CN103470181B - Rock drilling device propulsion one-way delay response method and device for realizing method - Google Patents
Rock drilling device propulsion one-way delay response method and device for realizing method Download PDFInfo
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- CN103470181B CN103470181B CN201310436780.XA CN201310436780A CN103470181B CN 103470181 B CN103470181 B CN 103470181B CN 201310436780 A CN201310436780 A CN 201310436780A CN 103470181 B CN103470181 B CN 103470181B
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- 238000005553 drilling Methods 0.000 title claims abstract description 101
- 239000011435 rock Substances 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000004044 response Effects 0.000 title claims abstract description 21
- 230000001141 propulsive effect Effects 0.000 claims description 103
- 239000007787 solid Substances 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000009527 percussion Methods 0.000 claims description 8
- 230000009467 reduction Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000008014 freezing Effects 0.000 description 7
- 238000007710 freezing Methods 0.000 description 7
- 230000036962 time dependent Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
- E21B44/04—Automatic control of the tool feed in response to the torque of the drive ; Measuring drilling torque
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a rock drilling device propulsion one-way delay response method. A rock drilling device comprises a propulsion guide device, a propulsion control module and a drilling tool. The method comprises the following steps of (1) monitoring the torque of a rotating device by a rotation controlling module; (2) determining the loading state of the drilling tool according to the change of the torque; (3) when the drilling tool enters a load state from a non-load state, controlling a propulsion generating device to slowly increase the propulsion to the drilling tool. The invention also discloses the rock drilling device for realizing the rock drilling device propulsion one-way delay response method. The problems that the drilling tool is jammed and the drilling tool is repeatedly jammed reversely are solved, a rock drilling machine is guaranteed to normally drill, the rock drilling speed, the drilling precision and the production efficiency are increased, the damage to the rock drilling machine and the drilling tool is reduced, and the rock drilling cost is greatly reduced.
Description
Technical field
The present invention relates to hammer drill control field, particularly relate to a kind of rock drilling device propulsive force one-way latency response method, the invention still further relates to a kind of device realizing the method.
Background technology
Impact, propelling, revolution and deslagging are four basic links of hammer drill boring work, it is mainly through advancing guiding device, propulsive force generating means, rotating control module, Solid rocket engine module, impulsive control module, hammer drill and drilling tool, and described hammer drill comprises again whirligig and percussion mechanism to realize boring action.Guiding device is advanced to play the guiding role when holing, propulsive force generating means then produces the propulsive force acted on hammer drill, thus drilling tool is closely contacted with hole bed rock stone, percussion mechanism produces intermittent ballistic work, by the intermittent impinging earth strata of drilling tool, meanwhile whirligig can produce when rotation torque makes drilling tool continuous rotary in boring procedure make lower Secondary Shocks is new roch layer interface, thus completes rock drilling action.Slag-draining device makes fragmented rock clear up outside aperture by using water under high pressure or compressed air.
General, the output torque of whirligig controls the size of propulsive force generating means propulsive force in the mode of inverse ratio.The relation that the output torque of whirligig and the propulsive force of propulsive force generating means are directly proportional.Efficient rock drilling process is the substantially constant being kept whirligig moment of torsion by the size of the propulsive force of control propulsive force generating means.When bore operation, operating personnel can set maximum propulsive force.In the application of reality, maximum functional preset value and anti-sticking preset value can also be set with by the operating pressure of the propelling pressure whirligig of the operating pressure control propulsive force generating means of whirligig, when rotating pressure and exceeding maximum functional preset value, actual propulsive force starts to reduce (now maximum propulsive force setting value is constant, and just maximum value does not reach setting value) from maximum value.Under normal circumstances, once propulsive force reduces, the operating pressure of whirligig just starts to reduce.Rock drilling system returns normal operation condition.
But uneven due to formation conditions in actual borehole environment, also there is following problem:
When drilling tool from cavity, soft rock, interlayer (non-loaded) strike hard rock (having load) time, the propelling pressure generation step of propulsive force generating means, also can there is step (rotate pressure and exceed maximum functional preset value) and reach bit freezing preset value in the corresponding pressure that rotates.Namely advance the step of pressure that drilling tool can be caused normally not creep into and to rotate, thus bit freezing occurs, advance guiding device directly to become fallback state from (creeping into) state of advancing, this situation of general title is called " instead blocking ".In propelling guiding device fallback procedures, rock stratum reduces the constraint of drilling tool gradually until disappear, thus also making rotation pressure reduce, when rotation pressure is less than anti-sticking preset value, the operating pressure of whirligig controls propulsive force generating means and again becomes forward travel state from fallback state.
Fig. 3 is propulsive force in prior art, the time dependent schematic diagram of rotation torque, as shown in Figure 2,1. the stage time, due on drilling tool non-loaded not and rock contact yet, therefore approximately through " cavity " state when drilling tool advances again, propulsive force generating means runs forward at a high speed in an unloaded situation.The 2. the stage time, when drilling tool strikes hard rock again, advance pressure step to be raised, advance the step of pressure also to cause the step rotating pressure, advance the step of pressure to be easy to reach anti-sticking preset value and cause drilling tool normally not creep into and to rotate.There is the 3. stage of the after bit freezing, advance guiding device to become fallback state from (creeping into) state of advancing.If do not controlled, the anti-journey that snaps past can repeat, and namely again " instead blocks ".
The anti-card of bit freezing and repetition can affect hammer drill work of normally creeping into, reduce cutting rate and production efficiency, also can produce expendable infringement to hammer drill and drilling tool, its actual life is shortened, need often to change drilling tool and hammer drill maintenance.The frequent replacing of drilling tool and hammer drill are safeguarded and Drilling cost will certainly be made to increase, and advance the step of pressure that boring straightness accuracy also can be caused to produce deviation simultaneously.In order to solve this technical problem, usually the maximum fltting speed of restriction is adopted to avoid advancing the step of pressure in prior art, namely when drilling tool is entered hard rock by cavity (soft rock) or entered cavity (soft rock) by hard rock, fltting speed etc. is controlled, thus reach the object preventing bit freezing.But such Operation system setting often more complicated, cost is higher, and same fltting speed can not be applicable to creep into work under different rock-layers situation.When formation conditions changes, need fltting speeds different according to formation conditions fast setting at any time, operation more complicated, and in most cases only have veteran operating personnel to be competent at.
Summary of the invention
In view of the problems referred to above that prior art exists, the object of the present invention is to provide and a kind ofly effectively can solve the bit freezing of hammer drill and the anti-card problem of repetition and protect the propulsive force one-way latency response method of rock drilling device.
To achieve these goals, a kind of rock drilling device propulsive force one-way latency response method provided by the invention, this device comprises propelling guiding device, propulsive force generating means, rotates control module, Solid rocket engine module, impulsive control module, hammer drill and drilling tool, described hammer drill comprises again whirligig and percussion mechanism, and the method includes the steps of:
1) size of the moment of torsion of described whirligig is monitored by described rotation control module to determine to rotate the size of pressure;
2) load condition of described drilling tool is determined by the size variation of described rotation pressure: when the size of described rotation pressure occurs to increase, namely judge that described drilling tool is with load condition by no-load condition; When the size generation step of described rotation pressure reduces, namely judge described drilling tool by there being load condition to enter no-load condition;
3) when described drilling tool is with load condition by no-load condition, the propulsive force that described propulsive force generating means applies described drilling tool slowly to increase is controlled.
Said in present specification " step " is that moment acute variation occurs exponential quantity.And according to general knowledge, pressure is directly proportional to the size of the power producing this pressure.Similarly, in the application determine advance pressure time, according to propulsive force just increase time advance pressure also can increase this general principle.
As preferably, described propulsive force has a maximum preset value, when described propulsive force reaches this maximum preset value, stops slowly increasing described propulsive force and also carries out normal drill according to the propulsive force of this maximum preset value.
As preferably, when described drilling tool is by when having load condition to enter no-load condition, control described propelling guiding device applies instantaneous reduction propulsive force to described drilling tool.According to the change of propulsive force, select desired impulse merit change programme, increase the protection to hammer drill.
Another object of the present invention is to provide a kind of rock drilling device realizing above-mentioned propulsive force time delay response method.
To achieve these goals, a kind of rock drilling device realizing above-mentioned propulsive force time delay response method provided by the invention, comprise propelling guiding device, propulsive force generating means, rotate control module, Solid rocket engine module, impulsive control module, hammer drill and drilling tool, described hammer drill comprises again whirligig and percussion mechanism, described propelling guiding device is used for playing the guiding role when holing, described propulsive force generating means is for generation of the propulsive force acted on described hammer drill, described propulsive force generating means has one by the Solid rocket engine module rotating pressure control, described Solid rocket engine module and described propulsive force generating means form and advance loop, wherein, also comprise one for when described drilling tool is with load condition by no-load condition, control described propulsive force generating means applies the propulsive force slowly increased time delay responding device to described drilling tool, described time delay responding device to be arranged on described propulsive force generating means and to connect into described propelling loop.
As preferably, described propulsive force has a maximum preset value, and described time delay responding device, when described propulsive force reaches this maximum preset value, stops slowly increasing described propulsive force and also carries out normal drill according to the propulsive force of this maximum preset value.
As preferably, described time delay responding device is hydraulic accumulator or is a hydraulic control module or an electrical control module.
Rock drilling device propulsive force one-way latency response method of the present invention and the device realizing the method have following beneficial effect:
(1) when drilling tool strikes hard rock (having load condition) by cavity (no-load condition), time delay responding device can make propelling pressure steadily be increased to maximum value slowly, now rotate pressure will steadily slowly recover, this process can be called " secondary perforate ", it is advantageous that, solve the problem of the anti-card of bit freezing and repetition, guarantee that hammer drill normally creeps into work, improves cutting rate, borehole accuracy and production efficiency, reduce the infringement to hammer drill and drilling tool, Drilling cost is reduced greatly;
(2) disappear when " instead blocking ", or when drilling tool (by hard rock) enters cavity or soft rock, advance the rapid step of pressure to reduce, rate of penetration does not limit, and can improve drilling efficiency;
(3) the present invention does not need to carry out fast setting according to rock stratum situation to fltting speed, and control mode is simple to operation.
Accompanying drawing explanation
Fig. 1 is the flow chart of rock drilling device propulsive force one-way latency response method of the present invention.
Fig. 2 is the principle schematic of rock drilling device propulsive force one-way latency response method of the present invention.
Fig. 3 is propulsive force in prior art, the time dependent schematic diagram of rotation torque.
Fig. 4 is for have employed propulsive force, the time dependent schematic diagram of rotation torque after propulsive force one-way latency response method of the present invention.
Fig. 5 is rock drilling device of the present invention composition schematic diagram.
Main Reference Numerals:
1, guiding device is advanced, 2, propulsive force generating means, 202, Solid rocket engine module, 3, hammer drill, 301, percussion mechanism, 302, whirligig, 303, impulsive control module, 304, rotate control module, 4, drilling tool, 5, time delay responding device, 6, pressure oil feedway.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is further described in detail.
As shown in Fig. 5 and Fig. 2, the rock drilling device realizing propulsive force time delay response method of the present invention, comprise and advance guiding device 1, propulsive force generating means 2, hammer drill 3 and drilling tool 4, described propelling guiding device 1 is for playing the guiding role when holing, described propulsive force generating means 2 is for generation of the propulsive force acted on described hammer drill 3, described propulsive force generating means 2 has one by the Solid rocket engine module 202 rotating pressure and control, and described Solid rocket engine module 202 and described propulsive force generating means 2 form and advance loop; Wherein, also comprise one for when described drilling tool is with load condition by no-load condition, control described propelling guiding device 1 applies the propulsive force slowly increased time delay responding device 5 to described drilling tool 4, described time delay responding device 5 to be arranged on described propulsive force generating means 2 and to connect into described propelling loop.As mentioned above, guiding device 1 is advanced to play the guiding role when holing, 2 generations of propulsive force generating means act on the propulsive force on hammer drill 3, thus drilling tool 4 is closely contacted with hole bed rock stone, the percussion mechanism 301 be arranged on described hammer drill 3 produces intermittent ballistic work, by the intermittent impinging earth strata of drilling tool 4, the whirligig 302 meanwhile on hammer drill 3 can produce rotation torque and make drilling tool 4 continuous rotary in boring procedure, thus completes rock drilling action.Rotation control module 304 in the present invention is for the rotation torque of monitoring whirligig 302 and applying to drilling tool 4 and control the size of Solid rocket engine module 202 propulsive force, corresponding Solid rocket engine module 202 is for monitoring size, the direction of the propelling pressure of propulsive force generating means 2, and pressure oil feeding mechanism 6 is for providing the pressure oil needed for bore operation.
Figure 1 shows that rock drilling device propulsive force one-way latency response method of the present invention, as shown in Figure 1, the method includes the steps of:
1) size of the moment of torsion of described whirligig 302 is monitored by described rotation control module 304 to determine to rotate the size (S1) of pressure;
2) load condition (S2) of described drilling tool 4 is determined according to the size variation of described rotation pressure by rotation control module 304: when the size of described rotation pressure occurs to increase, namely judge that described drilling tool is with load condition by no-load condition; When the size generation step of described rotation pressure reduces, namely judge described drilling tool by there being load condition to enter no-load condition;
3) when described drilling tool 4 is with load condition (hard rock) by no-load condition (cavity or soft rock), the propulsive force that described propelling guiding device 1 applies described drilling tool 4 slowly to increase is controlled.
In the present invention, propulsive force has a maximum preset value, advances pressure also to have maximum preset value simultaneously.Fig. 4 is for have employed propulsive force, the time dependent schematic diagram of rotation torque after propulsive force one-way latency response method of the present invention, as shown in Figure 4, when advancing pressure to be standby value, namely judge that drilling tool 4 enters cavity, be in no-load condition (in Fig. 4 region 1. indicate propulsive force also unchanged); And when the size of described rotation pressure occurs to increase, namely judge that described drilling tool 4 is with load condition (hard rock) by non-loaded (cavity) state, the region indicated in Fig. 4 is 2. through gradual process, and therefore the situation of slowly rising appears in propulsive force, step does not occur; When judging that described propulsive force reaches this maximum preset value, delayed response device 5 stops slowly increasing described propulsive force and carrying out normal drill according to the propulsive force of this maximum preset value, and the region in corresponding diagram 4 3.; And when the size generation step of described rotation pressure reduces, namely described drilling tool 4 is judged by there being load condition (hard rock) to enter no-load condition (cavity or soft rock), the time delay responding device 5 that loop is arranged is advanced to control, but do not affect and advance the step of pressure to reduce, propulsive force occurs to be worth instantaneous reduction (S4) from maximum preset to the propulsive force of device 2, the instantaneous reduction of propulsive force can make rotation control module 304 respond, and causes the also instantaneous reduction of the rotation torque of whirligig 302.Region in corresponding diagram 4 4..
Concrete, described time delay responding device 5 of the present invention or can be a hydraulic control module or an electrical control module for hydraulic accumulator.
The above is only the description of the preferred embodiment of invention; should be understood that; due to the finiteness of literal expression; and objectively there is unlimited concrete structure; for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. a rock drilling device propulsive force one-way latency response method, this rock drilling device comprises propelling guiding device, propulsive force generating means, rotates control module, Solid rocket engine module, impulsive control module, hammer drill and drilling tool, described hammer drill comprises again whirligig and percussion mechanism, and the method includes the steps of:
1) size of the moment of torsion of described whirligig is monitored by described rotation control module to determine to rotate the size of pressure;
2) load condition of described drilling tool is determined by the size variation of described rotation pressure: when the size of described rotation pressure occurs to increase, namely judge that described drilling tool is with load condition by no-load condition; When the size generation step of described rotation pressure reduces, namely judge described drilling tool by there being load condition to enter no-load condition;
3) when described drilling tool is with load condition by no-load condition, the propulsive force that described propulsive force generating means applies described drilling tool slowly to increase is controlled.
2. rock drilling device propulsive force one-way latency response method as claimed in claim 1, it is characterized in that, described propulsive force has a maximum preset value, when described propulsive force reaches this maximum preset value, stop slowly increasing described propulsive force and carrying out normal drill according to the propulsive force of this maximum preset value.
3. rock drilling device propulsive force one-way latency response method as claimed in claim 1, is characterized in that, when described drilling tool is by when having load condition to enter no-load condition, control described propulsive force generating means applies instantaneous reduction propulsive force to described drilling tool.
4. one kind realizes the rock drilling device of the rock drilling device propulsive force one-way latency response method described in any one of Claims 1-4, comprise propelling guiding device, propulsive force generating means, rotate control module, Solid rocket engine module, impulsive control module, hammer drill and drilling tool, described hammer drill comprises again whirligig and percussion mechanism, described propelling guiding device is used for playing the guiding role when holing, described propulsive force generating means is for generation of the propulsive force acted on described hammer drill, described propulsive force generating means has one by the Solid rocket engine module rotating pressure control, described Solid rocket engine module and described propulsive force generating means form and advance loop, wherein, also comprise one for when described drilling tool load condition changes, control described propulsive force generating means applies the propulsive force of unidirectional slow increase time delay responding device to described drilling tool, described time delay responding device to be arranged on described propulsive force generating means and to connect into described propelling loop.
5. rock drilling device as claimed in claim 4, it is characterized in that, described propulsive force has a maximum preset value, and described time delay responding device, when described propulsive force reaches this maximum preset value, stops slowly increasing described propulsive force and carrying out normal drill according to the propulsive force of this maximum preset value.
6. rock drilling device as claimed in claim 4, it is characterized in that, described time delay responding device is a hydraulic control module or an electrical control module.
7. rock drilling device as claimed in claim 4, it is characterized in that, described time delay responding device is hydraulic accumulator.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436780.XA CN103470181B (en) | 2013-09-23 | 2013-09-23 | Rock drilling device propulsion one-way delay response method and device for realizing method |
| PCT/CN2014/087118 WO2015039629A1 (en) | 2013-09-23 | 2014-09-22 | Propulsive force one-way delayed response method for rock drilling apparatus and apparatus implementing same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436780.XA CN103470181B (en) | 2013-09-23 | 2013-09-23 | Rock drilling device propulsion one-way delay response method and device for realizing method |
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| Publication Number | Publication Date |
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| CN103470181A CN103470181A (en) | 2013-12-25 |
| CN103470181B true CN103470181B (en) | 2015-07-08 |
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| CN201310436780.XA Active CN103470181B (en) | 2013-09-23 | 2013-09-23 | Rock drilling device propulsion one-way delay response method and device for realizing method |
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| CN (1) | CN103470181B (en) |
| WO (1) | WO2015039629A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103470181B (en) * | 2013-09-23 | 2015-07-08 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | Rock drilling device propulsion one-way delay response method and device for realizing method |
| CN103821451B (en) * | 2014-02-28 | 2017-04-12 | 金川集团股份有限公司 | Hydraulic control system of anti-clamping drill rod of rock drilling machine |
| CN111720107B (en) * | 2020-06-29 | 2023-06-30 | 中国铁建重工集团股份有限公司 | Drill rod propulsion control system and method and drilling machine |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1035926A (en) * | 1962-05-04 | 1966-07-13 | Wolstan C Ginies Entpr Proprie | Earth drilling machine |
| US3910358A (en) * | 1974-07-05 | 1975-10-07 | Koehring Co | Horizontal earth boring machine |
| SE515204C2 (en) * | 1999-11-03 | 2001-06-25 | Atlas Copco Rock Drills Ab | Method and apparatus for controlling a rock drill |
| FI118306B (en) * | 2001-12-07 | 2007-09-28 | Sandvik Tamrock Oy | Methods and devices for controlling the operation of a rock drilling device |
| CN201013351Y (en) * | 2007-01-29 | 2008-01-30 | 中国人民解放军63983部队 | Driller blocking-proof hydraulic equipment |
| SE533986C2 (en) * | 2008-10-10 | 2011-03-22 | Atlas Copco Rock Drills Ab | Method device and drilling rig and computerized control system for controlling a rock drill when drilling in rock |
| WO2010151242A1 (en) * | 2009-06-26 | 2010-12-29 | Atlas Copco Rock Drills Ab | Control system and rock drill rig |
| CN202531014U (en) * | 2012-01-20 | 2012-11-14 | 中船重工中南装备有限责任公司 | Adjustable rock drilling control system of hydraulic rock drilling machine |
| CN202718623U (en) * | 2012-07-19 | 2013-02-06 | 山河智能装备股份有限公司 | Key drilling action single-pump hydraulic control loop of cutting drilling machine |
| CN202867386U (en) * | 2012-11-14 | 2013-04-10 | 中煤科工集团重庆研究院 | Drill loader hydraulic anti-jamming control system |
| CN102943644A (en) * | 2012-11-19 | 2013-02-27 | 无锡市京锡冶金液压机电有限公司 | Hydraulic anti-sticking method of rock drill propulsion loop |
| CN102926657B (en) * | 2012-11-19 | 2015-08-05 | 无锡市京锡冶金液压机电有限公司 | Connect with rotary loop anti-chucking method in a kind of rock cutter machine hydraulic drive loop |
| CN103470181B (en) * | 2013-09-23 | 2015-07-08 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | Rock drilling device propulsion one-way delay response method and device for realizing method |
-
2013
- 2013-09-23 CN CN201310436780.XA patent/CN103470181B/en active Active
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2014
- 2014-09-22 WO PCT/CN2014/087118 patent/WO2015039629A1/en active Application Filing
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| CN103470181A (en) | 2013-12-25 |
| WO2015039629A1 (en) | 2015-03-26 |
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Address after: 210038 Hengtai Road, Nanjing economic and Technological Development Zone, Nanjing, Jiangsu 2 Patentee after: An Bai Tuo (Nanjing) Construction Mine Equipment Co., Ltd. Address before: 210038 Hengtai Road, Xingang economic and Technological Development Zone, Nanjing, Jiangsu 2 Patentee before: Atlas Copco (Nanjing) Construction & Mining Equipment Ltd. |
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