015-04-29 | 桂林市华力重工机械有限责任公司 | Intelligent integrated device and method for excavators |
| CN104596371A (en) * | 2014-12-09 | 2015-05-06 | 北方爆破科技有限公司 | Digitized surface blasting operation method |
| CN105408583A (en) * | 2013-08-13 | 2016-03-16 | 兰德马克绘图国际公司 | Probabilistic methodology for real time drilling |
| CN106939768A (en) * | 2017-05-17 | 2017-07-11 | 中南大学 | A kind of hidden hole drilling orientation adjusting apparatus and its orientation method of adjustment |
| CN108868602A (en) * | 2017-05-09 | 2018-11-23 | 中国石油天然气集团公司 | Directional Drilling for Pipeline Crossing monitors system and monitoring method |
| CN115288659A (en) * | 2022-07-21 | 2022-11-04 | 邵阳市水利水电勘测设计院 | Be applied to directional poling device of reservoir dam |
-
2006
- 2006-05-23 CN CN 200620115955 patent/CN200940444Y/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101424182B (en) * | 2008-12-12 | 2012-07-11 | 清华大学 | Dynamic force multi-parameter measuring systems for rotary simulation of bottom drill string |
| CN102094580A (en) * | 2009-12-10 | 2011-06-15 | 北京中煤矿山工程有限公司 | Coal engineering hole directional drilling method |
| CN103608545A (en) * | 2011-06-14 | 2014-02-26 | 哈利伯顿能源服务公司 | System, method, and computer program for predicting borehole geometry |
| CN102383777A (en) * | 2011-09-30 | 2012-03-21 | 中国海洋石油总公司 | Measuring and controlling device used for rotary steering drilling system and measuring and controlling method utilizing same |
| CN102383777B (en) * | 2011-09-30 | 2014-07-02 | 中国海洋石油总公司 | Measuring and controlling device used for rotary steering drilling system and measuring and controlling method utilizing same |
| CN102900365A (en) * | 2012-10-09 | 2013-01-30 | 东南大学 | Embedded type system-based control device for horizontal directional drill |
| CN102900365B (en) * | 2012-10-09 | 2014-10-29 | 东南大学 | Embedded type system-based control device for horizontal directional drill |
| CN103233487A (en) * | 2013-04-27 | 2013-08-07 | 杨众 | Method for grouting and floor lifting by directional drilling machine |
| CN105408583A (en) * | 2013-08-13 | 2016-03-16 | 兰德马克绘图国际公司 | Probabilistic methodology for real time drilling |
| CN104570893A (en) * | 2014-12-09 | 2015-04-29 | 桂林市华力重工机械有限责任公司 | Intelligent integrated device and method for excavators |
| CN104596371A (en) * | 2014-12-09 | 2015-05-06 | 北方爆破科技有限公司 | Digitized surface blasting operation method |
| CN108868602A (en) * | 2017-05-09 | 2018-11-23 | 中国石油天然气集团公司 | Directional Drilling for Pipeline Crossing monitors system and monitoring method |
| CN106939768A (en) * | 2017-05-17 | 2017-07-11 | 中南大学 | A kind of hidden hole drilling orientation adjusting apparatus and its orientation method of adjustment |
| CN115288659A (en) * | 2022-07-21 | 2022-11-04 | 邵阳市水利水电勘测设计院 | Be applied to directional poling device of reservoir dam |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070829 Termination date: 20140523 |