CN109505608A - Guidance system and all-hydraulic three arm rock drilling jumbo based on guidance system and localization method of constructing - Google Patents
Guidance system and all-hydraulic three arm rock drilling jumbo based on guidance system and localization method of constructing Download PDFInfo
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- CN109505608A CN109505608A CN201811300281.7A CN201811300281A CN109505608A CN 109505608 A CN109505608 A CN 109505608A CN 201811300281 A CN201811300281 A CN 201811300281A CN 109505608 A CN109505608 A CN 109505608A
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- 238000005553 drilling Methods 0.000 title claims abstract description 51
- 239000011435 rock Substances 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000004807 localization Effects 0.000 title claims abstract description 9
- 238000010276 construction Methods 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims abstract description 13
- 238000004458 analytical method Methods 0.000 claims abstract description 9
- 239000003921 oil Substances 0.000 claims description 33
- 239000010727 cylinder oil Substances 0.000 claims description 10
- 239000004744 fabric Substances 0.000 claims description 10
- 238000007405 data analysis Methods 0.000 claims description 7
- 238000009412 basement excavation Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 4
- 230000001737 promoting effect Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005086 pumping Methods 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000003818 cinder Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
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- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Earth Drilling (AREA)
Abstract
The present invention relates to technical field of tunnel construction, in particular to a kind of all-hydraulic three arm rock drilling jumbo for the guidance system of drill jumbo drilling construction and based on guidance system and construction localization method, the guidance system includes data acquisition module, data processing module, laser emitter and vehicle-mounted computer, wherein, data acquisition module includes: angular transducer, inclinator, flow sensor and pressure sensor.The present invention makes traditional hydraulic jumbo have computer guide function by guidance system, while can take into account the characteristics of operating conveniently of hydraulic jumbo；Simultaneously, vehicle-mounted computer display screen shows drill bit spatial position and angle, and auxiliary operation hand positions bore position, records all data parameter in drill jumbo drilling process, convenient for carrying out Macro or mass analysis to parameters, analysis anticipation is carried out to the geological condition in drilling process；It can more quickly realize that trolley integrally positions, drilling efficiency is further improved, and has stronger application value.
Description
Technical field
The present invention relates to technical field of tunnel construction, in particular to a kind of guidance system for drill jumbo drilling construction
And all-hydraulic three arm rock drilling jumbo based on guidance system and construction localization method.
Background technique
In constructing tunnel field, traditional hand excavation's mode, the personnel needed are more, and labor intensity is high, safety wind
Danger is greatly.Recently, with the continuous improvement of industry construction reference, drill bursting construction Mechanization Development is rapid, from traditional artificial
Hand-held air rock drill is exceedingly fast to the development of mechanized drilling trolley.The application of drill jumbo can mitigate the quantity of worker significantly
And labor intensity, further increase the drilling efficiency in tunnel.There is a large amount of conventional hydraulic drill jumbo still using at present.With
Computer it is universal, to further increase hydraulic drill ring drilling efficiency, a hydraulic drill ring that can be applied to
Guidance system and positioning method are transformed traditional hydraulic drill ring to adapt to the information-based of the new period and require, just seem especially
It is important.
Summary of the invention
For this purpose, the present invention provides a kind of guidance system for drill jumbo drilling construction and the full liquid based on guidance system
Press three arm rock drilling jumbos and construction localization method, design science, rationally, crept by drill jumbo wholly computer controlled, Neng Gougeng
Add and quickly realize that trolley integrally positions, drilling efficiency is further improved, and drill jumbo drilling construction operation peace is effectively ensured
Full property and reliability.
According to design scheme provided by the present invention, a kind of guidance system for drill jumbo drilling construction, comprising using
In the data acquisition module of acquisition drill jumbo working condition, acquisition module data and data analysis is carried out for receiving data
Data processing module is existed for obtaining depth of the trolley in tunnel by laser and tunnel cross-section intersecting point coordinate with obtaining trolley
The laser emitter of coordinate data in tunnel, and the vehicle mounted electric for being used for display data analysis result is connect with data processing module
Brain, wherein data acquisition module includes: for measuring the angle of drill jumbo drill boom operational data and hawk formula arm seat wobble data
Sensor, for measuring the inclinator of drill jumbo complete machine tilt angle, for measuring drill jumbo drill boom, forward beam and rock drilling
The flow sensor of machine run-length data, and for measuring rock drill impact, promoting, the pressure sensor of revolution and retrogressing pressure.
Above-mentioned, angular transducer quantity is 6, is sequentially arranged at basic arm pitching on drill jumbo drill boom and swings hinged
At place, galianconism pitching and swing hinged place, overturning oil cylinder and at forward beam rotary joint.
Above-mentioned, flow sensor quantity is 3, is sequentially arranged at drill boom telescopic oil cylinder oil pipe, forward beam telescopic oil cylinder oil
Pipe and rock drill telescopic oil cylinder oil pipe.
Above-mentioned, pressure sensor quantity is 4, is sequentially arranged at rock drill control impact valve block, promotes valve block, revolving valve
On block and rollback valve block.
Above-mentioned, hawk formula arm seat connecting rod swing hinged place is also equipped with the angular transducer connecting with data processing module；
Inclinator is located at below hawk formula arm seat chassis on vehicle frame.
A kind of all-hydraulic three arm rock drilling jumbo, includes above-mentioned guidance system.
Above-mentioned drill jumbo, guidance system include three vehicle mounted electrics successively connecting with three drill boom control stations
Brain.
A kind of Fully-hydraulic drilling rig drilling construction localization method includes following content: by obtained position of converting in advance
Coordinate file imports computer, which includes that laser is sat every the position of one meter and tunnel cross-section intersection point
Data file is marked, and excavates mileage file；Then, control drill boom touches section, obtains position of the trolley apart from section, root
Depth of the trolley in tunnel is obtained according to the excavation mileage of input, obtains corresponding section laser coordinate；It is pushed away by controlling drill boom
Into beam, former and later two targets are successively directed at laser, and obtain the positional relationship in trolley and tunnel using above-mentioned guidance system, into
Row construction operation.
Above-mentioned construction localization method, vehicle-mounted computer are equipped with cloth hole pattern software and Data Analysis Software；Cloth hole pattern software root
Hole location is set according to section configuration, vehicle-mounted computer records the data in drilling process, and it is soft to be transferred to data analysis by transmission medium
Part is handle to data and carry out analysis anticipation to the geological condition in drilling process.
Beneficial effects of the present invention:
It is of the invention novel in design, reasonable, so that traditional hydraulic jumbo is had computer guide function by guidance system, while can
Take into account the characteristics of operating conveniently of hydraulic jumbo；Guidance system vehicle-mounted computer can save section and draw point by importing cloth hole pattern
Process；Meanwhile vehicle-mounted computer display screen shows drill bit spatial position and angle, auxiliary operation hand positions bore position, record chisel
Rock bench wagon drill is into all data parameter in the process, convenient for carrying out Macro or mass analysis to parameters, to the geology in drilling process
Situation carries out analysis anticipation；It can more quickly realize that trolley integrally positions, drilling efficiency is further improved, and has relatively strong
Application value.
Detailed description of the invention:
Fig. 1 is drill jumbo complete machine schematic diagram in embodiment；
Fig. 2 is extendable arms holder structure schematic diagram in embodiment；
Fig. 3 is drill boom structural schematic diagram in embodiment；
Fig. 4 is enclosed cabin's structural schematic diagram in embodiment.
Specific embodiment:
Figure label, label 1 represent chassis, and label 2 represents deployable hawk formula arm seat, and label 3 represents drill boom, and label 4 represents clothes
Business platform arm, label 5 represent enclosed cabin, and label 6 represents electric hydraulic component, and label 7 represents data processing module, label
8 represent data acquisition module, and label 9 represents obliquity sensor；Label 201 represents connecting rod, and label 202 represents angular transducer,
Label 203 represents flow sensor；Label 301 represents drill boom basic arm and swings pin shaft, and label 302 represents drill boom basic arm
Pitching pin shaft, label 303 represent drill boom basic arm, and label 304 represents drill boom galianconism pitching pin shaft, and it is short that label 305 represents drill boom
Arm swing pin shaft, label 306 represent overturning oil cylinder, and label 307 represents forward beam pedestal, and label 308 represents forward beam, label
309 represent rock drill, and label 310 represents target after forward beam, and label 311 represents target before forward beam, and label 312 represents angle
Sensor；In 501 generation of label, reports drill boom station, and label 502 represents Vehicular display device.
The present invention is described in further detail with technical solution with reference to the accompanying drawing, and detailed by preferred embodiment
Describe bright embodiments of the present invention in detail, but embodiments of the present invention are not limited to this.
For existing drill jumbo construction efficiency problem, the embodiment of the present invention provides a kind of creep into for drill jumbo and applies
The guidance system of work, comprising the data acquisition module for acquiring drill jumbo working condition, acquisition module for receiving data
Data and the data processing module for carrying out data analysis, for obtaining trolley in tunnel by laser and tunnel cross-section intersecting point coordinate
Interior depth is connect to obtain the laser emitter of coordinate data of the trolley in tunnel, and with data processing module for showing
The vehicle-mounted computer of data analysis result, wherein data acquisition module includes: for measuring drill jumbo drill boom operational data and hawk
The angular transducer of formula arm seat wobble data, for measuring the inclinator of drill jumbo complete machine tilt angle, for measuring rock drilling
The flow sensor of trolley drill boom, forward beam and rock drill run-length data, and for measure rock drill impact, promote, revolution and
Retreat the pressure sensor of pressure.
It may include 6 for measurement drill jumbo drill boom operational data and hawk formula arm seat wobble data, angular transducer quantity,
Be sequentially arranged on drill jumbo drill boom basic arm pitching and swing hinged place, galianconism pitching and swing hinged place, at overturning oil cylinder,
And at forward beam rotary joint.
It may include 3 for measurement drill jumbo drill boom, forward beam and rock drill run-length data, flow sensor quantity, according to
It is secondary to be located at drill boom telescopic oil cylinder oil pipe, forward beam telescopic oil cylinder oil pipe and rock drill telescopic oil cylinder oil pipe, according to oil cylinder oil inlet and
The flexible stroke of oil extraction flow measurement drill boom, forward beam and rock drill.
For the impact of measurement rock drill, pressure data is promoted, turns round and retreats, pressure sensor quantity may include 4, successively
It is located at rock drill control impact valve block, promotes in valve block, revolution valve block and rollback valve block.
To measure drill jumbo complete machine tilt angle, hawk formula arm seat connecting rod swing hinged place is also equipped with and data processing mould
The angular transducer of block connection；Inclinator is located at below hawk formula arm seat chassis on vehicle frame.
Based on above-mentioned guidance system, the embodiment of the present invention also provides a kind of all-hydraulic three arm rock drilling jumbo, referring to Fig. 1 ~ 4
It is shown, include movable wheel type walking chassis, deployable hawk formula arm seat, enclosed cabin, scalable drill boom, service platform arm and
Tailstock；Tailstock is fixed in movable wheel type walking chassis tail portion, and deployable hawk formula arm seat and closing, which drive, is located at movable wheel type row
It walks on chassis, three scalable drill booms and service platform arm are fixed on deployable hawk formula arm seat, and it is total that pumping plant is fixed on tailstock
At, electric controlling assembly, Reel of water pipe and cable drum；Arrange that three drill boom control stations, services are flat in enclosed cabin
Platform controls valve block, deployable arm seat control valve block and above-mentioned guidance system.Above-mentioned drill jumbo, guidance system include successively
Three vehicle-mounted computers being connect with three drill boom control stations.Scalable drill boom includes arm seat, basic arm, lower double triangle oil
Cylinder, telescopic arm, upper double triangle oil cylinders, telescopic boom cylinder, telescopic arm adapter, overturning oil cylinder, forward beam base connector, extrapolation
Angle oil cylinder, forward beam pedestal, forward beam, forward beam stroke oil cylinder, rock drill and its stroke oil cylinder；Go up double triangle oil cylinders and lower pair
The series connection of triangle oil cylinder, overturning oil cylinder control forward beam ± 180 ° choose to install, and outer limb oil cylinder controls forward beam swing angle, forward beam
Oil cylinder controls forward beam and is moved forward and backward, and rock drill stroke oil cylinder controls rock drill drilling operation；Among arm seat fixed main drill boom and
Service platform arm, the fixed left and right drill boom in two sides, left and right arm seat are moved by multi-stage oil cylinder.Pumping plant assembly provides hydraulic for complete machine
Power, and power supply is connected by cable drum, water source is connected by Reel of water pipe；Pumping plant assembly includes water pump and air compressor machine,
In, water pump provides the high pressure water of wash boring for rock drill, and air compressor machine provides for lubricating system for rock drill fog lubrication
Compressed air.
Based on above-mentioned guidance system and drill jumbo, the embodiment of the present invention also provides a kind of Fully-hydraulic drilling rig drilling
Construction localization method, includes following content: the obtained position coordinates file that will convert in advance imports computer, the seat being previously obtained
Marking file includes laser in the position coordinate data file every one meter with tunnel cross-section intersection point, and excavates mileage file；
Then, control drill boom touches section, obtains position of the trolley apart from section, obtains trolley in tunnel according to the excavation mileage of input
Interior depth obtains corresponding section laser coordinate；It is successively directed at laser by controlling former and later two targets of drill boom forward beam, and
The positional relationship in trolley and tunnel is obtained using above-mentioned guidance system, carries out construction operation.Fully-hydraulic drilling rig drives to
Before tunnel excavation section, drives indoor operator and control front and back support oil cylinder rise, chassis tire is made to leave ground；It drives
Room increases, and the specific coordinate relationship of trolley complete machine and tunnel middle line is obtained by data acquisition module, drives indoor above-mentioned
Guidance system receives coordinate setting by transmission medium, determines dilling angle and drilling direction, and be transmitted to vehicle-mounted computer
In；Tailstock cable and Reel of water pipe release, power on and water source；According to vehicle-mounted computer displaing coordinate, it is successively right to control drill boom
Quasi- screen cloth hole pattern hole location, is crept into, while water pump and air compressor machine work；Wherein, vehicle-mounted computer shows each sensing simultaneously
The parameter that device measures, the parameter include but is not limited to promote stroke, surge, rotational pressure, propelling pressure, rate of penetration,
Rotation speed, compensator or trimmer pressure, flushing cinder pressure, flushing cinder flow.Vehicle-mounted computer is equipped with cloth hole pattern software and Data Analysis Software；Cloth hole
Hole location is arranged according to section configuration in figure software, and vehicle-mounted computer records the data in drilling process, is transferred to number by transmission medium
According to analysis software handle to data and carry out analysis anticipation to the geological condition in drilling process.
Data processing module is connected with all data acquisition modules, shows for data processing, computer and data are analyzed
It calculates, show tunnel cross-section cloth hole pattern on a display screen, show drill bit spatial position and angle, during display bit operation
Impact, revolution, propulsion data and pressure change, show drilling depth.Laser emitter can issue direct laser, positioning bogie
The position in tunnel.By installing guidance system as described in the examples in drill jumbo, it is manually entered excavated section mileage, platform
Wagon drill arm is once directed at two targets of a drill boom by laser emitter by contact section determining table truck position, thus
Determine specific location of the trolley in tunnel；For two targets of drill boom on a drill boom, drill boom is true by contact tunnel cross-section
Determine distance between trolley and tunnel cross-section.
Laser emitter is set up in known coordinate location point, laser transmitter positions coordinate is imported into coordinate transformation table
The intersecting point coordinate for generating the segmentation section at n laser and 1 meter one, interval, imports computer guidance system for intersecting point coordinate；?
Current excavated section mileage is exported in trolley computer, control drill boom contacts section, puts into effect car kilometer position by system-computed；Control
Make a drill boom forward beam, target successively made to be directed at laser rays, thus calculate determine specific location of the trolley in tunnel and
Angle.Based on all-hydraulic three arm rock drilling jumbo, in drill boom basic arm pitching pin shaft, pin shaft, galianconism pitching pin shaft, galianconism pendulum are swung
Dynamic pin shaft, overturning oil cylinder, forward beam base position setting angle sensor.At deployable hawk formula arm seat connecting rod, setting angle is passed
Sensor.Flow sensor is installed at drill boom basic arm telescopic oil cylinder, forward beam telescopic oil cylinder, rock drill telescopic oil cylinder.It is digging
Rock machine, which controls, installs four pressure sensors at valve block, for measuring pressure parameter.The mounted angle sensor on chassis frame,
In suitable position installation data collecting cassette and data handle box, car-mounted display is installed in driver's cabin drill boom operation bench corresponding position
Device.After guidance system is installed, each sensor parameters is calibrated, and require sensor ginseng in dead-center position
Number also zero；When constructing in tunnel later, laser emitter is set up in known point；It is disconnected by the tunnel in tunnel at interval of 1 meter
Laser origin is imported the available laser of conversion table and every the intersecting point coordinate of 1 meter of tunnel cross-section by areal coordinate conversion table；
Trolley is parked in suitable position before tunnel cross-section, control supporting leg makes inclinator numerical value 0；Mileage, control drill boom touching are excavated in input
Touch section；Then control forward beam makes front and back target pass through laser rays respectively, and position of the trolley in tunnel can be obtained
And angle；The characteristics of operating conveniently of hydraulic jumbo can be taken into account；Guidance system vehicle-mounted computer can be saved by importing cloth hole pattern
Section draws the process of point；Meanwhile vehicle-mounted computer display screen shows drill bit spatial position and angle, auxiliary operation hand spitting drill hole location
It sets, all data parameter in drill jumbo drilling process is recorded, and Macro or mass analysis is carried out to parameters, in drilling process
Geological condition carry out analysis anticipation；It can more quickly realize that trolley integrally positions, drilling efficiency is further improved, tool
There is stronger application value.
The present invention is not limited to above-mentioned specific embodiment, and those skilled in the art can also make a variety of variations accordingly, but
It is any all to cover within the scope of the claims with equivalent or similar variation of the invention.
Claims (9)
1. a kind of guidance system for drill jumbo drilling construction, which is characterized in that comprising for acquiring drill jumbo work
The data acquisition module of state acquisition module data and carries out the data processing module of data analysis for receiving data, is used for
Depth of the trolley in tunnel is obtained by laser and tunnel cross-section intersecting point coordinate to obtain coordinate data of the trolley in tunnel
Laser emitter, and connect with data processing module the vehicle-mounted computer for display data analysis result, wherein data acquisition
Module includes: for measuring the angular transducer of drill jumbo drill boom operational data and hawk formula arm seat wobble data, for measuring
The inclinator of drill jumbo complete machine tilt angle, for measuring the stream of drill jumbo drill boom, forward beam and rock drill run-length data
Quantity sensor, and for measuring rock drill impact, promoting, the pressure sensor of revolution and retrogressing pressure.
2. the guidance system according to claim 1 for drill jumbo drilling construction, which is characterized in that angular transducer
Quantity is 6, be sequentially arranged on drill jumbo drill boom basic arm pitching and swing hinged place, galianconism pitching and swing hinged place,
At overturning oil cylinder and at forward beam rotary joint.
3. the guidance system according to claim 1 for drill jumbo drilling construction, which is characterized in that flow sensor
Quantity is 3, is sequentially arranged at drill boom telescopic oil cylinder oil pipe, forward beam telescopic oil cylinder oil pipe and rock drill telescopic oil cylinder oil pipe.
4. the guidance system according to claim 1 for drill jumbo drilling construction, which is characterized in that pressure sensor
Quantity is 4, is sequentially arranged at rock drill control impact valve block, promotes in valve block, revolution valve block and rollback valve block.
5. the guidance system according to claim 1 for drill jumbo drilling construction, which is characterized in that hawk formula arm seat connects
Bar swings hinged place and is also equipped with the angular transducer connecting with data processing module；Inclinator is located at below hawk formula arm seat chassis
On vehicle frame.
6. a kind of all-hydraulic three arm rock drilling jumbo includes the described in any item guidance systems of claim 1 ~ 5.
7. all-hydraulic three arm rock drilling jumbo according to claim 6, which is characterized in that guidance system include successively with three
Drill boom controls three vehicle-mounted computers of station connection.
8. a kind of Fully-hydraulic drilling rig drilling construction localization method includes following content: the obtained position that will convert in advance is sat
It marks file and imports computer, which includes laser in the position coordinates every one meter with tunnel cross-section intersection point
Data file, and excavate mileage file；Then, control drill boom touches section, obtains position of the trolley apart from section, according to
The excavation mileage of input obtains depth of the trolley in tunnel, obtains corresponding section laser coordinate；It is promoted by control drill boom
Former and later two targets of beam are successively directed at laser, and obtain trolley and tunnel using the described in any item guidance systems of claim 1 ~ 5
The positional relationship in road carries out construction operation.
9. Fully-hydraulic drilling rig drilling construction localization method according to claim 8, which is characterized in that vehicle-mounted computer is matched
Standby cloth hole pattern software and Data Analysis Software；Hole location is arranged according to section configuration in cloth hole pattern software, and vehicle-mounted computer record was crept into
Data in journey are transferred to Data Analysis Software to carry out processing to data and to the geology in drilling process by transmission medium
Situation carries out analysis anticipation.
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| CN201811300281.7A CN109505608A (en) | 2018-11-02 | 2018-11-02 | Guidance system and all-hydraulic three arm rock drilling jumbo based on guidance system and localization method of constructing |
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|---|---|---|---|
| CN201811300281.7A CN109505608A (en) | 2018-11-02 | 2018-11-02 | Guidance system and all-hydraulic three arm rock drilling jumbo based on guidance system and localization method of constructing |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915016A (en) * | 2019-04-03 | 2019-06-21 | 中国铁建重工集团有限公司 | Drill jumbo and drill jumbo control method |
| CN110295917A (en) * | 2019-05-29 | 2019-10-01 | 中国铁建重工集团股份有限公司 | Wingspan device of drill jumbo |
| CN110410056A (en) * | 2019-08-08 | 2019-11-05 | 河北中瑞智能机械设备制造有限公司 | A kind of automatic control system and its control method of drill jumbo |
| CN111485915A (en) * | 2020-04-15 | 2020-08-04 | 高军 | Mechanical pre-reinforcing method and positioning device for tunnel face based on weak crushing surrounding rock |
| CN113323672A (en) * | 2021-06-30 | 2021-08-31 | 中铁十局集团有限公司 | Large-scale mechanized drilling, blasting, excavating and quick construction method for hard rock large-span tunnel |
| CN113445907A (en) * | 2021-06-28 | 2021-09-28 | 江苏徐工工程机械研究院有限公司 | Drilling method of drill jumbo, drilling quality evaluation method and system and drill jumbo |
| CN114893130A (en) * | 2022-07-13 | 2022-08-12 | 张家口宣化华泰矿冶机械有限公司 | Mechanical arm drilling positioning system and method, trolley, touch screen and storage medium |
| CN115217442A (en) * | 2022-06-13 | 2022-10-21 | 中铁工程装备集团隧道设备制造有限公司 | Bottom hole marking device and drill jumbo |
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