CN112627748A - Full-automatic drill pipe box suitable for spiral drill pipe - Google Patents
Full-automatic drill pipe box suitable for spiral drill pipe Download PDFInfo
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- CN112627748A CN112627748A CN202011560647.1A CN202011560647A CN112627748A CN 112627748 A CN112627748 A CN 112627748A CN 202011560647 A CN202011560647 A CN 202011560647A CN 112627748 A CN112627748 A CN 112627748A
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- drill pipe
- pipe box
- truss
- automatic
- fully automatic
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- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 238000005553 drilling Methods 0.000 claims abstract description 25
- 230000003028 elevating effect Effects 0.000 claims description 13
- 239000003245 coal Substances 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000003754 machining Methods 0.000 abstract description 2
- 241000446313 Lamella Species 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000005641 tunneling Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
-
- 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
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (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 full-automatic drill pipe box suitable for a spiral drill pipe, which comprises a drill pipe box frame, wherein a walking rack is arranged on the outer surface of one side of the drill pipe box frame, a transverse moving displacement switch is arranged on the outer surface of the upper end of the walking rack, the spiral drill pipe is arranged in the middle of the drill pipe box frame, a lifting mechanism is arranged on the outer surface of one side of the walking rack, a lifting displacement switch is arranged on the outer surface of one side of the lifting mechanism, a mechanical arm is arranged on the outer surface of one end of the lifting mechanism, and a gripper oil cylinder is arranged on the outer wall of. The full-automatic drill rod box suitable for the spiral drill rod solves the problems of automatic grabbing, automatic putting and automatic detection of grabbing and putting positions of the spiral drill rod from the drill rod box, solves the problem of reliability of grabbing and putting rods caused by machining or assembling errors, provides basic guarantee for normal operation of a full-automatic drilling machine for a coal mine, reduces labor intensity of miners, improves efficiency and guarantees safety of staff.
Description
Technical Field
The invention relates to the field of drill rod equipment, in particular to a full-automatic drill rod box suitable for a spiral drill rod.
Background
With the growth of the coal industry, the development of tunneling and mining is continuously towards the direction of rapidness and high efficiency, and the drilling equipment plays a role of a safety guarantee in coal mining according to the safety principle that the tunneling is doubtful and must be performed firstly, and then the tunneling is performed, and the tunneling is not performed.
At present, drilling equipment in the coal mine market mainly takes a crawler-type full-hydraulic tunnel drilling machine as a main part, a drilling rod needs to be manually disassembled and assembled in the drilling process, the labor intensity is high, the ground pressure of a working surface of drilling construction is large, the gas concentration is high, the danger coefficient is high, the full-automatic drilling machine has strong development advantages, but a plurality of technical problems exist, at present, a plurality of full-automatic drilling machines are sporadically produced, but the full-automatic drilling machines are still in an industrial test stage or a concept stage, a plurality of problems exist, the market is not formed, and therefore, the full-automatic drilling rod box suitable for the spiral drilling rod is provided.
Disclosure of Invention
The invention mainly aims to provide a full-automatic drill pipe box suitable for a spiral drill pipe, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
a full-automatic drill pipe box suitable for a spiral drill pipe comprises a drill pipe box frame, wherein a walking rack is arranged on the outer surface of one side of the drill pipe box frame, a transverse moving displacement switch is arranged on the outer surface of the upper end of the walking rack, the spiral drill pipe is arranged in the middle of the drill pipe box frame, a lifting mechanism is arranged on the outer surface of one side of the walking rack, a lifting displacement switch is arranged on the outer surface of one side of the lifting mechanism, a mechanical arm is arranged on the outer surface of one end of the lifting mechanism, a gripper oil cylinder is arranged on the outer wall of the mechanical arm, a gripper mechanism is arranged on the outer surface of one end of the mechanical arm, a driving gear and a transverse moving motor are arranged on the outer surface of one end of the walking rack, the driving gear is arranged on the outer surface of one end of the transverse moving motor, the gripper, the truss is located between the movable clack and the fixed clack, the position switch is located in the middle of the fixed clack, the check ring is located on the outer surface of the upper end of the truss, and the springs are located on two sides of the check ring.
Preferably, a placing groove is formed between the drill rod box frame and the spiral drill rod, and the inner surfaces of the two ends of the drill rod box frame are movably connected with the outer surfaces of the two ends of the spiral drill rod through the placing groove.
Preferably, a first fixing groove is formed between the fixing flap and the position switch, and the inner wall of the fixing flap is detachably connected with the outer wall of the position switch through the first fixing groove.
Preferably, a connecting shaft is arranged between the fixed valve and the movable valve, and the outer surface of one side of the fixed valve is movably connected with the outer surface of one side of the movable valve through the connecting shaft.
Preferably, a second fixing groove is formed between the fixing flap and the truss, and the inner surface of one end of the fixing flap is detachably connected with the outer surface of one end of the truss through the second fixing groove.
Preferably, a first buckle is arranged between the truss and the check ring, the outer surface of the upper end of the truss is detachably connected with the outer surface of one end of the check ring through the first buckle, and the number of the check rings is two.
Preferably, a second buckle is arranged between the fixed valve and the spring, and the inner surface of one end of the fixed valve is detachably connected with the outer surface of one end of the spring through the second buckle.
Preferably, a sliding groove is formed between the lifting mechanism and the mechanical arm, and the outer surface of one end of the lifting mechanism is movably connected with the outer surface of one end of the mechanical arm through the sliding groove.
Preferably, a cross bolt is arranged between the lifting mechanism and the lifting displacement switch, and the outer surface of one side of the lifting mechanism is detachably connected with the outer surface of one end of the lifting displacement switch through the cross bolt.
Preferably, a hexagonal screw is arranged between the walking rack and the transverse moving displacement switch, and the outer surface of the upper end of the walking rack is detachably connected with the outer surface of the lower end of the transverse moving displacement switch.
Compared with the prior art, the invention has the following beneficial effects: this full-automatic drilling rod case:
the automatic grabbing and placing device solves the problems of automatic grabbing, automatic placing and automatic detection of grabbing and placing positions of the spiral drill rod from the drill rod box, solves the problem of reliability of grabbing and placing the spiral drill rod caused by processing or assembling errors, provides basic guarantee for normal operation of a full-automatic drilling machine for coal mines, reduces labor intensity of miners, improves efficiency, guarantees safety of staff and is beneficial to use of people;
the whole full-automatic drill pipe box is simple in structure, convenient to operate and better in using effect compared with the traditional mode.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a fully automatic drill pipe box suitable for a spiral drill pipe according to the present invention;
FIG. 2 is a schematic side view of a drill pipe box frame 1 of a fully automatic drill pipe box suitable for an auger according to the present invention;
FIG. 3 is a schematic structural diagram of the gripper mechanism 2 of the fully automatic drill pipe box applicable to the auger stem according to the present invention;
fig. 4 is a schematic diagram of the internal structure of the gripper mechanism 2 of the full-automatic drill pipe box suitable for the auger stem.
In the figure: 1. a drill pipe box frame; 2. a gripper mechanism; 3. a gripper cylinder; 4. a robot arm; 5. a auger stem; 6. a lateral movement displacement switch; 7. a traveling rack; 8. a lifting mechanism; 9. a lifting displacement switch; 10. a drive gear; 11. a traverse motor; 12. a position switch; 13. a fixed flap; 14. a truss; 15. a movable flap; 16. a retainer ring; 17. a spring.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in figures 1-4, the full-automatic drill pipe box suitable for the spiral drill pipe comprises a drill pipe box frame 1, a walking rack 7 is arranged on the outer surface of one side of the drill pipe box frame 1, a transverse moving displacement switch 6 is arranged on the outer surface of the upper end of the walking rack 7, the spiral drill pipe 5 is arranged in the middle of the drill pipe box frame 1, an elevating mechanism 8 is arranged on the outer surface of one side of the walking rack 7, an elevating displacement switch 9 is arranged on the outer surface of one side of the elevating mechanism 8, a mechanical arm 4 is arranged on the outer surface of one end of the elevating mechanism 8, a gripper oil cylinder 3 is arranged on the outer wall of the mechanical arm 4, a gripper mechanism 2 is arranged on the outer surface of one end of the mechanical arm 4, a driving gear 10 and a transverse moving motor 11 are arranged on the outer surface of one end of, The movable valve 15 is located on the outer surface of one side of the fixed valve 13, the truss 14 is located between the movable valve 15 and the fixed valve 13, the position switch 12 is located in the middle of the fixed valve 13, the retainer ring 16 is located on the outer surface of the upper end of the truss 14, and the springs 17 are located on two sides of the retainer ring 16.
Wherein, set up between drilling rod box frame 1 and the auger stem 5 and have the standing groove, the both ends internal surface of drilling rod box frame 1 passes through the both ends surface swing joint of standing groove and auger stem 5, and auger stem 5 is conveniently placed to drilling rod box frame 1.
Wherein, be provided with first fixed slot between stationary valve 13 and position switch 12, the inner wall of stationary valve 13 is connected through first fixed slot and position switch 12's outer wall is dismantled, and position switch 12 mainly used detects truss 14.
Wherein, be provided with the connecting axle between fixed lamella 13 and the activity lamella 15, one side surface swing joint of fixed lamella 13 and one side surface swing joint of activity lamella 15 through the connecting axle, fixed lamella 13 and activity lamella 15 mainly used snatch the auger stem 5.
Wherein, be provided with the second fixed slot between fixed lamella 13 and the truss 14, the one end internal surface of fixed lamella 13 passes through the second fixed slot and can dismantle with the one end surface of truss 14 and be connected, and truss 14 mainly used fixes a position auger stem 5.
Wherein, be provided with first buckle between truss 14 and retaining ring 16, the upper end surface of truss 14 is connected with the one end surface of retaining ring 16 can be dismantled through first buckle, and the quantity of retaining ring 16 is two sets of, and retaining ring 16 is convenient for fixed truss 14.
Wherein, be provided with the second buckle between stationary vane 13 and the spring 17, the one end internal surface of stationary vane 13 passes through the detachable connection of second buckle and the one end surface of spring 17.
Wherein, be provided with the spout between elevating system 8 and robotic arm 4, elevating system 8's one end surface passes through spout and robotic arm 4's one end surface swing joint, and elevating system 8 conveniently adjusts robotic arm 4's height.
Wherein, be provided with the cross bolt between elevating system 8 and lift displacement switch 9, the surface of one side of elevating system 8 passes through the cross bolt and can dismantle with the one end surface of lift displacement switch 9 and be connected, and lift displacement switch 9 mainly controls the height of control robotic arm 4.
A hexagonal screw is arranged between the walking rack 7 and the transverse moving displacement switch 6, the outer surface of the upper end of the walking rack 7 is detachably connected with the outer surface of the lower end of the transverse moving displacement switch 6, and the transverse moving displacement switch 6 is mainly used for controlling the transverse moving of the mechanical arm 4.
It should be noted that, the invention is a full-automatic drill pipe box suitable for spiral drill pipes, when in use, six vertical rows of spiral drill pipes 5 are stored in a drill pipe box frame 1, each row of six spiral drill pipes is provided with six lifting mechanisms 8, the lifting mechanism 8 can control the mechanical arm 4 to lift, the stroke is detected by a lifting displacement switch 9, a transverse moving motor 11 can drive a driving gear 10 to move on a walking rack 7 so as to control the transverse moving of the mechanical arm 4, the stroke is detected by a transverse moving displacement switch 6, a gripper mechanism 2 is used for gripping the drill pipes, when a truss 14 touches the drill pipes in the downward moving process of the gripper mechanism 2, a compression spring 17 continues to move downwards until a position switch 12 detects that a signal of the truss 14 is in place to automatically stop moving, at the moment, a pushing movable flap 15 of a gripper cylinder 3 is used for gripping the drill pipes, because machining and assembly errors cannot be avoided, and the spiral drill pipes 5 are different from geological drill pipes of, in the process of stacking the spiral drill rods 5, the spiral belts are crossed in a staggered mode, so that the vertical coordinate of each drill rod detected by the lifting displacement switch 9 has a large error (the maximum error does not exceed the diameter of the drill rod), if the drill rods are grabbed only by means of detected coordinate feedback, the grabbing fails at a high probability, the actual positions of the drill rods can be automatically detected by using the method, the rods are accurately grabbed, the reliability is improved, under the condition that the number of the columns of the drill rods in the drill rod box frame 1 is unknown, the method for detecting the actual positions of the drill rods can be utilized, the lifting displacement switch 9 is combined for line-by-line inspection, the number information of the detected columns of the drill rods can be fed back to the PLC, and the drilling machine can determine the grabbed positions in the automatic drilling process, and the inspection principle is as follows: the mechanical arm 4 moves from top to bottom, and when the truss 14 touches the drill rods and the position switch 12 has a signal, the number of the drill rods in the row is determined by combining the coordinates of the lifting displacement switch 9 at the moment.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a be suitable for spiral drill pipe's full-automatic drilling rod case which characterized in that: the drilling rod box frame comprises a drilling rod box frame (1), wherein a walking rack (7) is arranged on the outer surface of one side of the drilling rod box frame (1), a transverse moving displacement switch (6) is arranged on the outer surface of the upper end of the walking rack (7), a spiral drilling rod (5) is arranged in the middle of the drilling rod box frame (1), an elevating mechanism (8) is arranged on the outer surface of one side of the walking rack (7), an elevating displacement switch (9) is arranged on the outer surface of one side of the elevating mechanism (8), a mechanical arm (4) is arranged on the outer surface of one end of the elevating mechanism (8), a gripper oil cylinder (3) is arranged on the outer wall of the mechanical arm (4), a gripper mechanism (2) is arranged on the outer surface of one end of the mechanical arm (4), a driving gear (10) and a transverse moving motor (11) are arranged on the outer surface of one end of, the gripper mechanism (2) comprises a position switch (12), a fixed valve (13), a truss (14), a movable valve (15), a check ring (16) and a spring (17), wherein the movable valve (15) is located on the outer surface of one side of the fixed valve (13), the truss (14) is located between the movable valve (15) and the fixed valve (13), the position switch (12) is located in the middle of the fixed valve (13), the check ring (16) is located on the outer surface of the upper end of the truss (14), and the spring (17) is located on two sides of the check ring (16).
2. The fully automatic drill pipe box suitable for the auger stem according to claim 1, wherein: a placing groove is formed between the drill rod box frame (1) and the spiral drill rod (5), and the inner surfaces of the two ends of the drill rod box frame (1) are movably connected with the outer surfaces of the two ends of the spiral drill rod (5) through the placing groove.
3. The fully automatic drill pipe box suitable for the auger stem according to claim 1, wherein: a first fixing groove is formed between the fixing flap (13) and the position switch (12), and the inner wall of the fixing flap (13) is detachably connected with the outer wall of the position switch (12) through the first fixing groove.
4. The fully automatic drill pipe box suitable for the auger stem according to claim 1, wherein: a connecting shaft is arranged between the fixed valve (13) and the movable valve (15), and the outer surface of one side of the fixed valve (13) is movably connected with the outer surface of one side of the movable valve (15) through the connecting shaft.
5. The fully automatic drill pipe box suitable for the auger stem according to claim 1, wherein: a second fixing groove is formed between the fixing valve (13) and the truss (14), and the inner surface of one end of the fixing valve (13) is detachably connected with the outer surface of one end of the truss (14) through the second fixing groove.
6. The fully automatic drill pipe box suitable for the auger stem according to claim 1, wherein: the truss structure is characterized in that a first buckle is arranged between the truss (14) and the retainer ring (16), the outer surface of the upper end of the truss (14) is detachably connected with the outer surface of one end of the retainer ring (16) through the first buckle, and the number of the retainer rings (16) is two.
7. The fully automatic drill pipe box suitable for the auger stem according to claim 1, wherein: a second buckle is arranged between the fixed valve (13) and the spring (17), and the inner surface of one end of the fixed valve (13) is detachably connected with the outer surface of one end of the spring (17) through the second buckle.
8. The fully automatic drill pipe box suitable for the auger stem according to claim 1, wherein: a sliding groove is formed between the lifting mechanism (8) and the mechanical arm (4), and the outer surface of one end of the lifting mechanism (8) is movably connected with the outer surface of one end of the mechanical arm (4) through the sliding groove.
9. The fully automatic drill pipe box suitable for the auger stem according to claim 1, wherein: a cross bolt is arranged between the lifting mechanism (8) and the lifting displacement switch (9), and the outer surface of one side of the lifting mechanism (8) is detachably connected with the outer surface of one end of the lifting displacement switch (9) through the cross bolt.
10. The fully automatic drill pipe box suitable for the auger stem according to claim 1, wherein: a hexagonal screw is arranged between the walking rack (7) and the transverse moving displacement switch (6), and the outer surface of the upper end of the walking rack (7) is detachably connected with the outer surface of the lower end of the transverse moving displacement switch (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011560647.1A CN112627748A (en) | 2020-12-25 | 2020-12-25 | Full-automatic drill pipe box suitable for spiral drill pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011560647.1A CN112627748A (en) | 2020-12-25 | 2020-12-25 | Full-automatic drill pipe box suitable for spiral drill pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112627748A true CN112627748A (en) | 2021-04-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011560647.1A Pending CN112627748A (en) | 2020-12-25 | 2020-12-25 | Full-automatic drill pipe box suitable for spiral drill pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112627748A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2799661A2 (en) * | 2013-04-30 | 2014-11-05 | Arctic Drilling Company Oy Ltd | Automatic drill rod handling |
| DE202011110844U1 (en) * | 2011-09-07 | 2016-10-19 | Prime Drilling Gmbh | Drill pipe shot manipulator |
| CN108386143A (en) * | 2018-03-13 | 2018-08-10 | 建研地基基础工程有限责任公司 | The spiral automatic drill rod box of anchoring drilling machine and its operation method |
| CN110939396A (en) * | 2019-11-27 | 2020-03-31 | 中煤科工集团重庆研究院有限公司 | Drill pipe box for coal mine drilling machine |
| CN110952972A (en) * | 2019-11-27 | 2020-04-03 | 中煤科工集团重庆研究院有限公司 | Coal mine drilling machine and control method thereof |
| CN111021955A (en) * | 2019-12-05 | 2020-04-17 | 江苏谷登重型机械装备科技有限公司 | Automatic rod loading and unloading device of horizontal directional drilling machine |
| CN210768657U (en) * | 2019-10-10 | 2020-06-16 | 洛阳风动工具有限公司 | Automatic drill rod assembling and disassembling equipment |
| CN111852332A (en) * | 2020-08-13 | 2020-10-30 | 河南铁福来装备制造股份有限公司 | Automatic rod adding drilling machine with drill rod box |
| CN211890813U (en) * | 2020-04-11 | 2020-11-10 | 姚丽娟 | Mechanical gripper convenient to use |
-
2020
- 2020-12-25 CN CN202011560647.1A patent/CN112627748A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202011110844U1 (en) * | 2011-09-07 | 2016-10-19 | Prime Drilling Gmbh | Drill pipe shot manipulator |
| EP2799661A2 (en) * | 2013-04-30 | 2014-11-05 | Arctic Drilling Company Oy Ltd | Automatic drill rod handling |
| CN108386143A (en) * | 2018-03-13 | 2018-08-10 | 建研地基基础工程有限责任公司 | The spiral automatic drill rod box of anchoring drilling machine and its operation method |
| CN210768657U (en) * | 2019-10-10 | 2020-06-16 | 洛阳风动工具有限公司 | Automatic drill rod assembling and disassembling equipment |
| CN110939396A (en) * | 2019-11-27 | 2020-03-31 | 中煤科工集团重庆研究院有限公司 | Drill pipe box for coal mine drilling machine |
| CN110952972A (en) * | 2019-11-27 | 2020-04-03 | 中煤科工集团重庆研究院有限公司 | Coal mine drilling machine and control method thereof |
| CN111021955A (en) * | 2019-12-05 | 2020-04-17 | 江苏谷登重型机械装备科技有限公司 | Automatic rod loading and unloading device of horizontal directional drilling machine |
| CN211890813U (en) * | 2020-04-11 | 2020-11-10 | 姚丽娟 | Mechanical gripper convenient to use |
| CN111852332A (en) * | 2020-08-13 | 2020-10-30 | 河南铁福来装备制造股份有限公司 | Automatic rod adding drilling machine with drill rod box |
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Application publication date: 20210409 |
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