CN207960594U - The control system and drill jumbo of rock drill - Google Patents
The control system and drill jumbo of rock drill Download PDFInfo
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- CN207960594U CN207960594U CN201820226779.2U CN201820226779U CN207960594U CN 207960594 U CN207960594 U CN 207960594U CN 201820226779 U CN201820226779 U CN 201820226779U CN 207960594 U CN207960594 U CN 207960594U
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Abstract
The utility model provides a kind of control system and drill jumbo of rock drill, and control system therein includes：Mode selector, the rock drilling for rock drill to be arranged match operating mode；Detection device, the actually detected value of the duty parameter for acquiring rock drill；Operation handle promotes signal for sending handle；Controller, the actually detected value for matching operating mode, handle propulsion signal and duty parameter according to rock drilling generates control signal, and sends control signals to control execution unit, for driving rock drill to execute corresponding operational motion.The control system, drill jumbo and control method of the utility model, it can be with Rapid matching rock drilling operating mode, adaptability for working condition is good, driving efficiency can be improved, it reduces and manipulates labor intensity, improve drilling ride comfort and anti-sticking pricker effect, reduce drilling tool loss, more economic benefits and social benefit are created for constructing tunnel.
Description
Technical field
The utility model is related to technical field of engineering machinery more particularly to the control systems and drilling staging of a kind of rock drill
Vehicle.
Background technology
In recent years, the either infrastructure constructions such as communications and transportation, energy development or water power conveying, constructing tunnel work
Journey is more and more, and mainly uses drill bursting construction, therefore drill jumbo is imitated with its transition flexibility, construction diversification, operation
The advantages that rate is high becomes the ideal equipment of constructing tunnel.Core work device of the rock drill as drill jumbo, major function
It is fractured rock, drills on rock according to the rules, cooperation blasting procedure realizes that tunnel excavation, main actions have revolution, punching
It hits, promote, wherein back rotation as main function is ground to rock by drill bit, and percussion action main function is to pass through
Drill bit is crushed rock, is decomposed, and propulsion action main function is the active force for applying drill bit and rock, lasting feeding.By
In the difference of geographical environment, it is desirable that drill jumbo have preferable operating mode adaptability, can according to different rock grades, and
When adjust rock drill job parameter, to match, meet duty requirements, it is ensured that drilling efficiency and quality, while avoiding drilling tool not just
Often the problems such as loss.
The control system of existing rock drill includes handle, display, controller etc..Hydraulic device act as offer stream
Revolution, impact and the propulsion action of body power drive rock drill.Rock drill driving drilling rod drills.When constructing tunnel encounters not
When with rock drilling operating mode, operating personnel is needed disposably to input a series of drillman by equipment such as displays according to operating mode, experience
Condition match parameter includes mainly rotation pressure, surge and propelling pressure reference value etc., to adapt to current working；It is working
In the process, rotation pressure, surge and the propelling pressure situation of observation display instruction, manually handle handle control hydraulic pressure dress
It sets, to drive rock drill to act (including rotational speed, surge and fltting speed).The control system of existing rock drill is deposited
In following disadvantage：(1) it need to be manually entered rock drilling operating mode match parameter, take often observation display upper rotary, impact and promote pressure
Power state needs to remodify parameter if varying widely occurs in operating mode, and driving efficiency is relatively low；(2) rock drilling operating mode match parameter
It is less, revolution, fltting speed parameter be not involved in system control, can not quickly, accurate judgement operating mode variation, Conditions Matching effect
Difference such as the mutation of rock mass situation or local anomaly, then easily causes card pricker, drilling tool loss especially during same hole is crept into
Greatly；(3) rotational speed, surge and fltting speed are both needed to operating personnel's control, and labor intensity is larger.Therefore, it is necessary to one kind
The control system of novel rock drill.
Utility model content
One or more embodiments of the utility model provide a kind of control system and drill jumbo of rock drill.
One side according to the present utility model provides a kind of control system of rock drill, including：Mode selector,
Rock drilling for rock drill to be arranged matches operating mode；Detection device, for acquire rock drill duty parameter it is actually detected
Value；Operation handle promotes signal for sending handle；Controller, respectively with the mode selector, the detection device,
The operation handle electrical connection, for matching operating mode according to the rock drilling, the handle promotes signal and the operating mode
The actually detected value of parameter generates control signal, and the control signal is sent to control execution unit, for driving rock drilling
Machine executes corresponding operational motion.
Optionally, the control execution unit, including：Hydraulic device is electrically connected with the controller, for according to reception
The control signal driving rock drill arrived executes corresponding operational motion, wherein the operational motion includes：It turns round, impact, push away
Into.
Optionally, the rock drill includes：Drilling rod；It is dynamic that the hydraulic device drives the drilling rod to execute corresponding operation
Make.
Optionally, the detection device includes：Acquisition module；Multiple acquisition modules be separately positioned on the hydraulic device and
In rock drill, the actually detected value for acquiring the duty parameter；Wherein, the duty parameter includes：Rotation pressure, impact
Pressure, propelling pressure, rotational speed, fltting speed.
Optionally, the acquisition module includes：Pressure sensor, flowmeter, encoder, velocity sensor, displacement sensing
Device.
Optionally, the mode selector includes：Touch display screen.
Optionally, the controller by bus respectively with the mode selector, the detection device, the operation
Handle is electrically connected；Wherein, the bus includes：R485 buses, CAN bus, I2C buses.
Optionally, the mode selector includes：Mode selection knob；Wherein, knob choosing is selected by shaping modes
Select rock drilling matching operating mode.
Another aspect according to the present utility model provides a kind of drill jumbo, including：The control of rock drill as described above
System.
Rock drill is arranged by mode selector in the control system and drill jumbo of the rock drill of the utility model
Rock drilling matches operating mode, and detection device acquires the actually detected value of the duty parameter of rock drill, and operation handle sends handle and pushes away
Inlet signal, controller matches operating mode according to rock drilling, handle promotes the actually detected value of signal and duty parameter to generate control
Signal processed, and control execution unit is sent control signals to, for driving rock drill to execute corresponding operational motion；It can be fast
Rock drilling drilling can be realized in speed matching rock drilling operating mode, only control crank propulsion, and adaptability for working condition is good, can improve driving efficiency,
It reduces and manipulates labor intensity, improve drilling ride comfort and anti-sticking pricker effect, reduce drilling tool loss, created for constructing tunnel more
Economic benefit and social benefit.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Only it is some embodiments of the utility model, for those of ordinary skill in the art, in not making the creative labor property
Under the premise of, other drawings may also be obtained based on these drawings.
Fig. 1 is the module diagram according to one embodiment of the control system of the rock drill of the utility model；
Fig. 2 is the module diagram according to another embodiment of the control system of the rock drill of the utility model；
Fig. 3 is that the module of the controller in one embodiment according to the control system of the rock drill of the utility model is illustrated
Figure；
Fig. 4 is to be illustrated according to the control method flow of one embodiment of the control system of the rock drill of the utility model
Figure；
Fig. 5 is to be illustrated according to the control method flow of another embodiment of the control system of the rock drill of the utility model
Figure.
Specific implementation mode
The utility model is described more fully with reference to the accompanying drawings, wherein illustrating the exemplary reality of the utility model
Apply example.The following will be combined with the drawings in the embodiments of the present invention, carries out clearly the technical scheme in the embodiment of the utility model
Chu is fully described by, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
As shown in Figure 1, the utility model provides a kind of control system 10 of rock drill, including：Mode selector 11, behaviour
Make handle 12, controller 13, detection device 15.Mode selector 11 is used to be arranged the rock drilling matching operating mode of rock drill.
Detection device 15 acquires the actually detected value of the duty parameter of rock drill.Operation handle 12 sends handle and promotes signal.Controller
13 are electrically connected with mode selector 11, detection device 15, operation handle 12 respectively, and operating mode, handle are matched according to rock drilling
It promotes the actually detected value of signal and duty parameter to generate control signal, and sends control signals to control execution unit
14, for driving rock drill 16 to execute corresponding operational motion.
It may include a variety of execution units to control execution unit 14.For example, as shown in Fig. 2, control execution unit 14 includes
Hydraulic device 141 is electrically connected with controller 13, for executing corresponding behaviour according to the control signal driving rock drill 16 received
It acts, operational motion includes：Revolution, impact, propulsion etc..
Detection device 15 includes acquisition module, and multiple acquisition modules are separately positioned in hydraulic device 141 and rock drill 15,
Actually detected value for acquiring duty parameter.Duty parameter includes：Rotation pressure, surge, propelling pressure, revolution speed
Degree, fltting speed.Detection device 15 detects rotation pressure, surge, the propelling pressure shape of rock drill from hydraulic device 141
Condition etc. detects rotational speed, fltting speed etc. from hydraulic device 141 or rock drill 16.Acquisition module includes：Pressure sensing
Device, flowmeter, encoder, velocity sensor, displacement sensor etc..
Mode selector 11 can be type in kind, such as rotary knob potentiometer, can also be virtue fire, such as by aobvious
Display screen clicks.Mode selector 11 act as user can select rock drilling match operating mode, different selection positions
Corresponding different resistance value, marks off multiple-working mode, for example, five kinds of operating modes, with I, II, III, IV, V table with this
Show.Operation handle 12 act as manipulation fltting speed.Each electromagnet that 13 output signal of controller controls hydraulic device 141 is dynamic
Make, hydraulic device 141 provides revolution, impact and the propulsion action of fluid dynamic driving rock drill 16.Rock drill 16 is actuator,
Hydraulic device 141 drives drilling rod to drill.
Mode selector 11 includes：Touch display screen, for receiving setting instruction input by user.Controller 13 can be with
It is electrically connected respectively with mode selector 11, detection device 15, operation handle 12 by bus, bus includes：CAN bus, I2C
Bus etc..Mode selector 11 includes：Mode selection knob；User can select knob to select rock drilling by shaping modes
With operating mode.
As shown in figure 3, controller 13 includes：Match parameter acquisition module 131, duty parameter setup module 132, operating mode shape
State discrimination module 133.Match parameter acquisition module 131 obtains the reference of duty parameter corresponding with rock drilling matching operating mode
Value.Duty parameter setup module 132 promotes signal to determine handle travel based on handle, and rule and work are controlled according to duty parameter
The reference value of condition parameter determines the desired value of duty parameter, and the desired value based on duty parameter generates control signal.
Conditions Matching parameter, the i.e. reference value of duty parameter can be pre-stored in controller, without being manually entered, be operated
Personnel can quickly select different working modes to adapt to different rock mass situations, without observation display upper rotary, impact often
And propelling pressure state, driving efficiency are high；By the reference value of duty parameter can quickly, be accurately judged to operating mode variation and right
Corresponding actions make appropriate control, to realize that Conditions Matching optimizes, effectively prevent card pricker, reduce drilling tool loss, operating personnel
Only need control handle propulsion that rock drilling drilling can be realized.
In one embodiment, according to common different rock mass situations and construction experience, setting I, II, III, IV,
Conditions Matching parameter under V ... N number of rock drilling matching operating mode, Conditions Matching parameter is the reference value of duty parameter, will
It is stored into controller, is read out according to the operating mode of selection, as shown in table 1 below.
Table is arranged in the reference value of table 1- duty parameters
In table 1, Pr1 ... Prn are respectively the revolution pressure that rock drill works normally at rock drilling matching operating mode I ... N
Power reference value, Pri are the reference value of standby rotation pressure, and Prh is card pricker pressure judgment value, i.e. card pricker pressure threshold.Pp1…
Ppn is respectively the upper limit threshold for the surge that rock drill works normally at rock drilling matching operating mode I ... N, and Ppi is standby
Surge setting value.Pf1 ... Pfn are respectively the propelling pressure that rock drill works normally at rock drilling matching operating mode I ... N
Upper limit threshold, Pfi be standby propelling pressure setting value.W1 ... Wn are respectively the rock drill at rock drilling matching operating mode I ... N
The upper limit thresholding of the rotational speed of normal work.V1 ... Vn are respectively the normal work of rock drill at rock drilling matching operating mode I ... N
The upper limit threshold of the fltting speed of work, Vi are low speed rollback setting value, and Vc is velocity variations value in the ticket reserving time, and the ticket reserving time can
Think 20 seconds, 30 seconds etc..
Handle travel is S, and target fltting speed is V, and target rotational speed is W, and target impact pressure is Pp, and target promotes
Pressure is Pf.Wherein, target fltting speed is the desired value of fltting speed, and target rotational speed is the target of rotational speed
Value, target impact pressure is the desired value of surge, and target propelling pressure is the desired value of propelling pressure.Rotation pressure
It is fed back to Pr_fb, surge is fed back to Pp_fb, and propelling pressure is fed back to Pf_fb, and rotational speed is fed back to W_fb, promotes speed
Degree is fed back to V_fb, and it is K that propelling pressure, which changes slope, and fltting speed feedback variable quantity is △ V_fb in the ticket reserving time, when reservation
Between inner handle travel feedback variable quantity △ S, the ticket reserving time can be 20 seconds, 30 seconds etc..Rotation pressure feedback is rotation pressure
Actually detected value, surge feedback is the actually detected value of surge, and propelling pressure feedback is propelling pressure
Actually detected value, rotational speed feedback are the actually detected value of rotational speed, and fltting speed feedback is the reality of fltting speed
Border detected value, handle travel feedback variable quantity are the variable quantity of handle travel.
In one embodiment, duty parameter setup module 132 controls regular and duty parameter according to duty parameter
Reference value determines the desired value of duty parameter, duty parameter control rule can there are many.For example, duty parameter control rule packet
It includes：Duty parameter is directlyed proportional to the incidence relation of handle travel, the desired value of surge to the actually detected value of propelling pressure
Example relationship.The incidence relation of duty parameter and handle travel includes：The desired value of fltting speed and handle travel pass in direct ratio
The knots modification and handle travel of the desired value of system, the desired value of rotational speed and handle travel direct proportionality, propelling pressure
Proportional relationship etc..
The reference value of duty parameter includes：The upper limit threshold of fltting speed, the upper limit threshold of rotational speed, propelling pressure
The upper limit threshold of upper limit threshold, the setting value of standby propelling pressure, surge, the setting value etc. of standby surge.Operating mode
Upper limit threshold of the desired value less than fltting speed of fltting speed is arranged in parameter setting module 132, and the target of rotational speed is arranged
Less than the upper limit threshold of rotational speed, the desired value that propelling pressure is arranged is more than the setting value of standby propelling pressure and is less than value
The upper limit threshold of propelling pressure, the desired value that surge is arranged are more than the setting value of standby surge and are less than percussive pressure
The upper limit threshold of power.
The actually detected value of reference value and duty parameter of the work condition state discrimination module 133 based on duty parameter judges chisel
Whether rock machine is working properly, and is handled accordingly based on judging result.For example, the reference value of duty parameter includes：Card pricker
The rollback speed setting value etc. of pressure threshold, rock drill.Work condition state determining module 133 judges the actually detected value of rotation pressure
Whether it is more than card pricker pressure threshold, if it is, determining operation handle failure, sets the current value of fltting speed to 0, and base
It is reversely retracted in rollback speed setting value control rock drill.After determining that operation handle resets, work condition state determining module 133 is controlled
Rock drill processed is crept into again.
The reference value of duty parameter includes：The reference value of fltting speed variable quantity in preset period of time.If it is determined that
The actually detected value of fltting speed variable quantity in preset period of time is more than the reference value of fltting speed variable quantity, and handle travel
Changing value be 0, then work condition state determining module 133 determine operation handle failure, the current value of fltting speed is set as 0.
After determining that operation handle resets, work condition state determining module 133 controls rock drill and creeps into again.
The reference value of duty parameter includes：The reference value of rotation pressure.If it is determined that the actually detected of rotation pressure is less than
Or the reference value equal to rotation pressure, then work condition state determining module 133 determine the mesh of the desired value of propelling pressure, rotational speed
Scale value respectively with the inversely proportional relationship of difference of the reference value of the actually detected and rotation pressure of rotation pressure.
In one embodiment, the utility model provides a kind of drill jumbo, including the rock drilling in any embodiment as above
The control system of machine.
Fig. 4 is to be illustrated according to the control method flow of one embodiment of the control system of the rock drill of the utility model
Figure, as shown in Figure 4：
Step 401, the rock drilling matching operating mode of rock drill is set.
Step 402, the actually detected value of the duty parameter of rock drill is acquired, the handle that operation handle is sent is obtained and promotes letter
Number.
Step 403, operating mode is matched according to rock drilling, handle promotes the actually detected value of signal and duty parameter to generate
Signal is controlled, and sends control signals to control execution unit, for driving rock drill to execute corresponding operational motion.
Controlling execution unit includes：Hydraulic device.Corresponding behaviour is executed according to the control signal driving rock drill received
It acts, wherein operational motion includes：Revolution, promotes impact.Detection device includes：Acquisition module.By multiple acquisition modules
It is separately positioned in hydraulic device and rock drill, the actually detected value for acquiring duty parameter, duty parameter includes：Revolution pressure
Power, surge, propelling pressure, rotational speed, fltting speed etc..Acquisition module includes：Pressure sensor, flowmeter, coding
Device, velocity sensor, displacement sensor etc..
In one embodiment, the reference value for obtaining duty parameter corresponding with rock drilling matching operating mode, is based on hand
Handle promotes signal to determine handle travel.Rule is controlled according to duty parameter and duty parameter reference value determines the mesh of duty parameter
Scale value, and the desired value based on duty parameter generates control signal.The reality of reference value and duty parameter based on duty parameter
Border detected value judges whether rock drill is working properly, and is handled accordingly based on judging result.
Judge whether the actually detected value of rotation pressure is more than card pricker pressure threshold, if it is, determining that operation handle is lost
The current value of fltting speed is set as 0, and is reversely retracted based on rollback speed setting value control rock drill by effect.It is grasped when determining
After making handle reset, control rock drill is crept into again.
If it is determined that the actually detected value of the fltting speed variable quantity in preset period of time is more than fltting speed variable quantity
Reference value, and the changing value of handle travel is 0, it is determined that and operation handle fails, and the current value of fltting speed is set as 0.
After determining that operation handle resets, control rock drill is crept into again.
If it is determined that the actually detected reference value less than or equal to rotation pressure of rotation pressure, it is determined that propelling pressure
The difference of desired value, the desired value of rotational speed respectively with the reference value of the actually detected and rotation pressure of rotation pressure is inversely proportional
Example relationship.
Fig. 4 is to be illustrated according to the control method flow of another embodiment of the control system of the rock drill of the utility model
Figure, as shown in Figure 5：
Step 501, according to rock mass situation, required operating mode is chosen by selection device.
Step 502, control crank starts to creep into work, wherein the proportional examples of target fltting speed V and handle travel S are closed
System, V value ranges are (0, Vn)；Target rotational speed W and handle travel S (S>0) proportional, W value ranges be (0,
Wn)；Target propelling pressure Pf follows handle travel S variations to be incremented to Pfn by Pfi, and variation slope K ∝ S, Pf value ranges are
(Pfi,Pfn)；Target impact pressure Pp and propelling pressure value of feedback Pf_fb proportionals, Pp value ranges be (Ppi,
Ppn)。
Step 503, judge whether rotation pressure value of feedback Pr_fb is less than or equal to Prh, if it is not, then 504 are entered step,
If it is, entering step 505.
Step 504, handle control failure, first controls V=0, then controls V=Vi and reversely retracts, handle can weigh after resetting
New drilling.
Step 505, judge whether △ V_fb>Vc and △ S=0, if it is, 506 are entered step, if it is not, then into
Step 507.
Step 506, handle control is failed and can be crept into again after enabling V=0, handle reset.
Step 507, judge whether rotation pressure value of feedback Pr_fb≤Prn, if it is, 502 are entered step, if not,
Then enter step 508.
Step 508, determine that target propelling pressure Pf and (Pr_fb-Prn) are in inversely prroportional relationship, minimum can be to Pfi values, mesh
It is in inversely prroportional relationship that rotational speed W, which is marked, with (Pr_fb-Prn), and minimum can be to 0.
Chisel can be realized with Rapid matching rock drilling operating mode, only control crank propulsion by selecting rock drilling to match operating mode
Rock is crept into, and improves driving efficiency, is reduced and is manipulated labor intensity；Judge (" Pr_ by being associated with match control and three-level between each parameter
fb>Prh”、“△V_fb>Vc and △ S=0 ", " Pr_fb≤Prn "), it is adapted to various operating modes, it is ensured that drilling smooth-going, effectively
Anti-sticking pricker reduces drilling tool loss.
The control system and drill jumbo of rock drill in above-described embodiment, are arranged rock drill by mode selector
Rock drilling match operating mode, detection device acquire rock drill duty parameter actually detected value, operation handle send handle
Signal is promoted, controller matches operating mode according to rock drilling, handle promotes the actually detected value of signal and duty parameter to generate
Signal is controlled, and sends control signals to control execution unit, for driving rock drill to execute corresponding operational motion；It can be with
Rock drilling drilling can be realized in the propulsion of Rapid matching rock drilling operating mode, only control crank, and adaptability for working condition is good, can improve manipulation effect
Rate reduces and manipulates labor intensity, improves drilling ride comfort and anti-sticking pricker effect, reduces drilling tool loss, is created more for constructing tunnel
More economic benefits and social benefit.
The method and system of the utility model may be achieved in many ways.For example, software, hardware, firmware can be passed through
Or any combinations of software, hardware, firmware realize the method and system of the utility model.The step of for method it is above-mentioned
Sequence is merely to illustrate, and the step of method of the utility model is not limited to sequence described in detail above, unless with it
Its mode illustrates.In addition, in some embodiments, also the utility model can be embodied as to record journey in the recording medium
Sequence, these programs include for realizing the machine readable instructions of method according to the present utility model.Thus, the utility model also covers
The recording medium of program of the lid storage for executing method according to the present utility model.
The description of the utility model provides for the sake of example and description, and is not that exhaustively or incite somebody to action this
Utility model is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.
Selection and description embodiment are and to make the common skill of this field to more preferably illustrate the principles of the present invention and practical application
Art personnel are it will be appreciated that various embodiments with various modifications of the utility model to design suitable for special-purpose.
Claims (10)
1. a kind of control system of rock drill, which is characterized in that including：
Mode selector, the rock drilling for rock drill to be arranged match operating mode；
Detection device, the actually detected value of the duty parameter for acquiring rock drill；
Operation handle promotes signal for sending handle；
Controller is electrically connected with the mode selector, the detection device, the operation handle respectively, for according to institute
The actually detected value for stating rock drilling matching operating mode, handle propulsion signal and the duty parameter generates control signal,
And the control signal is sent to control execution unit, for driving rock drill to execute corresponding operational motion.
2. control system as described in claim 1, which is characterized in that
The control execution unit, including：
Hydraulic device is electrically connected with the controller, corresponding for being executed according to the control signal driving rock drill received
Operational motion, wherein the operational motion includes：Revolution, promotes impact.
3. control system as claimed in claim 2, which is characterized in that
The rock drill includes：Drilling rod；The hydraulic device drives the drilling rod to execute corresponding operational motion.
4. control system as claimed in claim 2, which is characterized in that
The detection device includes：Acquisition module；Multiple acquisition modules are separately positioned in the hydraulic device and rock drill, are used
In the actually detected value for acquiring the duty parameter；
Wherein, the duty parameter includes：Rotation pressure, surge, propelling pressure, rotational speed, fltting speed.
5. control system as claimed in claim 4, which is characterized in that
The acquisition module includes：Pressure sensor, flowmeter, encoder, velocity sensor, displacement sensor.
6. control system as described in claim 1, which is characterized in that
The mode selector includes：Touch display screen.
7. control system as described in claim 1, which is characterized in that
The mode selector includes：Mode selection knob；Wherein, select knob that rock drilling is selected to match work by shaping modes
Operation mode.
8. control system as described in claim 1, which is characterized in that
The controller is electrically connected with the mode selector, the detection device, the operation handle respectively by bus.
9. control system as claimed in claim 8, which is characterized in that
The bus includes：CAN bus, I2C buses, R485 buses.
10. a kind of drill jumbo, which is characterized in that including：
The control system of rock drill as described in any one of claim 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820226779.2U CN207960594U (en) | 2018-02-09 | 2018-02-09 | The control system and drill jumbo of rock drill |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820226779.2U CN207960594U (en) | 2018-02-09 | 2018-02-09 | The control system and drill jumbo of rock drill |
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| CN207960594U true CN207960594U (en) | 2018-10-12 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108131126A (en) * | 2018-02-09 | 2018-06-08 | 徐工集团工程机械有限公司 | Control system, drill jumbo and the control method of rock drill |
| CN109113572A (en) * | 2018-11-19 | 2019-01-01 | 中国铁建重工集团有限公司 | A kind of control method and drill jumbo for drill jumbo |
| CN109696306A (en) * | 2019-02-20 | 2019-04-30 | 安百拓（南京）建筑矿山设备有限公司 | For detecting the detection system of the rotation status of rock drill rotary drilling-head |
| CN110219638A (en) * | 2019-07-24 | 2019-09-10 | 湖南五新隧道智能装备股份有限公司 | The control system of drill jumbo |
| CN110410056A (en) * | 2019-08-08 | 2019-11-05 | 河北中瑞智能机械设备制造有限公司 | A kind of automatic control system and its control method of drill jumbo |
| CN114776275A (en) * | 2022-04-29 | 2022-07-22 | 四川蓝海智能装备制造有限公司 | Arm support electric control method and system |
-
2018
- 2018-02-09 CN CN201820226779.2U patent/CN207960594U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108131126A (en) * | 2018-02-09 | 2018-06-08 | 徐工集团工程机械有限公司 | Control system, drill jumbo and the control method of rock drill |
| CN109113572A (en) * | 2018-11-19 | 2019-01-01 | 中国铁建重工集团有限公司 | A kind of control method and drill jumbo for drill jumbo |
| CN109113572B (en) * | 2018-11-19 | 2019-07-30 | 中国铁建重工集团股份有限公司 | A kind of control method and drill jumbo for drill jumbo |
| CN109696306A (en) * | 2019-02-20 | 2019-04-30 | 安百拓（南京）建筑矿山设备有限公司 | For detecting the detection system of the rotation status of rock drill rotary drilling-head |
| CN110219638A (en) * | 2019-07-24 | 2019-09-10 | 湖南五新隧道智能装备股份有限公司 | The control system of drill jumbo |
| CN110410056A (en) * | 2019-08-08 | 2019-11-05 | 河北中瑞智能机械设备制造有限公司 | A kind of automatic control system and its control method of drill jumbo |
| CN114776275A (en) * | 2022-04-29 | 2022-07-22 | 四川蓝海智能装备制造有限公司 | Arm support electric control method and system |
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Effective date of registration: 20220801 Address after: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee after: JIANGSU XUGONG ENGINEERING MACHINERY RESEARCH INSTITUTE Co.,Ltd. Address before: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee before: XCMG CONSTRUCTION MACHINERY Co.,Ltd. |