CN209838416U - Bionic micro-aperture drilling and expanding type underground tunneling device supporting and propelling mechanism - Google Patents
Bionic micro-aperture drilling and expanding type underground tunneling device supporting and propelling mechanism Download PDFInfo
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- CN209838416U CN209838416U CN201822185333.2U CN201822185333U CN209838416U CN 209838416 U CN209838416 U CN 209838416U CN 201822185333 U CN201822185333 U CN 201822185333U CN 209838416 U CN209838416 U CN 209838416U
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Abstract
The utility model relates to a bionic micro-aperture drilling and expanding type underground tunneling device supporting and propelling mechanism, which comprises a tail casing, a direct current gear motor, a supporting claw and a supporting claw driving unit, wherein the direct current gear motor is arranged in the tail casing; the supporting claw driving unit comprises a crown gear, symmetrical straight gears, a first double-crank cam mechanism and a second double-crank cam mechanism, the direct-current speed reduction motor drives the crown gear, the crown gear is simultaneously meshed with the symmetrical straight gears, and the symmetrical straight gears respectively drive the first double-crank cam mechanism and the second double-crank cam mechanism so as to drive the two supporting claws. The utility model discloses a bionical micropore footpath bores and expands formula underground tunnelling device and supports advancing mechanism, structural design scientific and reasonable does not need outside power equipment, realizes independently advancing, adapts to the high efficiency of micro-aperture tunnelling device and impels.
Description
Technical Field
The utility model belongs to bionical formula advancing device field, especially a bionical aperture bores and expands formula underground tunneling device and supports advancing mechanism.
Background
With the acceleration of the urbanization process in China, the three-dimensional city traffic and communication network becomes an important development direction of the current city construction, and the small-sized construction such as the laying of small-diameter pipelines in the city construction, various geological exploration and research, and the hidden non-excavation operation in anti-terrorism all need corresponding underground tunneling devices and equipment. The construction of large pipelines such as subway tunnels in urban construction mainly adopts a shield machine, the system is complex, drilling, digging, conveying and supporting are integrated, and the cost is higher. The construction of small-diameter pipelines (25-200 cm), such as water supply and drainage pipelines, gas pipelines, optical fiber (cable) pipelines, industrial pipelines and the like, can not adopt a shield machine on one hand, and does not want to destroy the ground surface to influence the traffic on the other hand, and the adoption of a non-excavation construction method can reduce the influence on the traffic and the damage on ground surface facilities, so that the construction method is an ideal construction method. The non-excavation method adopted in the city at present mainly comprises a percussion spear method, a horizontal directional drilling method, a horizontal spiral drilling method and the like, and the rotary drilling type excavation is carried out by taking air pressure or hydraulic impact as power. Large auxiliary equipment is needed to be arranged on the ground for chip removal, temperature control and propulsion, so that the flexibility of the equipment is not high, and the single tunneling distance is limited (within 40 m), thereby restricting the application range of the rotary drilling type underground tunneling equipment, and ensuring that the rotary drilling type underground tunneling equipment cannot meet the requirements of long tunneling distance, low noise, low vibration, miniaturization and the like for laying urban underground pipelines.
The Chinese invention patent (CN201611252858.2) discloses an expanding type shield machine, which utilizes a hydraulic motor to drive expanding devices at all levels to realize gradual expansion, each expanding device adopts 5-6 hydraulic cylinders, the size of a hole is 30cm-200cm, the expanding type shield machine can realize chipless non-excavation, but the opening range is larger, and more external power devices are needed.
The invention patent (CN201510982376.1) discloses a cable-bound non-excavation method, which provides a non-excavation method for binding and arranging pipes of a small-caliber cable, wherein the caliber of the cable is 400mm, but a working well and a receiving well need to be excavated, and the method is realized by utilizing a back-dragging reaming method. The tunneling distance is short, and a working well and a receiving well need to be excavated.
The Chinese invention patent (CN201710445841.7) discloses an earthworm-imitating underwater mud-arching robot, which comprises two steering and supporting mechanisms, wherein a steering engine transmits power to a power transmission rod and a conical mud-arching head by utilizing a rotating platform to rotate the conical mud-arching head, and the telescopic driving of a cylinder rod drives the mud-arching head mechanism to reciprocate to realize punching.
In summary, the current research or invention mainly focuses on three aspects, one is that a common shield machine and a common non-excavation method are used, non-excavation with a tiny aperture cannot be realized, and a working well needs to be excavated in advance; firstly, drilling and expanding tools on the existing drilling machine are improved to realize drilling and expanding movement, but the drilling and expanding needs auxiliary equipment and power equipment on the ground and cannot realize long-distance movement; one is based on bionic design method, which improves and adds walking, steering or control function on the basis of original impact spear or impact sleeve to realize flexible movement.
Particularly, the propelling mechanism of the existing tunneling device is complex in structure and needs external equipment to propel. At present, no propelling equipment which does not need external power equipment, can realize independent propulsion and is suitable for a micro-aperture tunneling device exists.
Disclosure of Invention
An object of the utility model is to overcome prior art's is not enough, provides a bionical micropore footpath bores and expands formula underground tunnelling device and supports advancing mechanism, can realize independently advancing under the condition that does not need outside power equipment, adapts to the high efficiency of micro-aperture tunnelling device and impels.
The utility model provides a its technical problem realize through following technical scheme:
the utility model provides a bionical micropore bores and expands formula underground tunnelling device and supports advancing mechanism which characterized in that: the direct-current speed reducing motor is arranged in the tail machine shell; the supporting claw driving unit comprises a crown gear, symmetrical straight gears, a first double-crank cam mechanism and a second double-crank cam mechanism, the direct-current speed reduction motor drives the crown gear, the crown gear is simultaneously meshed with the symmetrical straight gears, and the symmetrical straight gears respectively drive the first double-crank cam mechanism and the second double-crank cam mechanism so as to drive the two supporting claws; the first double-crank cam mechanism and the second double-crank cam mechanism have the same structure and respectively comprise a first wheel disc, a second wheel disc, a first connecting rod, a cam, a first sliding block, a double-slideway slide rail, a second connecting rod, a gear carrier, a second sliding block, a supporting claw swing rod and a pin shaft, and a straight gear is installed with the tail supporting frame through the gear carrier; the rear end part of the support claw oscillating bar extends out of the tail support frame and is fixedly installed with the support claw, and the double-slideway slide rail is fixedly installed with the tail support frame through the slide rail frame; the first wheel disc drives a first connecting rod, the first connecting rod drives a first sliding block, the first sliding block is installed on an upper slide rail of the double-slide-rail slide rail, the first connecting rod drives the first sliding block to run along the double-slide-rail slide rail, one side of the cam is fixed with the first sliding block, the cam runs linearly along the double-slide-rail slide rail along with the first sliding block, a pin shaft is fixedly installed at the front end of a swing rod of the supporting claw, the end part of the pin shaft is inserted into a track slide rail on the cam in a sliding mode, and the first wheel disc rotates to realize the linear reciprocating motion of the cam; the second wheel disc drives the second connecting rod, the second connecting rod drives the second sliding block, the second sliding block is installed on a lower slideway of the double-chute sliding rail, the second sliding block is hinged to the middle position of the supporting claw oscillating bar, the second wheel disc rotates to realize that a hinge point in the middle of the supporting claw oscillating bar linearly reciprocates along the double-chute sliding rail, phase differences exist between hinge points of the first wheel disc and the second wheel disc and between hinge points of the first connecting rod and the second connecting rod, the first wheel disc and the second wheel disc synchronously rotate, and pushing, recycling and expanding actions of the supporting claw are realized.
And the steering mechanism comprises a steering engine and a connecting frame, the steering engine is fixedly arranged in the tail casing, a rotating shaft of the steering engine is rotatably arranged at one end of the connecting frame, and the other end of the connecting frame is connected with the drilling and expanding mechanism.
The utility model discloses an advantage and beneficial effect do:
1. the utility model discloses a bionic micropore diameter bores and expands formula underground tunnelling device and supports advancing mechanism, adopts direct current gear motor to realize the extension and the propulsion action of support claw through gear mechanism and double crank cam mechanism, and the action is more reliable and more stable; the rear support pushing mechanism and the front drilling and expanding mechanism act in a coordinated manner; when a hollow cup forward and reverse rotation motor of the drilling and expanding mechanism rotates reversely and a drill bit rotates forward to implement a drilling process, a supporting claw at the tail part is expanded to the maximum to support the inner wall of a hole and simultaneously advance forward, and a stroke A-B in the drawing is executed; when the head motor rotates forwards and the drill bit rotates backwards to perform expansion, the tail supporting claw is closed and recovered to execute the stroke B-C-D-A in the drawing.
2. The utility model discloses a bionical micropore footpath bores and expands formula underground tunnelling device and supports advancing mechanism, the steering mechanism who constitutes by steering wheel and link is adopted at the middle part, realizes that the anterior steering control who bores and expands the mechanism.
3. The utility model discloses a bionical micropore footpath bores and expands formula underground tunnelling device and supports advancing mechanism, structural design scientific and reasonable does not need outside power equipment, realizes independently advancing, adapts to the high efficiency of micro-aperture tunnelling device and impels.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of a supporting claw driving unit of the present invention;
fig. 3 is a schematic structural view of a double-crank cam of the present invention;
fig. 4 is a schematic structural view of a double-crank cam of the present invention;
FIG. 5 is a track diagram of a single support claw of the present invention;
fig. 6 is a track diagram (a node a position) of the single support claw of the present invention;
fig. 7 is a track diagram (node B position) of a single support claw of the present invention;
fig. 8 is a track diagram (C node position) of a single support claw of the present invention;
fig. 9 is a track diagram (node D position) of the single support claw of the present invention.
Fig. 10 shows an internal structure of the heading device of the present invention;
fig. 11 is a schematic structural view of the drilling and reaming mechanism of the present invention;
fig. 12 is a schematic structural view of a steering mechanism according to the present invention.
In the figure: 1-drill bit, 2-front bearing transparent cover, 3-expansion plate, 4-front machine shell, 5-fixing ring, 6-first deep groove ball bearing, 7-coupler, 8-hollow cup forward and reverse rotation motor, 9-front motor shell, 10-connecting frame, 11-blade, 12-steering engine, 13-tail machine shell, 14-direct current speed reducing motor, 15-tail supporting frame, 16-second deep groove ball bearing, 17-screw rod, 18-connecting rod hinged seat, 19-screw rod nut, 20-expansion plate connecting rod, 21-crown gear, 22-first straight gear, 23-first wheel disc, 24-second wheel disc, 25-first connecting rod, 26-cam, 27-slide rail frame, 28-first slide block, 29-double-slide rail, 30-a second connecting rod, 31-a gear rack, 32-a second sliding block, 33-a supporting claw oscillating bar, 34-a pin shaft, 35-a first double-crank cam mechanism, 36-a second double-crank cam mechanism, 37-a second straight gear, 38-a supporting claw and 39-a track plate.
Detailed Description
The present invention will be described in further detail with reference to specific examples, which are provided for illustrative purposes only, and are not intended to be limiting, and the scope of the present invention should not be limited thereby.
A bionic micro-aperture drilling and expanding type underground tunneling device supporting and propelling mechanism is shown in figure 1 and comprises a tail shell 13, a direct-current speed reducing motor 14, symmetrical supporting claws and a supporting claw driving unit. A direct current speed reducing motor is arranged in the tail shell, and the direct current speed reducing motor drives the two supporting claws to expand and push through a supporting claw driving unit. The supporting jaw driving unit is installed in the rear supporting frame 15.
As shown in fig. 2, 4 and 5, the supporting jaw driving unit includes a crown gear 21, a first spur gear 22, a second spur gear 37, a first double-crank cam mechanism 35 and a second double-crank cam mechanism 36, the crown gear is driven by the dc gear motor, the crown gear is simultaneously engaged with the first spur gear and the second spur gear, and the first double-crank cam mechanism and the second double-crank cam mechanism are respectively driven by the first spur gear and the second spur gear. The first double-crank cam mechanism and the second double-crank cam mechanism respectively drive the two support claws to move symmetrically.
The first double-crank cam mechanism and the second double-crank cam mechanism have the same structure. The structure of the first double-crank cam mechanism is described by taking the first double-crank cam mechanism as an example, and the first double-crank cam mechanism comprises a first wheel disc 23, a second wheel disc 24, a first connecting rod 25, a cam 26, a first slide block 28, a double-slide-way slide rail 29, a second connecting rod 30, a gear rack 31, a second slide block 32, a support claw swing rod 33, a pin shaft 34 and a track plate 39. The first spur gear is mounted to the aft support frame by a gear carrier 27. The rear end part of the support claw oscillating bar extends out of the tail support frame and is fixedly installed with the support claw 38. The double-slideway slide rail is fixedly installed with the tail support frame through a slide rail frame 27.
The first straight gear coaxially drives a first wheel disc and a second wheel disc, the first wheel disc drives a first connecting rod, the first connecting rod drives a first sliding block, the first sliding block is installed on an upper slide way of a double-slide-way slide way, the first connecting rod drives the first sliding block to move along the double-slide-way slide way, one side of a cam is fixed with the first sliding block, the cam linearly moves along the double-slide-way slide way along with the first sliding block, a pin shaft is fixedly installed at the front end of a swing rod of a supporting claw, the end part of the pin shaft is slidably inserted into a track slide way on the cam, and the first wheel disc rotates to realize the linear reciprocating motion of the cam; the second wheel disc drives the second connecting rod, the second connecting rod drives the second sliding block, the second sliding block is installed on a lower slideway of the double-chute sliding rail, the second sliding block is hinged to the middle position of the supporting claw oscillating bar, the second wheel disc rotates to realize that a hinge point in the middle of the supporting claw oscillating bar linearly reciprocates along the double-chute sliding rail, phase differences exist between hinge points of the first wheel disc and the second wheel disc and between hinge points of the first connecting rod and the second connecting rod, the first wheel disc and the second wheel disc synchronously rotate, and pushing, recycling and expanding actions of the supporting claw are realized.
As shown in fig. 3, the steering mechanism includes a steering engine 12 and a connecting frame 10, the connecting frame is a U-shaped connecting frame, the steering engine is fixedly installed in the tail casing, a rotating shaft of the steering engine is rotatably installed with one end of the connecting frame through a blade 11, and the other end of the connecting frame is fixedly installed with an external casing of the drilling and expanding mechanism through a screw. The steering mechanism in the middle part controls the steering of the tunneling mechanism.
The drilling and expanding mechanism comprises an external front motor shell 9, a hollow cup forward and reverse rotation motor 8, a coupler 7, a front machine shell 4, a fixing ring 5, a screw rod 17, a screw rod nut 19, a drill bit 1, an expansion plate 3 and an expansion plate connecting rod 20, wherein the hollow cup forward and reverse rotation motor and the coupler are installed in the front motor shell, the coupler is connected with the hollow cup forward and reverse rotation motor and the screw rod, and the screw rod is rotatably supported and installed in the front motor shell and the front machine shell. A first deep groove ball bearing 6 is arranged in the front end of the front motor shell, a second deep groove ball bearing 16 is arranged at the front end of the front motor shell, and the screw rod is rotatably supported and arranged through the first deep groove ball bearing and the second deep groove ball bearing. The front part of the deep groove ball bearing at the front end of the front machine shell is provided with a front bearing transparent cover 2. The drill bit adopts a pagoda drill and is connected with the front end of the screw rod through a set screw, and the screw rod and the drill bit are opposite in rotating direction.
The front end of the screw rod is provided with a drill bit, a screw rod nut is arranged on the screw rod, the screw rod nut is coaxially arranged with a connecting rod hinged seat 18, one end of an expansion plate connecting rod is hinged with the connecting rod hinged seat, the other end of the expansion plate connecting rod extends out of the front shell and is hinged with a hinged hole at the inner side of the front part of the expansion plate, and the rear part of the expansion plate is hinged with a fixed ring 5 at the front part of the front motor. The expansion board is two to four expansion boards. In this embodiment, three expansion plates are used, which are cylindrical. The opening and closing actions of the three expansion plates are realized through the left and right movement of the screw rod nut pair.
The front casing with the built-in screw rod transmission pair is of a hollow cylindrical slotted structure, and a connecting rod connected with the expansion plate can swing in the casing slot along one direction; the front motor shell and the tail machine shell are of two-half structures, and the front motor shell is used for mounting a hollow cup forward and reverse rotating motor for drilling and expanding the head; the tail casing is used for mounting a tail support integral structure; the tail support frame is formed by combining four plates and is used for fixing a gear and a double-slideway slide rail, during installation, a main mechanism is installed on the tail support frame, and then the whole mechanism is placed in the tail shell, so that the installation and the positioning are convenient.
Wire grooves are reserved in the front motor shell and the tail shell, and a control line of a forward and reverse rotating motor of the hollow cup is led out from the tail of the front shell to bypass the steering engine, is combined with the control line of the steering engine and a tail motor into a strand, and is led out from the tail end of the tail shell.
The fixing ring is used for connecting the front casing and the two half casings of the front motor casing and has a protection effect on a hollow cup forward and backward rotating motor in the front motor casing; have flexible protection casing between expansion board and preceding casing, between preceding motor casing and the afterbody casing, carry out the flexonics, do not influence and turn to the action, be used for preventing simultaneously that soil particle from falling into to cause the jam in the mechanism.
The working principle of the supporting and propelling mechanism of the bionic micro-aperture drilling and expanding type underground tunneling device is as follows:
the drilling and expanding mechanism at the front part combines drilling and expanding actions, the drilling and expanding mechanism is controlled by a hollow cup forward and backward rotating motor to realize the alternate operation of the drilling and expanding actions, when the hollow cup forward and backward rotating motor rotates reversely, a screw rod nut moves backwards from the head part to drive a connecting rod hinge seat fixedly connected with the screw rod nut to move backwards, an expansion plate connecting rod drives an expansion plate to be closed, and meanwhile, a drill bit rotates forwards to screw into soil to drill; when the motor rotates forwards, the drill bit rotates backwards without drilling, and the screw rod rotates forwards, the screw rod nut moves from the rear part to the head part to drive the connecting rod hinge seat fixedly connected with the screw rod nut to move forwards, so that the expansion plate connecting rod drives and supports the expansion plate to expand, the periphery of a hole drilled when the motor rotates backwards is expanded outwards to perform soil expansion, and the drilled soil is pushed to the periphery.
The rear supporting and pushing mechanism adopts a direct current speed reducing motor to realize the expansion and pushing actions of the supporting claws through a gear mechanism and a double-crank cam mechanism, so that the actions are more stable and reliable; the rear support pushing mechanism and the front drilling and expanding mechanism act in a coordinated manner; when the hollow cup forward and reverse rotation motor of the drilling and expanding mechanism rotates reversely and the drill bit rotates forward to perform the drilling process, the supporting claw at the tail part is expanded to the maximum to support the inner wall of the hole and simultaneously advance forward, and the stroke A-B in the drawing is executed. The second wheel disc rotates anticlockwise, the second sliding block is driven to move rightwards along the double-track sliding rail through transmission of the crank sliding block mechanism, meanwhile, the first wheel disc rotates anticlockwise synchronously, the first sliding block is driven to move rightwards along the double-track sliding rail through the crank sliding block mechanism, and the first sliding block and the second sliding block generate relative motion due to phase difference between installation positions of connecting rods on the first wheel disc and the second wheel disc and perform b-a-b motion along a cam track, so that propulsion is achieved. When the head motor rotates forwards and the drill bit rotates backwards to perform expansion, the tail supporting claw performs closing, recovering and expanding supporting actions and executes a stroke B-C-D-A in the drawing. In the stage B-C, the first wheel disc and the second wheel disc synchronously rotate anticlockwise, the first sliding block drives the cam to move left, the second sliding block drives the hinge point in the middle of the supporting claw to move right, and the pin shaft on the swing rod of the supporting claw moves along the path B-C of the cam to realize the closing of the supporting claw towards the center direction. In the C-D stage, the first sliding block drives the cam to move left, the second sliding block moves left, and the pin shaft moves along the C-D-C of the cam track to realize the retraction of the supporting claw; in the stage D-A, the first sliding block drives the cam to move rightwards, the second sliding block moves leftwards, the pin shaft moves along the c-b of the cam track, and the action that the supporting claw is opened away from the center is realized.
The bionic micro-aperture drilling and expanding type underground tunneling device has a supporting and propelling mechanism with the diameter of 56mm and the maximum expanding and excavating diameter of 77 mm. The support jaw advances by a single stroke of about 10 mm.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims, and therefore, the scope of the present invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (2)
1. The utility model provides a bionical micropore bores and expands formula underground tunnelling device and supports advancing mechanism which characterized in that: the direct-current speed reducing motor is arranged in the tail machine shell; the supporting claw driving unit comprises a crown gear, symmetrical straight gears, a first double-crank cam mechanism and a second double-crank cam mechanism, the direct-current speed reduction motor drives the crown gear, the crown gear is simultaneously meshed with the symmetrical straight gears, and the symmetrical straight gears respectively drive the first double-crank cam mechanism and the second double-crank cam mechanism so as to drive the two supporting claws; the first double-crank cam mechanism and the second double-crank cam mechanism have the same structure and respectively comprise a first wheel disc, a second wheel disc, a first connecting rod, a cam, a first sliding block, a double-slideway slide rail, a second connecting rod, a gear carrier, a second sliding block, a supporting claw swing rod and a pin shaft, and a straight gear is installed with the tail supporting frame through the gear carrier; the rear end part of the support claw oscillating bar extends out of the tail support frame and is fixedly installed with the support claw, and the double-slideway slide rail is fixedly installed with the tail support frame through the slide rail frame; the first wheel disc drives a first connecting rod, the first connecting rod drives a first sliding block, the first sliding block is installed on an upper slide rail of the double-slide-rail slide rail, the first connecting rod drives the first sliding block to run along the double-slide-rail slide rail, one side of the cam is fixed with the first sliding block, the cam runs linearly along the double-slide-rail slide rail along with the first sliding block, a pin shaft is fixedly installed at the front end of a swing rod of the supporting claw, the end part of the pin shaft is inserted into a track slide rail on the cam in a sliding mode, and the first wheel disc rotates to realize the linear reciprocating motion of the cam; the second wheel disc drives the second connecting rod, the second connecting rod drives the second sliding block, the second sliding block is installed on a lower slideway of the double-chute sliding rail, the second sliding block is hinged to the middle position of the supporting claw oscillating bar, the second wheel disc rotates to realize that a hinge point in the middle of the supporting claw oscillating bar linearly reciprocates along the double-chute sliding rail, phase differences exist between hinge points of the first wheel disc and the second wheel disc and between hinge points of the first connecting rod and the second connecting rod, the first wheel disc and the second wheel disc synchronously rotate, and pushing, recycling and expanding actions of the supporting claw are realized.
2. The bionic micro-aperture drilling and expanding type underground tunneling device supporting and propelling mechanism is characterized in that: the steering mechanism comprises a steering engine and a connecting frame, the steering engine is fixedly arranged in the tail casing, a rotating shaft of the steering engine is rotatably arranged at one end of the connecting frame, and the other end of the connecting frame is connected with the drilling and expanding mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822185333.2U CN209838416U (en) | 2018-12-25 | 2018-12-25 | Bionic micro-aperture drilling and expanding type underground tunneling device supporting and propelling mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822185333.2U CN209838416U (en) | 2018-12-25 | 2018-12-25 | Bionic micro-aperture drilling and expanding type underground tunneling device supporting and propelling mechanism |
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| CN209838416U true CN209838416U (en) | 2019-12-24 |
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| CN201822185333.2U Expired - Fee Related CN209838416U (en) | 2018-12-25 | 2018-12-25 | Bionic micro-aperture drilling and expanding type underground tunneling device supporting and propelling mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109681224A (en) * | 2018-12-25 | 2019-04-26 | 天津科技大学 | Bionic micropore diameter bores expansion formula underground mole and supports propulsive mechanism |
| CN114113508A (en) * | 2021-11-10 | 2022-03-01 | 中国人民解放军总医院第八医学中心 | Drug release detection method based on composite bionic bone |
-
2018
- 2018-12-25 CN CN201822185333.2U patent/CN209838416U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109681224A (en) * | 2018-12-25 | 2019-04-26 | 天津科技大学 | Bionic micropore diameter bores expansion formula underground mole and supports propulsive mechanism |
| CN109681224B (en) * | 2018-12-25 | 2024-04-19 | 天津科技大学 | Supporting and propelling mechanism of bionic micro-aperture drilling and expanding type underground tunneling device |
| CN114113508A (en) * | 2021-11-10 | 2022-03-01 | 中国人民解放军总医院第八医学中心 | Drug release detection method based on composite bionic bone |
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Granted publication date: 20191224 Termination date: 20211225 |