CN106050126B - A kind of all-electric coal mine gallery drilling rig - Google Patents
A kind of all-electric coal mine gallery drilling rig Download PDFInfo
- Publication number
- CN106050126B CN106050126B CN201610642757.XA CN201610642757A CN106050126B CN 106050126 B CN106050126 B CN 106050126B CN 201610642757 A CN201610642757 A CN 201610642757A CN 106050126 B CN106050126 B CN 106050126B
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- drilling
- balladeur train
- rotating speed
- control system
- stepper motor
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- 238000005553 drilling Methods 0.000 title claims abstract description 51
- 239000003245 coal Substances 0.000 title claims abstract description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 238000004260 weight control Methods 0.000 claims description 3
- 241001074085 Scophthalmus aquosus Species 0.000 claims 1
- 239000003921 oil Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 239000003610 charcoal Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002480 mineral oil Substances 0.000 description 1
- 235000010446 mineral oil Nutrition 0.000 description 1
- 230000002028 premature Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004092 self-diagnosis Methods 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
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
-
- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
-
- 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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (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)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of all-electric coal mine gallery drilling rig, including slew gear, feed mechanism, lifting and angle shift mechanism and control system, the present invention by rack-and-pinion lifter and supporting leg, column spiral expanding mechanism between coordinate adjustment height of main frame and direction.Control turning motor rotating speed and rotation direction to adjust the gyratory directions of rig and rotational speed by control system, realize permanent rotating speed drilling；The feed and lifting that friction speed is realized to the rotation direction and rotating speed of stepper motor are controlled by control system, by the rotating speed of the pressure closed loop feedback control motor of feed mechanism closed type hydraulic system, realizes that feed mechanism perseverance the pressure of the drill is fed.The drill configuration is simple, weight is light, rapid operation, and power consumption is low.
Description
Technical field
The invention belongs to the coal tunnel exploring equipment in the fields such as geological prospecting, tunnel piercing, engineering investigation, and in particular to
To a kind of all-electric coal mine gallery drilling rig and drilling method.
Background technology
Underground drill rig is mainly used in gas pumping and geological prospecting in large-scale downhole coal mine exploitation, is to ensure downhole coal mine
Safe and efficient important equipment is exploited, the quality of its performance directly affects the duty cycle of coal mining.Underground drill rig drives
Mode experienced pneumatic, two stages of hydraulic-driven.
Late 1950s to the beginning of the nineties, coal system and each relevant industry Zeng Chongdian in the whole nation are carried out to electric drilling machine
Exploitation and tackling key problem, it is intended to electric drilling machine is turned into leading equipment, but electric drilling machine was mostly that hand-held electric coal drill belongs to machinery at that time
Transmission, motor is direct current generator, can not realize stepless speed regulation, gyroscopic characteristics are hard and overload capacity is poor, and motor is because repeatedly
Overload and premature breakdown, moistureproof, the anti-water drenching of motor and anticreep problem are difficult to be solved at all, potential safety hazard is very big.Cause
Many mining areas propose that time limits eliminate hand-held electric coal drills etc. at that time for this, cause the hand-held coal of original annual production more than 600,000 electric
Bore, yield drastically declines, and fails to widely apply in colliery all the time.
The enterprise of hydraulic tunnel drilling machine in 2011 accounts for more than the 90.8% of underground drill rig enterprise sum, and all-hydraulic drill is coal
The charcoal system main force.But pneumatic, all-hydraulic in domestic existing tunnel Exploration Domain at present there are the following problems：
1. in the pneumatic drilling machine stage, being mainly used in small-size coal mine, noise is big, and capacity usage ratio is low, and weight is big, and revolution turns
Speed and feeding rate can not be controlled accurately.
2. the all-hydraulic drill stage, 1) is in underground coal mine, particularly coal-face, and hydraulic system is using mineral oil as work
Making the hydraulic pressure mining machinery of medium has the hidden danger for causing fire and blast, and working environment at coal mines is severe, and dust is more, the system failure
Rate is higher；2) hydraulic drill rigs weight is big, capacity usage ratio is low, and most rigs are middle low power rig；3) it is complicated, maintenance
Difficulty, resettlement are wasted time and energy, and have a strong impact on operating efficiency, and sealing requirements are high, at work due to strong vibration easily cause it is close
Envelope failure, the problems such as oil leak.
It is more and more severe in drilling condition, under conditions of size is narrow and small, higher requirement is proposed to modern underground drill rig.
In recent years, (precision and scope, driving force, dynamic response characteristic, the operational efficiency of such as speed governing in terms of variable-frequency motor stepless speed regulation
With ease of use etc.) be gradually improved, underground drill rig develops towards safety, miniaturization, lighting and automation direction, all-electric
The research and development of underground drill rig are imperative, meet the development trend of modernization underground drill rig.
The content of the invention
A kind of all-electric coal mine gallery drilling rig of offer of the present invention.
The present invention can improve drilling timeliness to greatest extent by permanent the pressure of the drill perseverance speed closed loop control.By system by liquid
Control is changed into automatically controlled, reduces requirement of the system to Oil Quality, reduces and down-hole accident occurs.All-electric underground drill rig has perfect
Fault self-diagnosis, operation and defencive function, and speed-regulating range width, the function that many Mechanical Drivens can not be realized is obtained, to subtracting
The error of few human factor and the fault rate of equipment are significant.All-electric underground drill rig is researched and developed at present to lead applied to coal
Domain gas pumping, domestic there is not been reported.
The present invention includes slew gear, feed mechanism, lifting and angle shift mechanism and control system；
Described slew gear is by turning motor, planet-cycloid reducer, tap, drilling rod, balladeur train, centralizer and drill bit
Composition, turning motor are connected by ring flange with planet-cycloid reducer, and drilling rod is connected with planet-cycloid reducer, and cycloidal pin subtracts
Fast device is arranged on balladeur train, and can be horizontally slipped on balladeur train；Tap is arranged on the drilling rod of planet-cycloid reducer right-hand member；
Centralizer is fixed on balladeur train, and drilling rod is spacing by centralizer righting, and drill bit is threadedly attached on drilling rod；
Described feed mechanism includes, to stepper motor, feed oil cylinder and piston rod, being fixed on balladeur train, supporting to stepper motor
Axle is hinged with balladeur train, and with giving stepper motor, the piston rod other end is fixedly connected with planet-cycloid reducer bottom for piston rod one end；
It is described lifting with angle shift mechanism include balladeur train, support shaft, Upper gasket, lower gasket, gear-tooth bar lifter, handle,
Column, supporting leg and spiral expanding mechanism, Upper gasket, lower gasket are respectively arranged in column upper and lower end, and tooth is realized by swinging handle
Wheel-gear rack elevating device can turn spiral expanding along column up-down, column with support shaft with being respectively mounted spiral expanding mechanism on supporting leg
The length of institutional adjustment column and supporting leg, supporting leg upper end are hinged with balladeur train, and supporting leg lower end supports on the ground.
The control system by closed type hydraulic system, to stepper motor, permanent weight control device on drilling bit；Turning motor, constant speed control
Device, operation knob and pilot composition, closed type hydraulic system, it is fed oil cylinder, constant-voltage controller and is formed to stepper motor be fed
Close loop control circuit, motor speed is fed by step-less adjustment, realizes that closed type hydraulic system exports constant pressure (according to stratum feelings
The pressure value of condition sets itself), that is, realize that constant the pressure of the drill of feeding system is crept into.Turning motor passes through control with constant speed control device
Guide line and form closed loop, by the rotating speed of control system step-less adjustment turning motor, that is, have adjusted the output speed of rig；
Permanent rotating speed (according to the rotating speed of strata condition sets itself) rotary drilling of turning motor is realized by control system.
The drilling method of the present invention is as follows：
First, all-electric coal mine gallery drilling rig is assembled as needed.By lifting and spiral expanding mechanism in angle shift mechanism, adjust
Whole column and supporting leg are to appropriate length.By swinging handle, the work of gear-tooth bar lifter is driven, realizes that gear-tooth bar lifts
Device, handle, support shaft and balladeur train are along column up-down so that drill bit is directed at hole position；
2nd, feed motor speed is controlled by control system, realizes feed and the lifting speed of step-less adjustment feeding system.
According to the drilling values of setting, the rotating speed to stepper motor is adjusted by control system, realizes that hydraulic system constant pressure is fed, i.e., it is real
Existing permanent the pressure of the drill drilling.
3rd, the rotating speed of turning motor is controlled by control system, realizes the step-less adjustment of rig rotational speed.According to setting
Tachometer value, by control system adjust turning motor realize permanent rotating speed rotary drilling.
The present invention has following useful achievement：
Ac variable speed technology combination hydraulic pressure closed-loop system is applied in underground drill rig equipment by the present invention, has following excellent
Point：
1. turning motor rotating speed and rotation direction are controlled by control system to adjust the gyratory directions of rig and revolution speed
Degree, realize stepless speed regulation and permanent rotating speed drilling；Controlled by control system and realize difference to the rotation direction and rotating speed of stepper motor
The feed and lifting of speed, by the rotating speed of the pressure closed loop feedback control motor of closed type hydraulic system, realize that feed oil cylinder is permanent
The pressure of the drill is fed.The drill configuration is simple, weight is light, rapid operation, and power consumption is low；
2. all-electric rig hydraulic control is converted to it is automatically controlled, improve control speed and system capacity usage ratio, speed governing model
Width is enclosed, stepless speed regulation can be achieved, it is good to the adaptability on stratum, it is highly beneficial to improving drilling timeliness, processing down-hole accident etc.；
Brief description of the drawings
Fig. 1 is the all-electric coal mine gallery drilling rig structural representation of the present invention.
In figure：1- turning motors, 2- planet-cycloid reducers, 3- taps, 4- Upper gaskets, 5- drilling rods, 6- balladeur trains, 7- are helped
Positive device, 8- drill bits, 9- is to stepper motor, 10- feed oil cylinders, 11- support shafts, 12- lower gaskets, 13- gear-tooth bar lifters, 14-
Handle, 15- columns, 16- piston rods, 17- supporting legs, 18- spiral expandings mechanism, 19- constant speed control devices, the control of 20- perseverances the pressure of the drill
Device, 21- operation knobs, 22- closed-loop hydraulic systems.
Embodiment
The present invention includes slew gear, feed mechanism, lifting and angle shift mechanism and control system；
Described slew gear is by turning motor 1, planet-cycloid reducer 2, tap 3, drilling rod 5, balladeur train 6, centralizer 7
Formed with drill bit 8, turning motor 1 is connected by ring flange with planet-cycloid reducer 2, and drilling rod 5 connects with planet-cycloid reducer 2
Connect, cycloidal pin decelerator 2 is arranged on balladeur train 6, and can be horizontally slipped on balladeur train 6；Tap 3 slows down installed in cycloidal-pin wheel
On the drilling rod 5 of the right-hand member of device 2；Centralizer 7 is fixed on balladeur train 6, and drilling rod 5 is spacing by the righting of centralizer 7, and drill bit 8 passes through screw thread
It is connected on drilling rod 5；
Described feed mechanism includes, to stepper motor 9, feed oil cylinder 10 and piston rod 16, balladeur train 6 being fixed on to stepper motor 9
On, support shaft 11 is be hinged with balladeur train 6, and the one end of piston rod 16 is with giving stepper motor 9, the other end of piston rod 16 and planet-cycloid reducer
2 bottoms are fixedly connected；
The lifting includes balladeur train 6, support shaft 11, Upper gasket 4, lower gasket 12, gear-tooth bar lifter with angle shift mechanism
13rd, handle 14, column 15, supporting leg 17 and spiral expanding mechanism 18, Upper gasket 4, that lower gasket 12 is respectively arranged in column 15 is upper and lower
End, realizes that gear-tooth bar lifter 13 lifts with support shaft 11 along column 15 by swinging handle 14, on column 15 and supporting leg 17
Spiral expanding mechanism 18 is respectively mounted, the length that spiral expanding mechanism 18 adjusts column 15 and supporting leg 17, the upper end of supporting leg 17 can be turned
Be hinged with balladeur train 6, the lower end of supporting leg 17 supports on the ground.
The control system by closed type hydraulic system 22, to stepper motor 9, permanent weight control device on drilling bit 20；Turning motor 1, perseverance turn
Fast controller 19, operation knob 21 and pilot composition, closed type hydraulic system 22, feed oil cylinder 10, the and of constant-voltage controller 20
Feed close loop control circuit is formed to stepper motor 9, the rotating speed of stepper motor 9 is given by step-less adjustment, realizes that closed type hydraulic system exports
Constant pressure (according to the pressure value of strata condition sets itself), that is, realize constant the pressure of the drill drilling of feeding system.Turning motor 1
Closed loop is formed by pilot with constant speed control device 19, by the rotating speed of control system step-less adjustment turning motor 1,
It has adjusted the output speed of rig；Realize the permanent rotating speed of turning motor 1 (according to strata condition sets itself by control system
Rotating speed) rotary drilling.
The application method of the present invention is as follows：
First, all-electric coal mine gallery drilling rig is assembled as needed.By lifting with angle shift mechanism in spiral expanding mechanism 18,
Column 15 and supporting leg 17 are adjusted to appropriate length, drives gear-tooth bar lifter 13 to work by swinging handle 14, realizes tooth
Wheel-gear rack elevating device 13, handle 14, support shaft 11 and balladeur train lift along column 15 so that drill bit 8 is directed at hole position；
2nd, controlled by control system and give the rotating speed of stepper motor 9, realize feed and the lifting speed of step-less adjustment feeding system
Degree.According to the drilling values of setting, the rotating speed to stepper motor 9 is adjusted by control system, realizes that hydraulic system constant pressure is fed,
Realize permanent the pressure of the drill drilling..
3rd, the rotating speed of turning motor 1 is controlled by control system, realizes the step-less adjustment of rig rotational speed.According to setting
Fixed tachometer value, turning motor 1 is adjusted by control system and realizes permanent rotating speed rotary drilling.
Claims (1)
- A kind of 1. all-electric coal mine gallery drilling rig, it is characterised in that：Including slew gear, feed mechanism, lifting and angle shift mechanism And control system；Described slew gear by turning motor (1), planet-cycloid reducer (2), tap (3), drilling rod (5), balladeur train (6), Centralizer (7) and drill bit (8) composition, turning motor (1) is connected by ring flange with planet-cycloid reducer (2), drilling rod (5) and Planet-cycloid reducer (2) is connected, and cycloidal pin decelerator (2) is arranged on balladeur train (6), and can be horizontally slipped on balladeur train (6)； Tap (3) is arranged on the drilling rod (5) of planet-cycloid reducer (2) right-hand member；Centralizer (7) is fixed on balladeur train (6), drilling rod (5) spacing by centralizer (7) righting, drill bit (8) is threadedly attached on drilling rod (5)；Described feed mechanism includes, to stepper motor (9), feed oil cylinder (10) and piston rod (16), being fixed on to stepper motor (9) On balladeur train (6), support shaft (11) and balladeur train (6) are be hinged, piston rod (16) one end and give stepper motor (9), and piston rod (16) is another End is fixedly connected with planet-cycloid reducer (2) bottom；The lifting includes balladeur train (6), support shaft (11), Upper gasket (4), lower gasket (12), gear-tooth bar liter with angle shift mechanism Device (13), handle (14), column (15), supporting leg (17) and spiral expanding mechanism (18), Upper gasket (4), lower gasket (12) point drop Column (15) upper and lower end is not installed on, and gear-tooth bar lifter (13) same to support shaft (11) edge is realized by swinging handle (14) Column (15) lifts, and column (15) can turn spiral expanding mechanism with being respectively mounted spiral expanding mechanism (18) on supporting leg (17) (18) length of column (15) and supporting leg (17) is adjusted, supporting leg (17) upper end is be hinged with balladeur train (6), and supporting leg (17) lower end is supported on On ground；The control system by closed type hydraulic system (22), to stepper motor (9), permanent weight control device on drilling bit (20)；Turning motor (1), Constant speed control device (19), operation knob (21) and pilot composition, closed type hydraulic system (22), feed oil cylinder (10), perseverance Pressure controller (20) and give stepper motor (9) to form feed close loop control circuit, stepper motor (9) rotating speed is given by step-less adjustment, it is real Existing closed type hydraulic system output constant pressure, realize constant the pressure of the drill drilling of feeding system；Turning motor (1) and constant speed control Device (19) forms closed loop by pilot, by the rotating speed of control system step-less adjustment turning motor (1), have adjusted brill The output speed of machine；The permanent rotating speed rotary drilling of turning motor (1) is realized by control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610642757.XA CN106050126B (en) | 2016-08-08 | 2016-08-08 | A kind of all-electric coal mine gallery drilling rig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610642757.XA CN106050126B (en) | 2016-08-08 | 2016-08-08 | A kind of all-electric coal mine gallery drilling rig |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106050126A CN106050126A (en) | 2016-10-26 |
| CN106050126B true CN106050126B (en) | 2018-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610642757.XA Expired - Fee Related CN106050126B (en) | 2016-08-08 | 2016-08-08 | A kind of all-electric coal mine gallery drilling rig |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108505961B (en) * | 2018-03-15 | 2019-11-22 | 中煤科工集团西安研究院有限公司 | Tunnel rock-core borer and application method |
| CN108412440B (en) * | 2018-05-16 | 2023-09-26 | 吉林大学 | Rotary slideway type power catwalk |
| CN108956118B (en) * | 2018-07-19 | 2020-11-06 | 大连海事大学 | Test bench capable of realizing non-excavation directional drilling parameter detection |
| CN109763770B (en) * | 2019-03-07 | 2024-03-15 | 江苏中煤矿山设备有限公司 | High-efficient directional drilling machine |
| CN115387777B (en) * | 2022-08-09 | 2024-05-31 | 中煤科工集团西安研究院有限公司 | Feeding and rotation control method of hydraulic tunnel drilling machine based on coal rock sensing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5803189A (en) * | 1996-08-21 | 1998-09-08 | Geldner; Robert L. | Directional boring machine |
| CN101806193A (en) * | 2010-04-27 | 2010-08-18 | 湖南众鸿机电科技有限公司 | Light-duty underground drill rig |
| CN101881134A (en) * | 2010-06-24 | 2010-11-10 | 杭州祥龙钻探设备有限公司 | Gallery-type vertical and horizontal dual-purpose drilling machine |
| CN201786243U (en) * | 2010-09-29 | 2011-04-06 | 重庆平山矿山机电设备有限公司 | Drill for underground |
| CN103711431A (en) * | 2013-12-27 | 2014-04-09 | 北京中核大地矿业勘查开发有限公司 | Variable-frequency electrically-driven top drive type core drill used for geological coring exploration |
| CN103939006A (en) * | 2013-01-17 | 2014-07-23 | 江苏飞锦达科技有限公司 | Novel coal underground drill rig |
| CN205840767U (en) * | 2016-08-08 | 2016-12-28 | 吉林大学 | A kind of all-electric coal mine gallery drilling rig |
-
2016
- 2016-08-08 CN CN201610642757.XA patent/CN106050126B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5803189A (en) * | 1996-08-21 | 1998-09-08 | Geldner; Robert L. | Directional boring machine |
| CN101806193A (en) * | 2010-04-27 | 2010-08-18 | 湖南众鸿机电科技有限公司 | Light-duty underground drill rig |
| CN101881134A (en) * | 2010-06-24 | 2010-11-10 | 杭州祥龙钻探设备有限公司 | Gallery-type vertical and horizontal dual-purpose drilling machine |
| CN201786243U (en) * | 2010-09-29 | 2011-04-06 | 重庆平山矿山机电设备有限公司 | Drill for underground |
| CN103939006A (en) * | 2013-01-17 | 2014-07-23 | 江苏飞锦达科技有限公司 | Novel coal underground drill rig |
| CN103711431A (en) * | 2013-12-27 | 2014-04-09 | 北京中核大地矿业勘查开发有限公司 | Variable-frequency electrically-driven top drive type core drill used for geological coring exploration |
| CN205840767U (en) * | 2016-08-08 | 2016-12-28 | 吉林大学 | A kind of all-electric coal mine gallery drilling rig |
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| CN106050126A (en) | 2016-10-26 |
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