CN207960486U - A kind of underground drilling robot - Google Patents
A kind of underground drilling robot Download PDFInfo
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- CN207960486U CN207960486U CN201720158746.4U CN201720158746U CN207960486U CN 207960486 U CN207960486 U CN 207960486U CN 201720158746 U CN201720158746 U CN 201720158746U CN 207960486 U CN207960486 U CN 207960486U
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Abstract
The utility model discloses a kind of undergrounds to creep into robot, including cone-type spiral extruding-enlarging aiguille, main drive motor, shell, rotatable mechaninism, epicyclical mechanism and propulsive mechanism, the shell is straight cylinder shape, including shell cylinder, partition board and transom piece, partition board and transom piece are fixed at shell cylinder middle part and tail portion respectively；The cone-type spiral extruding-enlarging aiguille is set to housing forward end, cone-type spiral extruding-enlarging aiguille is connected with the axis of main drive motor, main drive motor is fixed on rotatable mechaninism, there can be certain amplitude swing when rotated by rotatable mechaninism cone-type spiral extruding-enlarging aiguille, the drive part of rotatable mechaninism is fixed on epicyclical mechanism, the drive part of epicyclical mechanism is fixed on partition board, rotatable mechaninism rotating in a circumferential direction relative to shell cylinder can be achieved by the drive of epicyclical mechanism, the propulsive mechanism is set to tail end in shell cylinder, for pushing whole device to advance.The utility model control is simple, turns to flexibly, equipment is reliable and stable, has larger application value.
Description
Technical field
The utility model belongs to earth drilling machine people field.It is related to advancing in underground hole-forming, turns to flexibly, driving is few,
Pore-forming is clean, the micro-tunneling robot of clean energy, and in particular to a kind of underground drilling robot.
Background technology
With the development of the city, the construction of underground piping becomes that there is an urgent need to the especially diggings of micro-tunneling with improving
Pick so that the exploitation of underground drilling robot obtains extensive concern.Micro-tunneling is different from large tunnel, and excavation requires machine
Device people has degree of intelligence high, and operability is strong, turns to flexible feature.
Underground drilling robot can be divided into two kinds of bionic type and non-bionic type by working method.Creep into machine in bionic type underground
Ginseng examines the motion mode of ground lower arch hole animal, has the advantages that steering is flexible, but its driving is often more, control difficulty is high；
Non- bionic type can be divided into impact pike formula again, bore native two kinds of formula.Impact pike formula has the advantages that drilling efficiency is high, but its power consumption is big,
Drilling length is often limited to driving device, and steering is more difficult；Not only work efficiency is high for Zuan Tu formulas robot, and low energy consumption, and turns
To flexible, great researching value.
Current more representational robot has：A kind of self-propelled underground boring machine that NASA develops
Device people is made of two body segments, and a drill bit is respectively installed at both ends, can be flexibly turned to, energy backtracking after work, but its
Job step sequence is more, and control requires high；The spiral drilling robot of Japanese Institute of Space Science design, realizes the brill of underground
Hole is advanced, but is turned to difficult；The imitative earthworm move in mud robot of Northwestern Polytechnical University's exploitation, head are to twist earth boring auger head, connect three
Body segment can realize axial stretching and radial dilatation, but gait of march is slower, less efficient.
Utility model content
Deficiency existing for robot is crept into solve existing underground, by summarizing the knot for having all kinds of undergrounds and creeping into robot
Structure, operation principle provide that a kind of transition is flexible, and control is simple, and robot is crept into the strong underground of operability.
The technical solution adopted in the utility model is：
A kind of underground drilling robot, it is characterised in that：Including cone-type spiral extruding-enlarging aiguille, main drive motor, shell, pendulum
Rotation mechanism, epicyclical mechanism and propulsive mechanism.The shell is straight cylinder shape, and shell includes shell cylinder, partition board and transom piece, partition board
It is fixed at shell cylinder middle part and tail portion respectively with transom piece；The cone-type spiral extruding-enlarging aiguille is set to housing forward end, taper spiral shell
Rotation extruding-enlarging aiguille is connected with the axis of main drive motor, and the main drive motor is fixed on rotatable mechaninism, is bored by rotatable mechaninism
Shape helix extruding-enlarging drill bit can have certain amplitude swing, the drive part of the rotatable mechaninism to be fixed at all favourable turns when rotated
On structure, the drive part of epicyclical mechanism is fixed on partition board, and rotatable mechaninism can be achieved relative to shell by the drive of epicyclical mechanism
Body cylinder rotates in a circumferential direction, and the propulsive mechanism is set to tail end in shell cylinder, for pushing whole device to advance.
As an improvement, the rotatable mechaninism includes swinging cylinder and rotation motor, the main drive motor is fixed on bottom in swinging cylinder
Portion, swinging cylinder outer bottom are equipped with half gear, and the output shaft of the rotation motor is equipped with the pinion gear with half engaged gears, outside swinging cylinder
Side be equipped with the matched woodruff key of epicyclical mechanism, by woodruff key, swinging cylinder can relative to epicyclical mechanism swing and cannot be opposite
It is rotated.
As an improvement, the epicyclical mechanism includes rotating cylinder and all rotating motors, the rotating cylinder it is free to rotate be set to shell
Cylinder Inner Front End, rotating cylinder inwall be equipped with the matched Woodruff key slots and keyways of woodruff key in swinging cylinder, rear end is equipped with ring gear in rotating cylinder,
The week rotating motor is fixed on partition board, and the output shaft end of all rotating motors is equipped with the transmission gear being engaged with ring gear, rotating cylinder
End is additionally provided with ratchet, shell cylinder inner wall be equipped with the matched pawl of ratchet, to turn by the cooperation of ratchet and pawl
Cylinder can only single direction rotation relative to shell cylinder.
As an improvement, the pawl has 3-5, multiple ratchets are uniformly distributed along the circumferential direction of ratchet.
As an improvement, the propulsive mechanism include propulsion electric machine, driving pulley, driven pulley, crank, connecting rod, sliding block and
Push rod, the propulsion electric machine are fixed on partition board, crank be fixed by the bracket the partition board other side, the driving pulley and from
Axis of the movable belt pulley by belt transmission and the two respectively with propulsion electric machine and crank is fixedly linked, and the crank is that there are three bent for band
The crank of shank, three toggle-action levers are distributed centered on crank axle in 120 ° of angles, each toggle-action lever passes through one
Connecting rod is hinged and connected with corresponding sliding block, which is hinged and connected with corresponding push rod, and the sliding block can be relative to shell
Body cylinder slides back and forth, and is set on the transom piece there are three the push-rod hole that angle is different and is inclined outwardly, the push rod end passes through
One of push-rod hole is stretched out to rear ramp outside shell cylinder, when the crank rotates, since three toggle-action levers are at hexagonal angle degree point
Cloth, to drive three sliding blocks and three push rods that are connected with sliding block to be moved forward and backward with 120 ° of phase angle differences, be whole device to
Preceding movement provides power.
As an improvement, the end of each push rod is inclined pointed shape outward.
The beneficial effects of the utility model are：
1, it turns to flexible.Steering mechanism by can realize 360 ° rotation rotating cylinder and swing angle constituted up to 90 ° of swinging cylinder, turn
It is continuous steering to process, it is angled that institute in steering range can be covered.When steering, all rotating motors drive drum rotation, until rotating cylinder
Upper semi-circle keyway and target angle are coplanar, and all rotating motors are stopped；It controls rotation motor driving swinging cylinder again to swing, until target
Angle.Realize the continuous of steering procedure, the interior angled all standing of institute of range.
2, control is simple.Entire robot drive by 4 motors, i.e., all rotating motors, rotation motor, main drive motor with push away
Stepper motor.When not turning to, main drive motor and propulsion electric machine are in operating status.When steering, main drive motor and propulsion electricity
Machine remains operational.All rotating motors are first controlled, after rotating cylinder reaches designated position, all rotating motors are stopped, then control rotation motor
Driving swinging cylinder is rocked to target angle.There are specific sequencings for the work of all rotating motors and rotation motor, also in the absence of
Between on, the matching relationship in speed substantially reduces control difficulty.
3, single impulse stroke is long.Robot main drive motor is connect by externally fed with robot with cable, single work
Make stroke and depends on length of cable.
Description of the drawings
Fig. 1 is that robot overall construction drawing is crept into underground；
Fig. 2 is shell structure schematic diagram；
Fig. 3 is epicyclical mechanism structural schematic diagram；
Fig. 4 is right view in Fig. 3；
Fig. 5 is rotatable mechaninism structural schematic diagram；
Fig. 6 is right view in Fig. 5；
Fig. 7 is propulsive mechanism structural schematic diagram；
Fig. 8 is crank structure schematic diagram；
Fig. 9 is the installation form schematic diagram of crank；
Figure 10 is sub- propulsive mechanism structural schematic diagram；
1- cone-type spiral extruding-enlarging aiguilles, 2- main drive motors, 3- shells, 4- rotatable mechaninisms, 5- epicyclical mechanisms, 6- pushers
Structure, 7- shell cylinders, 8- partition boards, 9- transom pieces, 10- rotating cylinders, 11- ring gears, 12- pawls, 13- transmission gears, 14- turnover electricity
Machine, 15- cover boards, 16- swinging cylinders, half gears of 17-, 18- pinion gears, 19- rotation motors, 20- cushion blocks, 21- propulsion electric machines, 22- master
Movable belt pulley, 23- belts, 24- holders, 25- driven pulleys, 26- propulsive mechanisms, 27- cranks, 28- toggle-action levers one, 29- cranks
Bar two, 30- toggle-action levers three, 31- connecting rods, 32- sliding blocks, 33- push rods, 34- ratchets, 35- woodruff keies.
Specific implementation mode
Fig. 1 is the overall construction drawing of the utility model, a kind of underground drilling robot, including cone-type spiral extruding-enlarging aiguille 1,
Main drive motor 2, shell 3, rotatable mechaninism 4, epicyclical mechanism 5, propulsive mechanism 6 six are most of.Shell 3 is straight cylinder shape, is each
Partial rack；Rotatable mechaninism 4, epicyclical mechanism 5 constitute steering mechanism, are located at body front end, cone-type spiral extruding-enlarging aiguille 1 and master
Driving motor 2 is mounted in swinging cylinder 3；6 drilling robot rear portion located underground of propulsive mechanism provides underground drilling robot and advances
Thrust.
The cone-type spiral extruding-enlarging aiguille 1 is mounted on by bearing in the axis hole of swinging cylinder cover board 15, and shaft end connects main driving
Motor 2.Main drive motor 2 is packed in bottom in swinging cylinder 16, provides the power of 1 sludge soil of cone-type spiral extruding-enlarging aiguille needs.Cone
The effect of shape helix extruding-enlarging drill bit 1 is to squeeze front soil, will pass through place's soil compaction on hole wall, is formed and taper spiral shell
Revolve the consistent hole of 1 appearance of extruding-enlarging aiguille.Hole road is closely knit, substantially without scattered native heel row phenomenon.
The shell 3 is straight cylinder shape, including shell cylinder 7, partition board 8, transom piece 9.Partition board 8 is welded in 7 middle part of shell cylinder,
As the fixed plate of all rotating motors 14 and propulsion electric machine 21, it is provided with slot on partition board 8 and is passed through convenient for belt 23 so that promotes
The kinetic force of motor 21 is transferred to crank 27.Transom piece 9 is welded in 7 tail portion of shell cylinder, circumferentially opens and is 120 ° there are three angle and pushes away
The push rod 33 of rod aperture, three groups of sub- propulsive mechanisms is passed through from three push-rod holes respectively, stretches out shell cylinder 7 to rear ramp.
The rotatable mechaninism 4, epicyclical mechanism 5 constitute steering mechanism.Steering mechanism is integrally located at body front end.Such as Fig. 3 and
Shown in Fig. 4, the epicyclical mechanism 5 includes rotating cylinder 10, ring gear 11, transmission gear 13, all rotating motors 14, ratchet 34 and pawl
12.Rotating cylinder 10 is installed on 7 Inner Front End of shell cylinder by bearing, can be with shell cylinder when in underground, drilling robot proposes to turn to and require
7 produce relative rotation；10 inner wall of rotating cylinder is symmetrically provided with a pair of of Woodruff key slots and keyways, coordinates with the woodruff key 35 in swinging cylinder 16, in rotating cylinder
When 10 rotation, 35 side of woodruff key is working face, drives swinging cylinder 16 to rotate together, moreover it is possible to bear cone-type spiral extruding-enlarging aiguille 1
Pressure transmission to rotating cylinder 10.10 right side of rotating cylinder is equipped with ratchet 34, and 7 inner wall of shell cylinder is equipped with pawl 12, and pawl 12 is articulated with
Shell cylinder 7, pawl 12 coordinates with the ratchet 34 on 10 right side of rotating cylinder, to transmit rotating cylinder 10 in cone-type spiral extruding-enlarging aiguille 1
The torque born when rotation so that rotating cylinder 4 can only one-directionally rotate.Ring gear 11 is installed in 10 inner wall of rotating cylinder close to 34 end of ratchet；
All rotating motors 14 are installed in partition board 8；Transmission gear 13 is mounted on 14 output shaft of all rotating motors, and gear is formed with ring gear 11
It is right.1 single direction rotation of cone-type spiral extruding-enlarging aiguille of robot is crept into underground, and pawl 12 blocks in ratchet slot, by cone-type spiral
The rotation of extruding-enlarging aiguille 1 is transmitted on shell cylinder 7, prevents rotating cylinder 10 that cone-type spiral extruding-enlarging aiguille 1 is followed to rotate together；In order to
It prevents 12 stress of pawl excessive, three groups of identical pawls 12 is provided on shell cylinder 7.It is wanted when underground boring machine device people proposes to turn to
When asking, power is transmitted ring gear 11 by all rotating motors 14 by transmission gear 13, drives rotating cylinder 10 in shell cylinder 7 along taper
Helix extruding-enlarging drill bit 1 reversely rotates, and pawl 12 rides on ratchet 34 with the rotation of rotating cylinder 10 at this time, realizes rotating cylinder 10
Rotation.After rotating cylinder 10 turns to designated position, pawl 12 is stuck in 34 card slot of ratchet, and rotating cylinder 10 is prevented to rotate backward.
As shown in Figure 5 and Figure 6, the rotatable mechaninism 4 includes cover board 15, swinging cylinder 16, half gear 17, pinion gear 18, rotation
Motor 19 and cushion block 20.Axis hole is provided among cover board 15, cover board 15 is fixed on swinging cylinder 16；Swinging cylinder 16 is cylindrical shape, and both sides are symmetrical
It is fixedly mounted with a pair of of woodruff key 35；Half gear 17 is installed in 16 outer bottom of swinging cylinder, coplanar (as shown in Figure 6) with woodruff key 35；Pinion gear
18 are fixed on the output shaft of rotation motor 19, and pinion gear 18 is engaged with half gear, 17 phase, and rotation motor 19 can be by small
Gear 18 drives the swinging cylinder 16 being connected with half gear 17 to swing, and rotation motor 19 is installed on cushion block 20, and cushion block 20 is fixed on rotating cylinder
10.When in underground, drilling robot proposes that steering requires, epicyclical mechanism 5 acts first, and epicyclical mechanism 5 turns to designated position
Afterwards, it is blocked by ratchet 34.Rotation motor 19 drives half gear 17 to make small angle oscillation by pinion gear 18, and swinging cylinder 16 is driven to put
Dynamic, to drive cone-type spiral extruding-enlarging aiguille 1 to turn to, in entire steering procedure, main drive motor 2 remains operation shape
State.
As shown in Fig. 7, Fig. 8, Fig. 9 and Figure 10, the propulsive mechanism 6 includes propulsion electric machine 21, driving pulley 22, driven belt
Wheel 25, belt 23, holder 24, sub- propulsive mechanism 26.Propulsion electric machine 21 is installed in partition board 8；Driving pulley 22, which is mounted on, promotes electricity
On 21 output shaft of machine, driving pulley 22 is connected with driven pulley 25 by belt 23, and the crank 27 is that there are three toggle-action levers for band
Crank, three toggle-action levers are respectively toggle-action lever 1, toggle-action lever 2 29 and toggle-action lever 3 30, and crank 27 is mounted on by bearing
On holder 24, holder 24 is fixed on 8 other side of partition board, and driven pulley 25 is fixedly installed in 27 shaft end of crank.Belt 23 is from partition board 8
On slot pass through.Sub- propulsive mechanism 26 has three groups, is connected respectively with three toggle-action levers, and structure is the same, such as Figure 10 institutes
Show, by taking one of which as an example：Sub- propulsive mechanism 26 includes connecting rod 31, sliding block 32, push rod 33.The song of connecting rod 31 left end and crank 27
Shank 3 30 is hinged and connected, and 31 right end of connecting rod is hinged and connected with sliding block 32, and sliding block 32 can slide back and forth relative to shell cylinder 7, sliding
Block 32 forms prismatic pair with shell cylinder 7；33 one end of the push rod and the other side of sliding block 32 are hinged and connected, and push rod 33 is from set on tail
It is pierced by outside shell cylinder 7 to oblique rear ramp in the push-rod hole of end plate 9, it is free end that push rod 33, which stretches out 7 outer end of shell cylinder, in order to prevent
Push rod 33 skids in progradation, can the end of 33 free end of push rod be arranged to the wedge angle being inclined outwardly.The crank 27
Three toggle-action levers centered on the axis of crank 27 in hexagonal angle degree be distributed, i.e., the angle between any two toggle-action lever is
120°.Three toggle-action levers respectively connect one group of connecting rod, sliding block, and push rod constitutes the identical sub- propulsive mechanism 26 of three structures, each
26 phase difference of sub- propulsive mechanism is 120 °.Cone-type spiral extruding-enlarging aiguille 1 forms hole, sub- propulsive mechanism 26 in front of entire body
Push rod 33 move reciprocatingly to rear ramp under the drive of toggle-action lever, first stretch out and penetrate mud hole wall, then retract.Push rod 33 is backward
When release, soil, which generates, makes a concession compression, and after certain level distance, the soil on mud hole wall is no longer made a concession, and push rod 33 is against at this time
On soil wall, soil makes body integral forward lead to its reaction force.Since the action of push rod 33 is to move back and forth, bounced back
Journey body cannot advance, and be supported due to lacking, and the rotation of cone-type spiral extruding-enlarging aiguille 1 may cause underground to creep into robot
Whipping occurs, it is also possible to will appear stall phenomenon.In order to avoid the above situation, ensure underground drilling robot sustainedly and stably to
It is pushed forward into the utility model is identical using three groups of forms, and phase difference is that 120 ° 26 groups of realizations of sub- propulsive mechanism push away body
It is dynamic.Implementation method is：Crank 27 is made of toggle-action lever 1, crank 2 29, toggle-action lever 3 30, between wantonly two bar of three toggle-action levers
Angle be 120 °.Three toggle-action levers respectively connect one group of connecting rod, and sliding block, swing rod, three structures of composition are identical, and phase difference is
The sub- propulsive mechanism of 120 ° of independence 26.Toggle-action lever 1, crank 2 29, the sub- propulsive mechanism 26 that toggle-action lever 3 30 respectively connects
Working method is completely the same, at any time, has been always ensured that a push rod 33 is in stretching state, to ensure that entire machine
Body movement is continuous and steady.
Claims (6)
1. robot is crept into a kind of underground, it is characterised in that：Including cone-type spiral extruding-enlarging aiguille, main drive motor, shell, rotation
Mechanism, epicyclical mechanism and propulsive mechanism, the shell are straight cylinder shape, and shell includes shell cylinder, partition board and transom piece, partition board and
Transom piece is fixed at respectively in the middle part of shell cylinder and tail portion；The cone-type spiral extruding-enlarging aiguille is set to housing forward end, cone-type spiral
Extruding-enlarging aiguille is connected with the axis of main drive motor, and the main drive motor is fixed on rotatable mechaninism, passes through rotatable mechaninism taper
Helix extruding-enlarging drill bit can have certain amplitude swing, the drive part of the rotatable mechaninism to be fixed at epicyclical mechanism when rotated
On, the drive part of epicyclical mechanism is fixed on partition board, and rotatable mechaninism can be achieved relative to shell by the drive of epicyclical mechanism
Cylinder rotates in a circumferential direction, and the propulsive mechanism is set to tail end in shell cylinder, for pushing whole device to advance.
2. robot is crept into a kind of underground according to claim 1, it is characterised in that：The rotatable mechaninism includes swinging cylinder and pendulum
Rotating motor, the main drive motor are fixed on bottom in swinging cylinder, and swinging cylinder outer bottom is equipped with half gear, the output of the rotation motor
Axis is equipped with pinion gear with half engaged gears, be equipped on the outside of swinging cylinder with the matched woodruff key of epicyclical mechanism, by woodruff key,
Swinging cylinder can relative to epicyclical mechanism swing and cannot be rotatable relative.
3. robot is crept into a kind of underground according to claim 1, it is characterised in that：The epicyclical mechanism includes rotating cylinder and week
Rotating motor, the rotating cylinder it is free to rotate be set to shell cylinder Inner Front End, rotating cylinder inwall be equipped with and the woodruff key phase in swinging cylinder
The Woodruff key slots and keyways of cooperation, rear end is equipped with ring gear in rotating cylinder, and the week rotating motor is fixed on partition board, the output of all rotating motors
Shaft end is equipped with the transmission gear being engaged with ring gear, and rotating cylinder end is additionally provided with ratchet, and shell cylinder inner wall is equipped with to match with ratchet
The pawl of conjunction makes rotating cylinder can only single direction rotation relative to shell cylinder by the cooperation of ratchet and pawl.
4. robot is crept into a kind of underground according to claim 3, it is characterised in that：The pawl has 3-5, multiple ratchets
Circumferential direction along ratchet is uniformly distributed.
5. robot is crept into a kind of underground according to claim 1, it is characterised in that：The propulsive mechanism includes promoting electricity
Machine, driving pulley, driven pulley, crank, connecting rod, sliding block and push rod, the propulsion electric machine are fixed on partition board, and crank passes through
Holder be fixed on the partition board other side, the driving pulley and driven pulley by belt transmission and the two respectively with propulsion electric machine and
The axis of crank is fixedly linked, and the crank is with there are three the crank of toggle-action lever, and three toggle-action levers are centered on crank axle
Be distributed in 120 ° of angles, each toggle-action lever is hinged and connected by a connecting rod with corresponding sliding block, the sliding block other side and
Corresponding push rod is hinged and connected, and the sliding block can slide back and forth relative to shell cylinder, sets that there are three angles on the transom piece not
Push-rod hole that is same and being inclined outwardly, the push rod end is stretched out to rear ramp outside shell cylinder by one of push-rod hole, described
When crank rotates, since three toggle-action levers are distributed at hexagonal angle degree, pushed away to drive three sliding blocks and be connected with sliding block three
Bar is moved forward and backward with 120 ° of phase angle differences, is travelled forward for whole device and is provided power.
6. robot is crept into a kind of underground according to claim 5, it is characterised in that：The end of each push rod is
Inclined pointed shape outward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720158746.4U CN207960486U (en) | 2017-02-22 | 2017-02-22 | A kind of underground drilling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720158746.4U CN207960486U (en) | 2017-02-22 | 2017-02-22 | A kind of underground drilling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207960486U true CN207960486U (en) | 2018-10-12 |
Family
ID=63722919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720158746.4U Expired - Fee Related CN207960486U (en) | 2017-02-22 | 2017-02-22 | A kind of underground drilling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207960486U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109899061A (en) * | 2019-03-29 | 2019-06-18 | 浙江大学 | A kind of brill pushing-type robot for subsea strata real-time measurement in situ |
| CN110259476A (en) * | 2019-06-12 | 2019-09-20 | 中铁二十五局集团第三工程有限公司 | A kind of pusher leg drill drill bit and construction method |
-
2017
- 2017-02-22 CN CN201720158746.4U patent/CN207960486U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109899061A (en) * | 2019-03-29 | 2019-06-18 | 浙江大学 | A kind of brill pushing-type robot for subsea strata real-time measurement in situ |
| CN110259476A (en) * | 2019-06-12 | 2019-09-20 | 中铁二十五局集团第三工程有限公司 | A kind of pusher leg drill drill bit and construction method |
| CN110259476B (en) * | 2019-06-12 | 2024-03-01 | 中铁二十五局集团第三工程有限公司 | Air leg type rock drill bit and construction method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181012 Termination date: 20190222 |
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| CF01 | Termination of patent right due to non-payment of annual fee |