CN113153182A - Drilling equipment, automatic rod retracting method thereof and readable storage medium - Google Patents
Drilling equipment, automatic rod retracting method thereof and readable storage medium Download PDFInfo
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- CN113153182A CN113153182A CN202110043339.XA CN202110043339A CN113153182A CN 113153182 A CN113153182 A CN 113153182A CN 202110043339 A CN202110043339 A CN 202110043339A CN 113153182 A CN113153182 A CN 113153182A
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- rod
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- drill
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- 238000005553 drilling Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000008569 process Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000001174 ascending effect Effects 0.000 claims description 4
- 239000010902 straw Substances 0.000 claims 1
- 239000000428 dust Substances 0.000 abstract description 8
- 230000036541 health Effects 0.000 abstract description 7
- 230000003028 elevating effect Effects 0.000 description 3
- 239000004576 sand Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- 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
-
- 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
- E21B19/10—Slips; Spiders ; Catching devices
-
- 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
- E21B19/16—Connecting or disconnecting pipe couplings or joints
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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 relates to the technical field of engineering mechanical equipment, and discloses drilling equipment and an automatic rod retracting method thereof, wherein the rod retracting method comprises the following steps: controlling a lifting device to drive the drill rod to ascend to a preset position; controlling a clamping device to separate the current drill rod from the front drill rod; controlling a conveying device to grasp a drill rod; controlling the lifting device to be separated from the current drill rod; and controlling the conveying device to convey the current drill rod to the rod cabin for storage. The whole process is automatically carried out, manual operation is not needed, damage of dust to the health of operators is prevented, convenience, rapidness and high efficiency are achieved, and drilling efficiency is improved.
Description
Technical Field
The invention relates to the technical field of engineering mechanical equipment, in particular to drilling equipment and an automatic rod retracting method thereof.
Background
The engineering machinery has wide application in quarries, mines, tunnels and the like; engineering machine tool to different place, different operating mode or when going on different stages, need change, add or dismantle the working part, for example in the drilling process, when boring deeper hole to needs, a drilling rod is not long enough, need add the drilling rod again, after drilling is accomplished, need will add the drilling rod that goes and retrieve, all need the manual work to go at this moment, pull up one uninstallation, move to the place of depositing.
However, the working environment of these sites is very harsh, and the sand and soil are flying everywhere, and not only the health of the operator is damaged, but also the drill rod is heavy and wastes time and labor.
Disclosure of Invention
In view of the above disadvantages, the present invention provides a drilling apparatus and an automatic rod retracting method thereof, which can realize automatic operation without manual operation.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: an automatic rod retracting method of drilling equipment comprises an automatic rod retracting action after the drilling equipment drills a hole, and the automatic rod retracting method comprises the following steps:
controlling a lifting device to drive the drill rod to ascend to a preset position;
controlling a clamping device to separate the current drill rod from the front drill rod;
controlling a conveying device to grasp a drill rod;
controlling the lifting device to be separated from the current drill rod;
and controlling the conveying device to convey the current drill rod to the rod cabin for storage.
Optionally, the drill rod is in threaded connection with the drill rod, and the clamping device comprises a first clamping device and a second clamping device;
the step of controlling the clamping device to separate the current drill rod from the previous drill rod comprises the following steps:
controlling a first clamping device to clamp the tail part of the current drill rod and controlling a second clamping device to clamp a front drill rod;
controlling the first clamping device and/or the second clamping device to rotate by a preset angle;
controlling the first clamping device to loosen the current drill rod;
and controlling the lifting device to drive the current drill rod to rotate and separate from the front drill rod.
Optionally, the drill rod is in threaded connection with the lifting device;
the step of controlling the lifting device to be separated from the current drill rod comprises the following steps:
and controlling the lifting device to rotate to be separated from the current drill rod.
Optionally, in the process that the lifting device drives the drill rod to ascend to the preset position from the bottom end, the lifting device drives the drill rod to rotate at the same time, and the drill rod stops after ascending to the preset position.
Optionally, the conveying device is a manipulator, and the manipulator grips the drill rod to perform rotary conveying.
Optionally, the step of controlling the transfer device to transfer the current drill rod to the rod compartment for storage includes:
controlling a conveying device to grasp a drill rod;
controlling the conveying device to rotate by a preset angle to convey the drill rod to the rod cabin;
controlling the conveying device to loosen the drill rod and standing by in the rod cabin;
when the next drill rod rises to the preset position, the manipulator is controlled to rotate by a preset angle to tightly grasp the drill rod.
Optionally, the drill rods are arranged in the rod compartment in a circumferential array;
the step of controlling the transmission device to transmit the current drill rod to the rod compartment for storage comprises the following steps:
and controlling the rotation of the rod cabin to a preset angle.
Optionally, when the last rod is received, the method comprises the following steps:
controlling a lifting device to drive the last drill rod to ascend to a preset position;
and controlling the clamping device and the conveying device to keep clamping the drill rod until the next drilling.
The invention also provides the technical scheme that: a readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the automatic pole retracting method as described above.
The invention also provides the technical scheme that: a drilling device is used for implementing the automatic rod retracting method, and comprises:
a girder;
the rod cabin is fixed on one side of the girder;
a plurality of drill rods stored in the rod compartment for drilling;
the lifting device is arranged on the girder, moves along the girder and is used for driving the drill rod to move;
the transmission device is rotatably arranged between the girder and the rod cabin, rotates between the girder and the rod cabin and transmits the drill rod between the girder and the rod cabin;
and the clamping device is arranged at the bottom of the girder and used for clamping the drill rod and loosening the connection between the drill rod and the drill rod.
Has the advantages that:
according to the automatic rod retracting method provided by the invention, after the drill rod is firstly pulled to the preset position through the lifting device, after the drill rod and the drill rod are loosened through the clamping device, the drill rod is firstly clamped through the conveying device and then is loosened through the rotation of the lifting device, so that the drill rod can be prevented from falling off, and meanwhile, after the two ends of the drill rod are loosened, the drill rod can be directly conveyed into the rod cabin for storage and is circularly operated until all the drill rods are retracted, the connection is smooth, the whole process is automatically carried out, manual operation is not needed, so that the damage of dust to the body health of an operator is prevented, the operation is convenient, rapid and efficient, and the drilling efficiency is further.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic view of a drilling apparatus of an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an automatic rod retracting method according to an embodiment of the present invention;
FIG. 3 is a schematic flow diagram of a current drill pipe being disconnected from a previous drill pipe and the elevator apparatus in accordance with an embodiment of the present invention;
FIG. 4 is a schematic flow diagram of a process for storing drill rods into a rod compartment, according to an embodiment of the present invention.
100, drilling equipment; 110. a girder; 120. a pole compartment; 130. a drill stem; 140. a lifting device; 150. a conveying device; 160. and (4) a clamping device.
Detailed Description
It is to be understood that the terminology, the specific structural and functional details disclosed herein are for the purpose of describing particular embodiments only, and are representative, but that the present invention may be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating relative importance or as implicitly indicating the number of technical features indicated. Thus, unless otherwise specified, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "plurality" means two or more. The terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that one or more other features, integers, steps, operations, elements, components, and/or combinations thereof may be present or added.
Further, terms of orientation or positional relationship indicated by "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, are described based on the orientation or relative positional relationship shown in the drawings, and are only for convenience of simplifying the description of the present invention, and do not indicate that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, fixed connections, removable connections, and integral connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through both elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention will be further elucidated with reference to the drawings and alternative embodiments.
As shown in fig. 1, an embodiment of the present invention discloses a drilling apparatus 100, which includes a girder 110, a rod compartment 120, a drill rod 130, a lifting device 140, a transfer device 150, and a clamping device 160; the rod compartment 120 is fixed to one side of the girder 110; the drill rod 130 is stored in the rod compartment 120; the lifting device 140 is disposed on the girder 110 and moves along the girder 110; the transfer device 150 is rotatably disposed between the girder 110 and the rod compartment 120, rotates between the girder 110 and the rod compartment 120, and transfers the drill rod 130 between the girder 110 and the rod compartment 120, and the clamping device 160 is disposed at the bottom of the girder 110 to clamp the drill rod 130 and release the connection between the drill rod 130 and the drill rod 130.
With current drilling apparatus 100, the drill rods 130 are placed on the ground, and after drilling a drill rod 130 to a depth, the operator needs to release the lifting device 140 from the drill rod 130, move the lifting device 140 to the starting end, lift the drill rod 130 up to align with the lifting device 140, and lower the lifting device 140 to engage the drill rod 130; after drilling, a drill rod 130 is unloaded and moved to the next drilling position for storage; since the drilling equipment 100 working in the quarries, mines, tunnels and the like is relatively large, two operators are required to cooperate to travel, time and labor are wasted, and the health of the operators is damaged by generated dust; compared with the existing drilling equipment 100 in the rod retracting process, the drilling equipment 100 provided by the embodiment of the invention firstly pulls up the drill rod 130 to the preset position through the lifting device 140, then loosens the drill rod 130 and the drill rod 130 through the clamping device 160, firstly clamps the drill rod through the conveying device 150, and then loosens the drill rod 130 through the rotation of the lifting device 140, so that the drill rod 130 can be prevented from falling off, meanwhile, the drill rod 130 can be directly conveyed into the rod cabin 120 to be stored after two ends of the drill rod 130 are loosened, the circulation operation is carried out until all the drill rods 130 are retracted, the connection is smooth, the whole process is automatically carried out, the retraction is fast, the manual operation is not needed, the damage of dust to the body health of an operator is prevented, the operation is convenient, fast and efficient, and the drilling efficiency is improved.
The transfer device 150 is a robot that grips the drill rod 130 to perform rotary transfer, and the robot is hydraulically controlled. The manipulator has a simple structure, can well clamp the cylindrical drill rod 130 for transmission, has large hydraulic control pressure, and is more stable in the movement process.
As shown in fig. 2, the embodiment of the invention discloses an automatic rod retracting method applied to the drilling equipment, which comprises the following steps:
s1: controlling a lifting device to drive the drill rod to ascend to a preset position;
s2: controlling a clamping device to separate the current drill rod from the front drill rod;
s3: controlling a conveying device to grasp a drill rod;
s4: controlling the lifting device to be separated from the current drill rod;
s5: and controlling the conveying device to convey the current drill rod to the rod cabin for storage.
The conveying device is a manipulator, the manipulator grasps the drill rod to perform rotary conveying, and the manipulator is controlled through hydraulic pressure. The manipulator is simple in structure, can well clamp the cylindrical drill rod for conveying, and is large in hydraulic control pressure and more stable in movement process.
For the existing drilling equipment, the drill rod is placed on the ground, after the depth of one drill rod is drilled, an operator needs to loosen the lifting device and the drill rod, then operates to move the lifting device to a starting end, then carries the drill rod to align with the lifting device, and then descends the lifting device to be connected with the drill rod; after drilling, a drill rod is unloaded and moved to the next drilling position for storage; because the drilling equipment working in the quarries, mines, tunnels and other places is relatively large, two operators are required to cooperate to advance, time and labor are wasted, and the health of the operators is damaged by generated dust; compared with the existing drilling equipment in the rod retracting process, the drilling equipment provided by the embodiment of the invention has the advantages that after the drill rod is firstly pulled to the preset position through the lifting device, the drill rod is firstly clamped through the conveying device after being loosened from the drill rod through the clamping device, and then the drill rod is loosened through the rotation of the lifting device, so that the drill rod can be prevented from falling off, meanwhile, after the two ends of the drill rod are loosened, the drill rod can be directly conveyed into the rod cabin to be stored, the circular operation is carried out until all the drill rods are withdrawn, the connection is smooth, the whole process is carried out automatically, the recovery is fast, the manual operation is not needed, the damage of dust to the body health of an operator is prevented, the drilling equipment is convenient, fast and efficient, and the drilling efficiency is improved.
Further, as shown in fig. 3, the drill rod is in threaded connection with a drill rod, the drill rod is in threaded connection with the lifting device, and the clamping device comprises a first clamping device and a second clamping device;
the step of S2 includes:
s21: controlling a first clamping device to clamp the tail part of the current drill rod and controlling a second clamping device to clamp a front drill rod;
s22: controlling the first clamping device and/or the second clamping device to rotate by a preset angle;
s23: controlling the first clamping device to loosen the current drill rod;
s24: and controlling the lifting device to drive the current drill rod to rotate so as to separate the current drill rod from the front drill rod.
The step of S4 includes:
s41: and controlling the lifting device to rotate to be separated from the current drill rod.
By arranging the two clamping devices, after the drill rods are pulled up, the first clamping device and the second clamping device respectively clamp the connecting parts of the two drill rods, then the first clamping device or the second clamping device is rotated, or the first clamping device and the second clamping device simultaneously rotate in the opposite directions, so that the two connected drill rods are unscrewed firstly and then loosened, the lifting device drives the current drill rods to rotate to separate the two drill rods, and then the lifting device is controlled to rotate to separate the two drill rods from the drill rods; so can avoid directly making separation between drilling rod and the drilling rod through the elevating gear rotation, lead to uncontrollable whether the connection between drilling rod and the drilling rod loosens earlier or the connection between drilling rod and the elevating gear loosens earlier, if the connection between drilling rod and the elevating gear loosens earlier, just can't accomplish subsequent receipts pole step, the method in this embodiment has guaranteed that the automation of drilling rod is retrieved and is in place.
Further, as shown in fig. 4, the drill rods are arranged in the rod compartment in a circumferential array, and the step S5 includes:
s51: controlling a conveying device to grasp a drill rod;
s52: controlling the conveying device to rotate by a preset angle to convey the drill rod to the rod cabin;
s53: controlling the conveying device to loosen the drill rod and standing by at the position of the rod cabin;
s54: controlling the rod cabin to rotate by a preset angle;
s55: when the next drill rod rises to the preset position, the manipulator is controlled to rotate by a preset angle to tightly grasp the drill rod.
Therefore, the conveying device only needs to rotate between two points to convey the drill rod, and the control is simple; then only need set for the angle of presetting of a rotation to the pole cabin and wait for the arrival of next drilling rod can, pole cabin rotates an angle at every turn, and conveyer sends into the drilling rod, and the circulation goes on like this and can puts into the pole cabin with all drilling rods and deposit, deposits the drilling rod of taking off automatically.
When the last rod is received, the method comprises the following steps:
controlling a lifting device to drive the last drill rod to ascend to a preset position;
and controlling the clamping device and the conveying device to keep clamping the drill rod until the next drilling.
Therefore, a drill rod can be stored between the clamping device and the lifting device, one drill rod can be additionally stored under the maximum capacity of the rod cabin, when the next drilling is carried out, the clamping device and the conveying device are controlled to be loosened, the hole opening action can be carried out, and the combination of the drill rod and the drill bit is not needed.
In an embodiment, in a process that the lifting device drives the drill rod to ascend from the bottom end to a preset position, the lifting device drives the drill rod to rotate at the same time, and the drill rod stops after ascending to the preset position. After the hole is drilled, the drill rod is drilled to be deeper, the drill rod is difficult to pull out due to the adsorption of the hole and the accumulation of the drilled sand dust, the accumulated sand dust can be discharged through the ascending of the rotating edge, the hard pulling is avoided, the drill rod is more smoothly pulled out, and the required pulling force is reduced.
The embodiment of the invention also discloses a readable storage medium which is arranged in the drilling equipment and is stored with a computer program, and the computer program is executed by a processor to realize the steps of the automatic rod retracting method.
It should be noted that, the limitations of the steps involved in the present disclosure are not considered to limit the order of the steps without affecting the implementation of the specific embodiments, and the steps written in the foregoing may be executed first, or executed later, or even executed simultaneously, and as long as the present disclosure can be implemented, all should be considered to belong to the protection scope of the present disclosure.
The foregoing is a more detailed description of the invention in connection with specific alternative embodiments, and the practice of the invention should not be construed as limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. An automatic rod retracting method of drilling equipment comprises an automatic rod retracting action after the drilling equipment drills a hole, and is characterized in that the automatic rod retracting action comprises the following steps:
controlling a lifting device to drive the drill rod to ascend to a preset position;
controlling a clamping device to separate the current drill rod from the front drill rod;
controlling a conveying device to grasp a drill rod;
controlling the lifting device to be separated from the current drill rod;
and controlling the conveying device to convey the current drill rod to the rod cabin for storage.
2. The automatic rod retracting method of the drilling equipment as claimed in claim 1, wherein the drill rod is in threaded connection with the drill rod, and the clamping device comprises a first clamping device and a second clamping device;
the step of controlling the clamping device to separate the current drill rod from the previous drill rod comprises the following steps:
controlling a first clamping device to clamp the tail part of the current drill rod and controlling a second clamping device to clamp a front drill rod;
controlling the first clamping device and/or the second clamping device to rotate by a preset angle;
controlling the first clamping device to loosen the current drill rod;
and controlling the lifting device to drive the current drill rod to rotate so as to separate the current drill rod from the front drill rod.
3. The automatic rod retracting method of the drilling equipment as claimed in claim 1, wherein the drill rod is in threaded connection with the lifting device;
the step of controlling the lifting device to be separated from the current drill rod comprises the following steps:
and controlling the lifting device to rotate to be separated from the current drill rod.
4. The automatic rod retracting method of drilling equipment as claimed in claim 1, wherein in the process that the lifting device drives the drill rod to ascend from the bottom end to the preset position, the lifting device simultaneously drives the drill rod to rotate, and the lifting device stops after ascending to the preset position.
5. The automatic rod retracting method of the drilling equipment as claimed in claim 1, wherein the conveying device is a mechanical arm, and the mechanical arm grasps the drill rod to perform rotary conveying.
6. The automatic rod retracting method of the drilling equipment as claimed in claim 1, wherein the step of controlling the transfer device to transfer the current drill rod to the rod compartment for storage comprises the steps of:
controlling a conveying device to grasp a drill rod;
controlling the conveying device to rotate by a preset angle to convey the drill rod to the rod cabin;
controlling the conveying device to loosen the drill rod and standing by in the rod cabin;
when the next drill rod rises to the preset position, the manipulator is controlled to rotate by a preset angle to tightly grasp the drill rod.
7. The automatic rod retracting method of the drilling equipment as claimed in claim 6, wherein the drill rods are arranged in the rod compartment in a circumferential array;
the step of controlling the transmission device to transmit the current drill rod to the rod compartment for storage comprises the following steps:
and controlling the rotation of the rod cabin to a preset angle.
8. The automatic rod retracting method of a drilling apparatus according to claim 1, comprising the steps of, when a last rod is retracted:
controlling a lifting device to drive the last drill rod to ascend to a preset position;
and controlling the clamping device and the conveying device to keep clamping the drill rod until the next drilling.
9. A readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, performs the steps of the automatic straw retracting method of any one of claims 1 to 8.
10. A drilling apparatus for carrying out the automatic rod retracting method according to any one of claims 1 to 8, the drilling apparatus comprising:
a girder;
the rod cabin is fixed on one side of the girder;
a plurality of drill rods stored in the rod compartment for drilling;
the lifting device is arranged on the girder, moves along the girder and is used for driving the drill rod to move;
the transmission device is rotatably arranged between the girder and the rod cabin, rotates between the girder and the rod cabin and transmits the drill rod between the girder and the rod cabin;
and the clamping device is arranged at the bottom of the girder and used for clamping the drill rod and loosening the connection between the drill rod and the drill rod.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110043339.XA CN113153182A (en) | 2021-01-13 | 2021-01-13 | Drilling equipment, automatic rod retracting method thereof and readable storage medium |
| PCT/CN2022/071890 WO2022152226A1 (en) | 2021-01-13 | 2022-01-13 | Drilling device and automatic rod withdrawing method therefor, and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110043339.XA CN113153182A (en) | 2021-01-13 | 2021-01-13 | Drilling equipment, automatic rod retracting method thereof and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113153182A true CN113153182A (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110043339.XA Pending CN113153182A (en) | 2021-01-13 | 2021-01-13 | Drilling equipment, automatic rod retracting method thereof and readable storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113153182A (en) |
| WO (1) | WO2022152226A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022152226A1 (en) * | 2021-01-13 | 2022-07-21 | 广东慧山智能机械有限公司 | Drilling device and automatic rod withdrawing method therefor, and readable storage medium |
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2021
- 2021-01-13 CN CN202110043339.XA patent/CN113153182A/en active Pending
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2022
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2022152226A1 (en) | 2022-07-21 |
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