CN210509031U - Automatic roofbolter of highway tunnel construction - Google Patents
Automatic roofbolter of highway tunnel construction Download PDFInfo
- Publication number
- CN210509031U CN210509031U CN201920846768.9U CN201920846768U CN210509031U CN 210509031 U CN210509031 U CN 210509031U CN 201920846768 U CN201920846768 U CN 201920846768U CN 210509031 U CN210509031 U CN 210509031U
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- fixed
- stock
- jumbolter
- arm
- tunnel construction
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- 238000010276 construction Methods 0.000 title claims abstract description 51
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 28
- 239000000779 smoke Substances 0.000 claims abstract description 5
- 238000005553 drilling Methods 0.000 claims description 36
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 239000003595 mist Substances 0.000 claims description 14
- 210000000245 Forearm Anatomy 0.000 claims description 8
- 239000007921 spray Substances 0.000 claims description 8
- 239000000428 dust Substances 0.000 abstract description 11
- 239000011435 rock Substances 0.000 abstract description 9
- 238000009434 installation Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- OKTJSMMVPCPJKN-UHFFFAOYSA-N carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000000387 litholytic Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003014 reinforcing Effects 0.000 description 1
- 238000007569 slipcasting Methods 0.000 description 1
- 238000004642 transportation engineering Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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Abstract
The utility model discloses an automatic roofbolter of highway tunnel construction, connecting device includes fixed mechanical arm, movable mechanical big arm and movable mechanical small arm, the running gear is provided with the rotary platform that can rotate, be provided with water tank and fixed mechanical arm on the rotary platform, the fixed mechanical arm lower part is provided with the long-range wireless receiver that is used for receiving long-range wireless control station signal, the water tank is connected with the water smoke shower nozzle through the connecting line; this application is safe high-efficient, easy operation, and the practicality is strong, and stable in structure is accurate, not only avoids artifical closely country rock operation, can realize remote control simultaneously, from taking high-pressure water smoke can the dust fall, preventing dust pollution tunnel environment, crawler-type running gear has promoted the removal performance of machinery greatly, and the automation of stock cage has traded the stock function and has improved the continuity of operation ability greatly simultaneously, has accelerated the construction progress under the safe and reliable's of assurance construction operation prerequisite.
Description
Technical Field
The utility model relates to a highway tunnel engineering construction equipment, concretely relates to automatic roofbolter of highway tunnel construction.
Background
The anchor rod is the most basic component of roadway support in the contemporary coal mine, and the anchor rod reinforces the surrounding rocks of the roadway together to support the surrounding rocks per se. The conventional anchor rod is not only used for mines, but also used in engineering technology for reinforcing main bodies of slopes, tunnels and dams.
The jumbolter is also called anchoring drill in some places, and is a drilling tool in coal mine tunnel bolting work. The method has outstanding advantages in the aspects of improving the supporting effect, reducing the supporting cost, accelerating the roadway forming speed, reducing the auxiliary transportation amount, lightening the labor intensity, improving the utilization rate of the roadway section and the like. The anchor rod drilling machine is the key equipment of anchor rod support, it influences the quality of anchor rod support-the accuracy of the position, depth and bore diameter of anchor rod hole and the quality of anchor rod installation, and also relates to the personal safety, labor intensity and operation condition of operator.
In recent years, the number and mileage of newly built expressways in China are increasing, and the number of highway tunnels is also increasing. Along with the enhancement of engineering technical capability, the depth of a newly-built expressway tunnel is continuously increased, the technical difficulty is synchronously improved, so that complex geological conditions and complex litholytic development can often occur in the tunnel body construction process, and the tunnel construction process is complex, so that great examination is brought to the construction safety. Therefore, the tunnel body can be timely supported in the complex tunnel construction process, and the method is of great importance for guaranteeing the stability of the tunnel body and the safety of tunnel construction.
At present, when the weak surrounding rock and the broken surrounding rock are lost in the tunnel construction process, an advanced anchor rod support or an advanced small duct grouting technology and the like are often adopted, after an anchor rod is often constructed by ordinary machinery in anchor rod drilling construction, manual shutdown is needed to reinstall a new anchor rod, the construction progress is slow, meanwhile, the ordinary machinery can generate dust in the drilling process to bring serious threats to the health of mechanical operators and constructors, a large amount of dust generated simultaneously causes tunnel construction environmental pollution, the working power of a tunnel ventilation fan is increased, and in addition, close-distance manual operation at the unstable surrounding rock has certain risks. Therefore, efficient, safe and advanced anchor rod construction machinery is adopted to carry out anchor rod support and advanced small conduit grouting in the construction process, and the method has important significance for guaranteeing the safety of tunnel construction, improving the engineering quality and the engineering progress and guaranteeing the construction environment.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, the utility model aims at providing an improve automatic roofbolter of highway tunnel construction of work efficiency, the construction of the strut of mainly used tunnel hole body and advance slip casting, but this roofbolter remote operation, assurance construction operation personnel's safety, but while automatic installation stock to rig.
In order to realize the technical purpose, the utility model discloses a scheme is: an automatic jumbolter for highway tunnel construction comprises a walking device, a connecting device and a jumbolter device, wherein the jumbolter device is fixed on the walking device through the connecting device, the connecting device drives the jumbolter device to move, the connecting device comprises a fixed mechanical arm, a movable mechanical big arm and a movable mechanical small arm, a rotatable rotating platform is arranged on the walking device, a water tank and the fixed mechanical arm are arranged on the rotating platform, a remote wireless receiver for receiving a remote wireless control console signal is arranged at the lower part of the fixed mechanical arm, and the water tank is connected with a water mist spray head through a connecting pipeline;
the jumbolter device comprises a jumbolter cage, a drilling machine and a lifting support column, wherein the drilling machine is connected with the jumbolter cage in a driving mode, and the lifting support column is arranged on the left side and the right side of the jumbolter cage.
Preferably, the upper end of the fixed mechanical arm is connected with a movable mechanical big arm, the other end of the movable mechanical big arm is connected with a movable mechanical small arm, and the fixed mechanical arm, the movable mechanical big arm and the movable mechanical small arm are fixedly connected through two connecting shafts.
Preferably, the movable mechanical forearm is fixed with a fixed slide rail, the fixed slide rail is connected with two fixed guide frames through a cross beam in a left-right mode, the fixed slide rail is provided with a movable slide rail, the movable slide rail is fixed on the drilling machine, and the movable slide rail slides on the fixed slide rail to realize drilling and retreating of the drilling machine.
Preferably, the stock cage is cylindrical, the stock cage comprises stock clamping piece, stock and stock retainer plate, the anchor rod retainer plate is surrounded around being provided with a plurality of stock clamping pieces, and the stock clamping piece is used for fixing and takes out the stock.
Preferably, be provided with the chevron shape support frame on the fixed leading truck, be provided with a lift pillar on the intermediate position of support frame, be provided with the axis of rotation on the lift pillar, stock retainer plate center department is connected with the dwang, and the both ends of dwang are connected in the axis of rotation.
Preferably, the anchor rod clamping piece is of an open circular ring structure and consists of two elastic clamping pieces.
Preferably, the running gear is a crawler chassis running mechanism.
Preferably, the water mist spray head is arranged at the lower part of the fixed guide frame.
Preferably, the fixed guide frame is formed by fixing three rectangular steel frames in parallel, each steel frame support has a certain distance, the length of the middle steel frame support is shorter, the lengths of the two steel frames on two sides are the same, and the three steel frames are welded together.
As preferred, long-range wireless receiver passes through interconnecting link and connects long-range wireless control platform, long-range wireless control platform bottom is provided with the removal wheel, including rotating platform controller, the big arm controller of movable machinery, the forearm controller of movable machinery, running gear controller, lift pillar controller, stock cage rotation controller, motor advance and retreat controller, water smoke switch, motor switch and master switch on the long-range wireless control platform.
The beneficial effects of the utility model are that, this application is safe high-efficient, easy operation, and the practicality is strong, and stable in structure is accurate, not only avoids artifical closely surrounding rock operation, can realize remote control simultaneously, and the dust fall of high-pressure water smoke ability of taking certainly, prevent dust pollution tunnel environment, crawler-type running gear has promoted mechanical mobility greatly, and the automatic stock function of trading of stock cage has simultaneously improved the continuous operation ability greatly, has accelerated the construction progress under the safe and reliable prerequisite of assurance construction operation; this application had both provided good operational environment for constructor and had promoted the operating efficiency simultaneously greatly, had the significance to tunnel construction safety and construction progress again.
Drawings
Fig. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the present invention viewed from the right;
fig. 3 is a schematic diagram of the right-side view structure of the present invention;
FIG. 4 is a schematic diagram of a remote wireless console;
fig. 5 is a schematic top view of the present invention.
Wherein, 1, a walking device; 2. fixing the mechanical arm; 3. a movable mechanical big arm; 4. a movable mechanical forearm; 5. rotating the platform; 6. a water tank; 7. a remote wireless receiver; 8. connecting a pipeline; 9. a water mist spray head; 10. an anchor rod cage; 11. a drilling machine; 12. a lifting column; 13. fixing the slide rail; 14. a cross beam; 15. fixing a guide frame; 16. moving the slide rail; 17. a support frame; 18. A rotating shaft; 19. rotating the rod; 20. connecting a line; 21. a remote wireless console; 22. 23, a movable mechanical upper arm controller; 24. a mobile mechanical forearm controller; 25. a running gear controller; 26. a lifting pillar controller; 27. an anchor rod cage rotation controller; 28. a motor advance and retreat controller; 29. a water mist switch; 30. a motor switch; 31. a master switch; 101. an anchor rod clamping piece; 102. an anchor rod; 103. the stock retainer plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-5, a specific embodiment of the present invention is an automatic jumbolter for road tunnel construction, which includes a traveling device 1, a connecting device and a jumbolter device, wherein the jumbolter device is fixed on the traveling device through the connecting device, the connecting device drives the jumbolter device to move, the connecting device includes a fixed mechanical arm 2, a movable mechanical arm 3 and a movable mechanical arm 4, the traveling device 1 is provided with a rotatable rotating platform 5, the rotating platform 5 is provided with a water tank 6 and a fixed mechanical arm 2, the lower part of the fixed mechanical arm 2 is provided with a remote wireless receiver 7 for receiving remote wireless console signals, and the water tank 6 is connected with a water mist nozzle 9 through a connecting pipeline 8;
the anchor rod drilling machine device comprises an anchor rod cage 10, a drilling machine 11 and a lifting support column 12, wherein the drilling machine 11 is connected with the anchor rod cage 10 in a driving mode, and the lifting support column 12 is arranged on the left side and the right side of the anchor rod cage 10.
In order to enable the drilling machine to move more flexibly, the upper end of the fixed mechanical arm 2 is connected with a movable mechanical big arm 3, the other end of the movable mechanical big arm 3 is connected with a movable mechanical small arm 4, and the fixed mechanical arm 2, the movable mechanical big arm 3 and the movable mechanical small arm 4 are fixedly connected through two connecting shafts. The fixed mechanical arm is fixed on the rotating platform, and the movable mechanical big arm and the movable mechanical small arm can independently rotate and freely move.
In order to enable the drilling machine to work stably, a fixed slide rail 13 is fixed on the movable mechanical small arm 4, the fixed slide rail 13 is connected with two fixed guide frames 15 left and right through a cross beam 14, a movable slide rail 16 is installed on the fixed slide rail 13, the movable slide rail 16 is fixed on the drilling machine 11, and the movable slide rail 16 slides on the fixed slide rail 13 to realize the drilling and retreating of the drilling machine 11. The fixed guide frame 15 is formed by fixing three rectangular steel frames in parallel, each steel frame support has a certain distance, the length in the middle is short, the lengths of the two steel frames on two sides are the same, and the three steel frames are welded together. The steel frame in the middle position is used as a sliding rail of the electric drilling machine, and the drilling machine is connected with the middle steel frame through the movable sliding rail, so that the drilling machine drills and retreats along the direction of the steel frame.
In order to conveniently equip the anchor rod, the anchor rod cage 10 is cylindrical, the anchor rod cage 10 is composed of anchor rod clamping pieces 101, an anchor rod 102 and an anchor rod fixing ring 103, a plurality of anchor rod clamping pieces 101 are arranged around the anchor rod ring 103 in a surrounding mode, and the anchor rod clamping pieces 101 are used for fixing and taking out the anchor rod 102. The anchor rod clamping piece 101 is an open circular ring structure, and the anchor rod clamping piece 101 is composed of two elastic clamping pieces. The anchor rod can be fixed in the anchor rod cage by forcibly pressing the opening of the anchor rod through the elastic anchor rod clamping piece, the anchor rod cage can be produced in batch in advance, the anchor rod is installed in each installation hole in advance, the whole anchor rod cage can be conveniently installed and disassembled, and the anchor rod cage can be clamped on the rotating shafts of the two lifting columns through the central rotating rod to be installed. The drill bit of the drilling machine adopts a special bayonet which can quickly fix the drill bit of the drilling machine and the anchor rod.
In order to realize the lift and the rotation of stock, be provided with chevron shape support frame 17 on the fixed leading truck 15, be provided with a lift pillar 12 on the intermediate position of support frame 17, be provided with axis of rotation 18 on the lift pillar 12, stock retainer plate 103 center department is connected with dwang 19, and the both ends of dwang 19 are connected on axis of rotation 18. The rotation of the rotating rod is realized by the two rotating shafts.
In order to improve the moving performance of the machine, the traveling device 1 is a crawler chassis traveling mechanism. Tank-type crawler chassis enables the device to move in tunnel uneven ground environment.
For more efficient dust removal, the water mist spray head 9 is arranged at the lower part of the fixed guide frame 15. The water mist spray head is arranged at a position close to the front end of the anchor rod, and high-pressure water mist can quickly reduce dust and prevent dust from polluting the tunnel environment.
In order to improve the remote operation capability of the machine, the remote wireless receiver 7 is connected with a remote wireless console through a connecting line 20, the bottom of the remote wireless console 21 is provided with a moving wheel, and the remote wireless console 21 comprises a rotating platform controller 22 to realize the control of the rotating platform; the movable mechanical big arm controller 23 is used for realizing the rotation of the movable mechanical big arm; the movable mechanical forearm controller 24 is used for realizing the rotation of the movable mechanical forearm; the walking device controller 25 controls the walking of the crawler-type chassis at the lower part; the lifting support controller 26 and the anchor rod cage rotation controller 27 control the lifting and the rotation of the anchor rod cage to realize the automatic installation of the anchor rod; a motor advance and retreat controller 28 for controlling the drilling and retreat of the motor; the water mist switch 29 is used for controlling the opening and closing of the water mist spray head; a motor switch 30, a switch for controlling the drilling machine; and a master switch 31 for controlling the activation and deactivation of the remote wireless console. Each controller can realize remote control, avoids artifical close range country rock work, and the operability is strong.
The working environment of the anchor rod drilling machine is anchor rod support and advanced conduit construction in tunnel construction. In use, a plurality of stock cage can be prepared as required as the stock cage, and the stock is full in the full stock of a plurality of stock cage installation in advance preparing work, and the staff pushes down the stock clamping piece hard with the stock alignment stock clamping piece in the installation, has elastic stock clamping piece and will open and fix the stock in the stock cage.
When construction is started in a tunnel, a construction operator firstly installs an anchor rod cage on a herringbone support frame, then presses down a switch, moves a drilling machine to the position of an anchor rod to be constructed by operating a walking device controller, at the moment, operates a rotating platform controller to enable a rotating platform to rotate, simultaneously controls a movable mechanical big arm controller and a movable mechanical small arm controller to control two movable mechanical arms, well adjusts the directions of the drilling machine and a fixed guide frame to be aligned with the position to be drilled, operates a motor advancing and retreating controller to enable a motor to move to the tail end position of a slide rail on the movable slide rail and be positioned behind a tail end lifting support column, controls a lifting support column controller to enable the whole anchor rod cage to descend, enables the tail end of one anchor rod in the cage and a drill bit bayonet of the drilling machine to be positioned on the same central axis, and operates the motor advancing and retreating controller to advance to, at the moment, the lifting pillar controller is controlled again to enable the whole anchor rod cage to ascend, the anchor rods in the cage are separated from the anchor rods through the anchor rod clamping pieces, meanwhile, the anchor rod cage rotation controller is controlled again to enable the anchor rod cage to rotate, other anchor rods are enabled to be located right above the drill bit again, the anchor rod cage rotation controller serves as preparation for installing new anchor rods in the anchor rod cage in a follow-up automatic mode, and the anchor rods can be installed automatically through the above steps of the automatic circulating remote control console.
When the anchor rod runs out in the anchor rod cage, other anchor rod cages are integrally replaced, and the rotating rod is inserted into the two rotating shafts when the anchor rod cage is replaced, so that the replacement not only saves time, but also can realize continuous anchor rod construction. When the anchor rod is installed, the motor advance and retreat controller is controlled to advance, the water mist switch and the motor switch are turned on simultaneously to carry out anchor rod drilling construction, and the tunnel anchor rod supporting construction is finished by analogy. And when the construction is finished, the controller of the walking device is controlled, the drilling machine is moved to a safe position, and the main switch is closed.
The crawler-type traveling device has the advantages that the crawler-type traveling device is safe, efficient, simple to operate, strong in practicability, stable and accurate in structure, manual close-distance surrounding rock operation is avoided, remote control can be achieved, high-pressure water mist can be used for dust reduction, dust pollution to the tunnel environment is prevented, the moving performance of machinery is greatly improved, meanwhile, the automatic anchor rod changing function of the anchor rod cage greatly improves the continuous operation capacity, and the construction progress is accelerated on the premise that the construction operation is safe and reliable; this application had both provided good operational environment for constructor and had promoted the operating efficiency simultaneously greatly, had the significance to tunnel construction safety and construction progress again.
The above, only do the preferred embodiment of the present invention, not used to limit the present invention, all the technical matters of the present invention should be included in the protection scope of the present invention for any slight modification, equivalent replacement and improvement of the above embodiments.
Claims (10)
1. The utility model provides an automatic roofbolter of highway tunnel construction, includes running gear, connecting device and roofbolter device, the roofbolter device passes through connecting device to be fixed on running gear, and connecting device drive roofbolter device moves its characterized in that: the connecting device comprises a fixed mechanical arm, a movable mechanical big arm and a movable mechanical small arm, a rotary platform capable of rotating is arranged on the walking device, a water tank and the fixed mechanical arm are arranged on the rotary platform, a remote wireless receiver used for receiving a remote wireless control console signal is arranged at the lower part of the fixed mechanical arm, and the water tank is connected with a water mist spray head through a connecting pipeline;
the jumbolter device comprises a jumbolter cage, a drilling machine and a lifting support column, wherein the drilling machine is connected with the jumbolter cage in a driving mode, and the lifting support column is arranged on the left side and the right side of the jumbolter cage.
2. The automatic jumbolter of road tunnel construction of claim 1, wherein: the upper end of the fixed mechanical arm is connected with a movable mechanical big arm, the other end of the movable mechanical big arm is connected with a movable mechanical small arm, and the fixed mechanical arm, the movable mechanical big arm and the movable mechanical small arm are fixedly connected through two connecting shafts.
3. The automatic jumbolter of road tunnel construction of claim 1, wherein: the movable mechanical forearm is fixed with a fixed slide rail, the fixed slide rail is connected with two fixed guide frames through the left and right sides of the cross beam, a movable slide rail is mounted on the fixed slide rail and fixed on the drilling machine, and the movable slide rail slides on the fixed slide rail to realize drilling and retreating of the drilling machine.
4. The automatic jumbolter of road tunnel construction of claim 3, wherein: the stock cage is cylindrical, the stock cage comprises stock clamping piece, stock and stock retainer plate, the anchor rod retainer plate encircles around being provided with a plurality of stock clamping pieces, and the stock clamping piece is used for fixing and takes out the stock.
5. The automatic jumbolter of road tunnel construction of claim 4, wherein: be provided with the chevron shape support frame on the fixed leading truck, be provided with a lift pillar on the intermediate position of support frame, be provided with the axis of rotation on the lift pillar, stock retainer plate center department is connected with the dwang, and the both ends of dwang are connected in the axis of rotation.
6. The automatic jumbolter of road tunnel construction of claim 4, wherein: the anchor rod clamping piece is of an open circular ring structure and consists of two elastic clamping pieces.
7. The automatic jumbolter of road tunnel construction of claim 1, wherein: the running gear is a crawler chassis running mechanism.
8. The automatic jumbolter of road tunnel construction of claim 1, wherein: the water mist spray head is arranged at the lower part of the fixed guide frame.
9. The automatic jumbolter of road tunnel construction of claim 3, wherein: the fixed guide frame is formed by fixing three rectangular steel frames in parallel, each steel frame support has a certain distance, the length in the middle is short, the lengths of the two steel frames on two sides are the same, and the three steel frames are welded together.
10. The automatic jumbolter of road tunnel construction of claim 1, wherein: remote wireless receiver passes through interconnecting link and connects remote wireless control platform, remote wireless control platform bottom is provided with the removal wheel, including rotating platform controller, movable machinery big arm controller, movable machinery forearm controller, running gear controller, lift pillar controller, stock cage rotation control ware, motor advance and retreat controller, water smoke switch, motor switch and master switch on the remote wireless control platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920846768.9U CN210509031U (en) | 2019-06-06 | 2019-06-06 | Automatic roofbolter of highway tunnel construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920846768.9U CN210509031U (en) | 2019-06-06 | 2019-06-06 | Automatic roofbolter of highway tunnel construction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210509031U true CN210509031U (en) | 2020-05-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920846768.9U Expired - Fee Related CN210509031U (en) | 2019-06-06 | 2019-06-06 | Automatic roofbolter of highway tunnel construction |
Country Status (1)
| Country | Link |
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| CN (1) | CN210509031U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111648720A (en) * | 2020-06-28 | 2020-09-11 | 中铁九局集团电务工程有限公司 | Drilling mechanical arm |
| CN113494304A (en) * | 2021-09-09 | 2021-10-12 | 长安大学 | Automatic drilling anchor rod mechanical arm device carried on heading machine |
| CN113834706A (en) * | 2021-08-31 | 2021-12-24 | 山东大学 | Anchor rod positioning and constructing device and method in geomechanical model test |
| CN114294033A (en) * | 2022-01-21 | 2022-04-08 | 广东省有色矿山地质灾害防治中心 | Weak broken surrounding rock working face reinforcing structure and method based on full-section construction |
-
2019
- 2019-06-06 CN CN201920846768.9U patent/CN210509031U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111648720A (en) * | 2020-06-28 | 2020-09-11 | 中铁九局集团电务工程有限公司 | Drilling mechanical arm |
| CN111648720B (en) * | 2020-06-28 | 2022-01-14 | 中铁九局集团电务工程有限公司 | Drilling mechanical arm |
| CN113834706A (en) * | 2021-08-31 | 2021-12-24 | 山东大学 | Anchor rod positioning and constructing device and method in geomechanical model test |
| CN113494304A (en) * | 2021-09-09 | 2021-10-12 | 长安大学 | Automatic drilling anchor rod mechanical arm device carried on heading machine |
| CN114294033A (en) * | 2022-01-21 | 2022-04-08 | 广东省有色矿山地质灾害防治中心 | Weak broken surrounding rock working face reinforcing structure and method based on full-section construction |
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