CN1502783A - Bit direction control technical device of horizontal spiral drilling machine - Google Patents
Bit direction control technical device of horizontal spiral drilling machine Download PDFInfo
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- CN1502783A CN1502783A CNA021491593A CN02149159A CN1502783A CN 1502783 A CN1502783 A CN 1502783A CN A021491593 A CNA021491593 A CN A021491593A CN 02149159 A CN02149159 A CN 02149159A CN 1502783 A CN1502783 A CN 1502783A
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- 238000005553 drilling Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 claims abstract description 20
- 239000002689 soil Substances 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000005520 cutting process Methods 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 3
- 230000001737 promoting effect Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 4
- 239000003921 oil Substances 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 206010060904 Freezing phenomenon Diseases 0.000 description 1
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000007846 middle crude oil Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
A drill bit steering system for a horizontal auger drilling machine. The device mainly comprises a hydraulic servo system capable of controlling the direction of the drill bit in real time, a sensor system for completing measurement, feedback, calculation, display and control tasks, and a totally-enclosed direction-controllable drill bit which is flexible in rotation, convenient to adjust direction, compact in structure and suitable for various soil qualities. The system can automatically adjust the deflection of the horizontal spiral drilling machine in the drilling process, and complete the drilling task according to the preset direction. The invention effectively solves the problem of direction control of the horizontal spiral drilling machine.
Description
Technical field
The present invention relates to a kind of level and pass through the direction control technology telescoping screw rig of rig in drilling process.
Background technology
The control of horizontal spiral drilling machine drill bit is one of the most frequently used equipment in technique device pipeline construction engineering, when pipeline passes through speedway, railway and building, need be with sleeve pipe to pass through with it, telescoping screw bores the oil field drill that is different from other and relies on high-pressure slurry to take away drilling cuttings, and it is to utilize screw feeder outwards to carry drilling cuttings when creeping into.In drilling process, owing to be subjected to the influence of different geological conditionss, bit gravity and unbalanced moment, use rig that deflection often takes place in drilling process, the standard-required that exceeds pipeline laying, sometimes very cause serious deflection takes place in the middle of passing through, the whole engineering of passing through is scrapped, and this just requires to control effectively the drilling direction of drill bit.
When Xuzhou Huadong Petroleum Machinery Factory's deep blue line in office passes through about 80 meters railway, use homemade no control to rig, the bit freezing phenomenon takes place twice when being drilled into about 33 meters and about 65 meters, behind screw feeder and drill bit in the high-pressure slurry irrigating cannula, can operate as normal, when drill bit is unearthed, serious deflection takes place, horizontal direction departs from about 2 meters of desired location, about 1.5 meters of offset from vertical desired location, seriously exceeded prescribed limit (the horizontal direction deflection is less than total length 1% in accordance with regulations, and the vertical direction deflection is qualified less than total length 0.5%), made whole pipeline abandonment.In addition, when our factory passes through about 60 meters high speed worker road at Beijing line, use import do not have control to rig, when drill bit is unearthed, compare about 0.5 meter of horizontal direction deflection in former direction initialization, though within the limits prescribed, about 0.8 meter of offset from vertical desired location has exceeded regulation.
Yet domestic all do not have control to device at labour telescoping screw rig, and its reason is that adopting mechanical connection that measure and control device is installed at the drill bit place controls in real time, structurally exists very big difficulty.
Summary of the invention
Major technique of the present invention is characterized as: the hinged formation shaft joint that utilizes level and vertical direction; to guarantee freely rotating and being offset of drill bit; employing level and vertical reference; convert drill bit to the current potential amount with respect to the side-play amount that real initial value took place; reach operating surface; by converter the signal of telecommunication is reached hydraulic cylinder by hydraulic efficiency servo-valve; drill bit is monitored in real time; adopt electric slip ring and hydraulic pressure slip ring; cable and hydraulic tube are passed in the middle of the screw feeder of rotation; avoid passing through from sleeve pipe external welding route protection pipe; adopt the segmented soldering sleeve to be connected screw feeder with pin; the adopting process sleeve pipe makes the hydraulic cylinder of 2 meters strokes can once creep into 4 meters impulse stroke, and employing can be adjusted the drill bit of diameter in drilling process; can be in drilling process bit freezing or when other fortuitous event takes place; screw feeder and drill bit are drawn back, adopted pinion; rack structure is supported displacement transducer, and can realize adding up of data.
Described drill bit comprises: elementary screw feeder, protective cover, joint hinge,, pivoted loop, drill bit, secondary drill bit, outer tube, intermediate casing, servo hydraulic cylinder, sensing transducer.
Described sensor control comprises: accurate vertical dip angle sensing transducer one cover, the precision level angle) sensing transducer one cover, displacement measurement sensor and adjustable precision gear rack gearing one cover, three in intelligent display instrument, built-in angle feedback regulation control system four tunnel, computer color liquid crystal data record analyzer and control software one cover, precision gear rack gear arrangement.
Described hydraulic servomechanism comprises: two on hydraulic electric appliance slip ring, four of built-in servo hydraulic cylinders, two of servo flow control valves, one of proportional control valve, 16 of special-purpose hydraulic quick couplers.
Description of drawings
Fig. 1 represents the drill bit structure schematic diagram
Fig. 2 represents hydraulic system principle figure
Fig. 3 represents the Fundamentals of Sensors block diagram
With reference to accompanying drawing, be described in detail specific embodiments of the present invention.Drill bit, hydraulic pressure, sensor are done as detailed below:
A kind of horizontal spiral drilling machine with the drill bit control to device, it is controlled to drill bit (seeing accompanying drawing 1) to it is characterized in that it comprises, Hydrauservo System (seeing accompanying drawing 2) and sensing system (seeing accompanying drawing 3) wherein controlledly comprise elementary screw feeder (1) to drill bit, adjust two built-in servo hydraulic cylinders (2) of drill bit vertical direction, make drill bit become three protective covers (3) of full-closed structure, the two pairs of joint hinges (4) that connect hydraulic cylinder and sleeve pipe, measure the sensing transducer (5) of vertical offset, connect drill bit and inner sleeve pivoted loop (6), drill bit (7), the outer tube (10) that is connected with elementary sleeve pipe (17), intermediate casing (11), the inner sleeve (12) that is connected with pivoted loop (6), the bearing pin (13) that connects three layers of sleeve pipe, axle sleeve (14), measure the sensing transducer (15) of horizontal direction skew, adjust two built-in servo hydraulic cylinders (16) of drill bit horizontal direction, elementary sleeve pipe (17); Hydraulic servo device comprises the built-in hydraulic servo hydraulic cylinder of vertical adjustment (2), the built-in hydraulic servo hydraulic cylinder of horizontal adjustment (16), servo flow control valve (18), hydraulic gyration slip ring (19), proportional pressure control valve (20), clamps clutch (21); Sensor device comprises levelling angle hydraulic pressure means for correcting (23), horizontal angle sensing transducer (15), vertical angle sensing transducer (5), Displaying Meter (horizontal angle, vertical angle, displacement) (24), Computer Control Unit and adopts dichroic liquid crystal display screen (25), feedback controller (26), displacement transducer (27), precision gear rack gear arrangement (28).
Above-mentioned horizontal spiral drilling machine with the drill bit control to device, it is characterized in that: described controlledly be connected with inner sleeve (12) by pivoted loop (6) to drill bit (7), the rotation of drill bit (7) is transmitted by elementary screw feeder (1) by main equipment, and the adjustment of drill bit direction is to spur the intermediate casing (11) vertical, that level is cross-linked and inner sleeve (12) drive drill bit (7) realization level, vertical direction adjustment by hydraulic cylinder (2) and hydraulic cylinder (16) by joint hinge (4).
Described horizontal spiral drilling machine with the drill bit control to device, it is characterized in that: described controlled be turriform to drill bit (7) profile, secondary drill bit (8) by triangular form master drill bit (9) and carbide inserts is finished cutting, secondary drill bit on the bit body is made up of a plurality of bradawl heads, and the bradawl head adopts bayonet-type to arrange; Drill bit also can adopt the moveable hinge chain type, and both sides are provided with the movable cutting wing, and drill bit can be opened when creeping into fast, and when drill bit was drawn back, both wings were regained.
Described horizontal spiral drilling machine with the drill bit control to device, it is characterized in that: between described controlled inner sleeve (12) and the intermediate casing (11) to drill bit, intermediate casing (11) between outer tube (10) respectively with turning cylinder level and being vertically hinged on, can make drill bit (7) with inner sleeve (12) with respect to intermediate casing (1) and the rotation of outer tube (10) vertical direction; Drill bit (7) rotates with respect to outer tube (10) horizontal direction with inner sleeve (12) and intermediate casing (11), thereby realizes drill bit level and vertical direction control.
Described horizontal spiral drilling machine with the drill bit control to device, it is characterized in that: described controlled power section to drill bit derives from and is installed in vertically, adjust servo hydraulic cylinder (2) and servo hydraulic cylinder (16) for four of horizontal direction, two vertical hydraulic cylinders (2) of adjusting are installed on elementary sleeve pipe (17) the inwall horizontal direction, the piston rod of hydraulic cylinder (2) links together by joint hinge (4) and intermediate casing (11), utilize moving forward and backward of piston rod, promoting intermediate casing rotates around horizontal rotating shaft (13) vertical direction, drive inner sleeve (12) and drill bit (7) is finished the vertical direction swing by intermediate casing (11), the control of realization vertical direction to.In like manner can realize the control of drill bit horizontal direction by the action of hydraulic cylinder (16).
Described horizontal spiral drilling machine with the drill bit control to device, it is characterized in that: the described controlled joint hinge (4) that is connected between servo hydraulic cylinder (2) or servo hydraulic cylinder (16) and intermediate casing (11) or the inner sleeve (12) to drill bit adopts self-lubricating formula ball-type axle sleeve, has eliminated constraint each other about the drill bit, when swinging.
Described horizontal spiral drilling machine with the drill bit control to device, it is characterized in that: in described controlled elementary screw feeder (1) to drill bit connects between six sides and the drill bit shaft except that six sides with alignment pin is connected, also be provided with steel ball (18), but drill bit is rotated flexibly and automatic aligning.
Described horizontal spiral drilling machine with the drill bit control to device, it is characterized in that: sensor device and hydraulic servo device, the overall process that can creep at rig, to bit deflection measure in real time, in real time feedback, adjust in real time, control in real time, show in real time, and can automatically drill bit dynamically be adjusted and the mandatory adjustment of closed according to the difference of soil property.
As shown in Figure 1, this bearing unit is made of parts such as elementary screw feeder, outer tube, intermediate casing, inner sleeve, drill bit, turning cylinder, vertical and horizontal hydraulic cylinders.Link together by pivoting support between drill bit and the inner sleeve, drill bit can turn round, and can swing with inner sleeve again.Between inner sleeve and the intermediate casing, intermediate casing between outer tube respectively with turning cylinder level and being vertically hinged on, this articulated structure makes inner sleeve can only vertical direction rotate with respect to intermediate casing and outer tube, inner sleeve and intermediate casing can only horizontal direction rotate with respect to outer tube, so just can realize the control of drill bit level and vertical direction.Control to power section derive from the level of being installed in, vertical direction four and adjust servo hydraulic cylinders, two horizontal adjustment servo hydraulic cylinders are installed on the outer sleeve inner wall horizontal direction, piston rod and intermediate casing are hinged by the joint hinge, utilize moving forward and backward of piston rod, promoting intermediate casing horizontally rotates around vertical articulated joint, drive inner sleeve and the swing of drill bit horizontal direction by intermediate casing, with realize the level control to.Two vertical servo hydraulic cylinders of adjusting are installed on the outer tube vertical direction, piston rod and inner sleeve are hinged by the joint hinge, in like manner utilize this hydraulic cylinder can realize the control of drill bit vertical direction, because level is to be connected on the different sleeve pipes by the joint hinge with vertical adjustment servo hydraulic cylinder, so hydraulic cylinder can be controlled both direction separately, also can control simultaneously, be independent of each other.
Fig. 2 the right is the main motion part of horizontal spiral drilling machine, and F.F., rewind down, worker that it mainly finishes rig advance with the worker to move back, and its operating principle is no longer introduced here.The part that left side strokes and dots wire frame is control to hydraulic servo device, has adopted two electro-hydraulic servo flow control valves in the device, respectively controlling level and vertical hydraulic cylinder.During this valve no current, spool is in meta, and pressure oil and oil return and hydraulic cylinder two chambeies are all obstructed, and piston rod is motionless; When servo valve passes to certain electric current, spool departs from meta, and fluid enters hydraulic cylinder, and piston rod moves with certain speed.The polarity decision liquid flow path direction of electric current, that is piston rod movement direction, the order of magnitude of electric current then determines spool to depart from the distance of meta, that is by the flow of valve and the movement velocity of piston rod.We with vertical control to the operating principle that is the example illustrative system: during the beginning drilling, at first we set a control signal μ g by potentiometer or DIP device to this device, adjust vertical reference feedback signal μ z then, make μ g=μ z, can obtain the electric simulate amount Δ μ=μ g-μ z=0 of this deviate like this by the bridge-type regulating circuit, because Δ μ is that 0 servo valve is in closed condition, vertically adjusts servo hydraulic cylinder and does not work.In the course of work, deviation has taken place as drill bit vertical direction and initial position, electrical analogue amount deviate Δ μ is not 0, suppose that drill bit is the deflection that makes progress, at this moment deviation voltage Δ μ is for just, Δ μ sends into amplifier, amplifier is just exported a forward current and is given electrohydraulic servo valve, servo valve is given servo hydraulic cylinder one forward flow, and piston rod promotes splicing sleeve wraparound rotating shaft and rotates, to reduce its deviate, get back on the original position until it, be the deviation vanishing, servo valve input current and output electric weight are all zero, adjust servo hydraulic cylinder and quit work.In like manner, when Δ μ was negative value, the servo-hydraulic cylinder piston rod oppositely moved, till eliminating deviation.
This device of Fig. 3 is the control core with the single-chip microcomputer, overall process carrying out horizontal angle, the vertical angle that horizontal spiral drilling machine is crept into, creeps into accurately measuring in real time of length, shows and automatic measuring and controlling.Deflection to level and vertical direction in the drill bit drilling process provides the correction control signal continuously, finishes correction by Hydrauservo System.Final control accuracy is in horizontal departure 1%, in the vertical missing 0.5%.Whole control process, the user can be on colorful display screen, observes the horizontal range of creeping into and drill bit level and vertical direction any time intuitively and departs from the distance of original start value.In order further to improve the accuracy of control, the work that the overall process hydraulic servo device can both be safe, stable is crept in assurance, device also is provided with manually, automatic transfer equipment, be provided with automatic, motor-driven automatic transfer equipment in the automatic device again, finish automatically according to running into the soil property situation in the drilling process by computer fully with motor-driven conversion automatically.
After the energising, instrument and display screen can show the level angle value θ and the vertical angle value β of current initial state.(as before spudding in, need to determine the direction of punching, and establishing angle value is θ 0, β 0, as benchmark.) after operation began, displacement transducer can be noted the displacement of advancing, the length of promptly creeping into, can demonstrate with displacement X dynamically on display screen is abscissa, and θ, β are two block graphicses of ordinate, per 4 meters is a unit, showing current state of progress, and the open angle boundary line that goes out to report to the police.Concrete warning angle value can set that (according to horizontal angle deviation 1%, the requirement of vertical angle 0.5% should be set ∧ θ≤0.56 °, ∧ β≤0.28 °), when the angular deviation value exceeds setting range, feedback control system is exported one group of signal automatically, and the hydraulic servo corrective system is opened in control.Angle before and after it is proofreaied and correct can show on Displaying Meter and display screen at any time.
Embodiment
Embodiment 1, the control of horizontal spiral drilling machine drill bit are passed through for 52 meters at instrument south pipeline 4-4 bid section to technique device, and first warehouse ﹠ transport corporation engineering is managed everywhere by unit in charge of construction, China Petrochemical Industry, and level and vertical direction and desired location depart from 0.4 meter, 0.3 meter, requirement up to specification.Crossing time 6 days, 570,000 yuan of target valencys.
Above-mentioned three embodiment add up by default precision control drilling direction and brill effectively deeply.
Claims (8)
1, a kind of horizontal spiral drilling machine with the drill bit control to device, it is controlled to drill bit (seeing accompanying drawing 1) to it is characterized in that it comprises, Hydrauservo System (seeing accompanying drawing 2) and sensing system (seeing accompanying drawing 3) wherein controlledly comprise elementary screw feeder (1) to drill bit, adjust two built-in servo hydraulic cylinders (2) of drill bit vertical direction, make drill bit become three protective covers (3) of full-closed structure, the two pairs of joint hinges (4) that connect hydraulic cylinder and sleeve pipe, measure the sensing transducer (5) of vertical offset, the pivoted loop (6) that connects drill bit and inner sleeve, drill bit (7), the outer tube (10) that is connected with elementary sleeve pipe (17), intermediate casing (11), the inner sleeve (12) that is connected with pivoted loop (6), the bearing pin (13) that connects three layers of sleeve pipe, axle sleeve (14), measure the sensing transducer (15) of horizontal direction skew, adjust two built-in servo hydraulic cylinders (16) of drill bit horizontal direction, elementary sleeve pipe (17); Hydraulic servo device comprises the built-in hydraulic servo hydraulic cylinder of vertical adjustment (2), the built-in hydraulic servo hydraulic cylinder of horizontal adjustment (16), servo flow control valve (18), hydraulic gyration slip ring (19), proportional pressure control valve (20), clamp clutch (21): sensor device comprises levelling angle hydraulic pressure means for correcting (23), horizontal angle sensing transducer (15), vertical angle sensing transducer (5), Displaying Meter (horizontal angle, vertical angle, displacement) (24), Computer Control Unit and adopt dichroic liquid crystal display screen (25), feedback controller (26), displacement transducer (27), precision gear rack gear arrangement (28).
2, horizontal spiral drilling machine according to claim 1 with the drill bit control to device, it is characterized in that: described controlledly be connected with inner sleeve (12) by pivoted loop (6) to drill bit (7), the rotation of drill bit (7) is transmitted by elementary screw feeder (1) by main equipment, and the adjustment of drill bit direction is to spur the intermediate casing (11) vertical, that level is cross-linked and inner sleeve (12) drive drill bit (7) realization level, vertical direction adjustment by servo hydraulic cylinder (2) and servo hydraulic cylinder (16) by joint hinge (4).
3, horizontal spiral drilling machine according to claim 1 and 2 is characterized in that to device with the drill bit control: described controlled be turriform to drill bit (7) profile, secondary drill bit (8) by triangular form master drill bit (9) and carbide inserts is finished cutting, secondary drill bit on the bit body is made up of a plurality of bradawl heads, the bradawl head adopts bayonet-type to arrange: drill bit also can employing activity hydraulicefficiency hinge formula, both sides are provided with the movable cutting wing, drill bit can be opened when creeping into fast, and when drill bit was drawn back, both wings were regained.
4, horizontal spiral drilling machine according to claim 1 and 2 with the drill bit control to device, it is characterized in that: between described controlled inner sleeve (12) and the intermediate casing (11) to drill bit, intermediate casing (11) between outer tube (10) respectively with turning cylinder level and being vertically hinged on, can make drill bit (7) with inner sleeve (12) with respect to intermediate casing (1) and the rotation of outer tube (10) vertical direction; Drill bit (7) rotates with respect to outer tube (10) horizontal direction with inner sleeve (12) and intermediate casing (11), thereby realizes drill bit level and vertical direction control.
5, horizontal spiral drilling machine according to claim 1 and 2 with the drill bit control to device, it is characterized in that: described controlled power section to drill bit derives from and is installed in vertically, adjust servo hydraulic cylinder (2) and servo hydraulic cylinder (16) for four of horizontal direction, two vertical hydraulic cylinders (2) of adjusting are installed on elementary sleeve pipe (17) the inwall horizontal direction, the piston rod of servo hydraulic cylinder (2) links together by joint hinge (4) and intermediate casing (11), utilize moving forward and backward of piston rod, promoting intermediate casing rotates around horizontal rotating shaft (13) vertical direction, drive inner sleeve (12) and drill bit (7) is finished the vertical direction swing by intermediate casing (11), the control of realization vertical direction to.In like manner can realize the control of drill bit horizontal direction by the action of hydraulic cylinder (16).
6, according to claim 1,2 or 5 described horizontal spiral drilling machines with the drill bit control to device, it is characterized in that: the described controlled joint hinge (4) that is connected between servo hydraulic cylinder (2) or servo hydraulic cylinder (16) and intermediate casing (11) or the inner sleeve (12) to drill bit adopts self-lubricating formula ball-type axle sleeve, has eliminated constraint each other about the drill bit, when swinging.
7, horizontal spiral drilling machine according to claim 1 and 2 with the drill bit control to device, it is characterized in that: in described controlled elementary screw feeder (1) to drill bit connects between six sides and the drill bit shaft except that six sides with alignment pin is connected, also be provided with steel ball (18), but drill bit is rotated flexibly and automatic aligning.
8, horizontal spiral drilling machine according to claim 1 with the drill bit control to device, it is characterized in that: sensor device and hydraulic servo device, the overall process that can creep at rig, to bit deflection measure in real time, in real time feedback, adjust in real time, control in real time, show in real time, and can automatically drill bit dynamically be adjusted and the mandatory adjustment of closed according to the difference of soil property.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02149159 CN1292144C (en) | 2002-11-25 | 2002-11-25 | Drill bit direction control device of horizontal spiral drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02149159 CN1292144C (en) | 2002-11-25 | 2002-11-25 | Drill bit direction control device of horizontal spiral drilling machine |
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| Publication Number | Publication Date |
|---|---|
| CN1502783A true CN1502783A (en) | 2004-06-09 |
| CN1292144C CN1292144C (en) | 2006-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 02149159 Expired - Fee Related CN1292144C (en) | 2002-11-25 | 2002-11-25 | Drill bit direction control device of horizontal spiral drilling machine |
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| CN (1) | CN1292144C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100357564C (en) * | 2006-02-18 | 2007-12-26 | 江阴市矿山器材厂 | Mine driller power-head drilling-angle adjusting mechanism |
| CN100383450C (en) * | 2006-06-16 | 2008-04-23 | 王广洲 | Push bench controlled by computer and its control method |
| CN100410485C (en) * | 2006-06-22 | 2008-08-13 | 钱惠杰 | Construction method for push pipe by cooperation of horizontal auger driller and horizontal directional driller |
| CN102566488A (en) * | 2012-03-09 | 2012-07-11 | 无锡市顺达物流涂装设备有限公司 | Automatic homing control system and method of hinge device |
| CN101755103B (en) * | 2007-05-03 | 2013-06-05 | 弗米尔制造公司 | Method and apparatus for establishing a manual governor control setting in an electro-hydraulic system |
| CN105201406A (en) * | 2015-09-23 | 2015-12-30 | 西安荣盛管道技术工程有限公司 | High-accuracy pipeline construction technology of horizontal spiral drill |
-
2002
- 2002-11-25 CN CN 02149159 patent/CN1292144C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100357564C (en) * | 2006-02-18 | 2007-12-26 | 江阴市矿山器材厂 | Mine driller power-head drilling-angle adjusting mechanism |
| CN100383450C (en) * | 2006-06-16 | 2008-04-23 | 王广洲 | Push bench controlled by computer and its control method |
| CN100410485C (en) * | 2006-06-22 | 2008-08-13 | 钱惠杰 | Construction method for push pipe by cooperation of horizontal auger driller and horizontal directional driller |
| CN101755103B (en) * | 2007-05-03 | 2013-06-05 | 弗米尔制造公司 | Method and apparatus for establishing a manual governor control setting in an electro-hydraulic system |
| CN102566488A (en) * | 2012-03-09 | 2012-07-11 | 无锡市顺达物流涂装设备有限公司 | Automatic homing control system and method of hinge device |
| CN102566488B (en) * | 2012-03-09 | 2014-12-10 | 无锡顺达智能自动化工程股份有限公司 | Automatic homing control system and method of hinge device |
| CN105201406A (en) * | 2015-09-23 | 2015-12-30 | 西安荣盛管道技术工程有限公司 | High-accuracy pipeline construction technology of horizontal spiral drill |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1292144C (en) | 2006-12-27 |
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Granted publication date: 20061227 Termination date: 20091225 |