CN112554786A - Integrated intelligent pressure relief drilling machine - Google Patents
Integrated intelligent pressure relief drilling machine Download PDFInfo
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- CN112554786A CN112554786A CN202011398509.8A CN202011398509A CN112554786A CN 112554786 A CN112554786 A CN 112554786A CN 202011398509 A CN202011398509 A CN 202011398509A CN 112554786 A CN112554786 A CN 112554786A
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- 238000005553 drilling Methods 0.000 title claims abstract description 114
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 8
- 239000003921 oil Substances 0.000 claims description 67
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000012546 transfer Methods 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 8
- 239000000956 alloy Substances 0.000 claims description 7
- 229910045601 alloy Inorganic materials 0.000 claims description 7
- 238000005520 cutting process Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 4
- 239000003245 coal Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 210000003746 feather Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000036346 tooth eruption Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
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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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
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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
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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
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/161—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe
- E21B19/163—Connecting or disconnecting pipe couplings or joints using a wrench or a spinner adapted to engage a circular section of pipe piston-cylinder actuated
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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
- E21B3/00—Rotary drilling
- E21B3/02—Surface drives for rotary drilling
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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
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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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
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B23/00—Pumping installations or systems
- F04B23/04—Combinations of two or more pumps
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- Engineering & Computer Science (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Geophysics (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses an integrated intelligent pressure relief drilling machine, and relates to the technical field of pressure relief drilling machines. The pressure relief drilling machine comprises a host and a drill rod transport vehicle, wherein the host is integrated and comprises a traction assembly and a drilling assembly; the traction assembly comprises a crawler belt assembly, a hydraulic pump set, an explosion-proof motor, a hydraulic valve group, a valve seat assembly, an explosion-proof PLC control box and a hydraulic oil tank; the drilling assembly is rotatably arranged above the crawler assembly and comprises a first rotary support, a rotary seat outer sleeve, a drilling machine assembly, a power head assembly, a drill rod assembly and a drill bit assembly. The invention combines the drilling part and the driving part, and the whole volume is small; in addition, the mechanical arm and the drill rod transport vehicle are arranged behind the pressure relief drilling machine, the mechanical arm structure is similar to that of an excavator mechanical arm, the swing angle of each joint is large, and the mechanical arm can extend to the position of a negative value below the ground so as to realize multi-position and multi-angle flexible grabbing of the drill rod and provide great convenience for underground work.
Description
Technical Field
The invention relates to the technical field of pressure relief drilling machines, in particular to an integrated intelligent pressure relief drilling machine.
Background
Rock burst has always been a difficult problem affecting coal mining safety, and poses great threat to safety production. At present, one of the main measures for preventing coal mine from scouring is to drill holes in a coal seam by a pressure relief drilling machine so as to release the pressure of the coal seam. However, the existing pressure relief drilling machine has a series of problems of large separated volume, inflexible and convenient drilling rod grabbing, lack of a remote control device, open hydraulic system, large deviation of drilling final holes of drill bits, incapability of visual operation, single-pump oil supply, large radial disturbance of the drilling rod and the like, and restricts the development of the pressure relief drilling machine.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention discloses an integrated intelligent pressure relief drilling machine. The drilling part and the driving part of the drilling machine are combined, a closed hydraulic system and a double-pump speed increasing system are adopted, and the whole size is small.
The integrated intelligent pressure relief drilling machine comprises a host and a drill rod transport vehicle, wherein the host is integrated and comprises a traction assembly and a drilling assembly.
The traction assembly comprises a crawler belt assembly, a hydraulic pump set, an explosion-proof motor, a hydraulic valve group, a valve seat assembly, an explosion-proof PLC control box and a hydraulic oil tank.
The drilling assembly is rotatably arranged above the crawler assembly and comprises a first rotary support, a rotary seat outer sleeve, a drilling machine assembly, a power head assembly, a drill rod assembly and a drill bit assembly; the rotary seat outer sleeve is arranged on the first rotary support to drive the whole drilling assembly to rotate relative to the traction assembly; the power head assembly is arranged at the rear end of the drilling machine assembly and can perform front and back feeding motion relative to the drilling machine assembly; the drill rod assembly and the power head assembly are detachably and fixedly connected and move back and forth under the driving of the power head assembly.
Preferably, the drilling machine assembly comprises a chassis, a rack, a rear vice and a bracket;
the rack is arranged on two sides of the chassis and used for driving the power head assembly to move back and forth along the chassis;
the rear vice is arranged in the middle of the chassis and used for unlocking the connection between the power head assembly and the drill rod assembly; each rear vice comprises a rear vice first plate, a rear vice second plate, a rear vice pin, a rear vice oil cylinder and a friction tile; the first rear vice plate, the second rear vice plate and the rear vice oil cylinder are hinged to the chassis, a first sliding groove is formed in the second rear vice plate, one end of the rear vice pin is arranged in the first sliding groove and can slide along the first sliding groove, and the other end of the rear vice pin is hinged to the first rear vice plate and the rear vice oil cylinder; the friction tiles are arranged on two opposite sides of the first rear vice plate and the second rear vice plate;
the bracket is arranged in the middle of the chassis and used for lifting the drill rod assembly; each bracket comprises a bracket first plate, a bracket second plate, a bracket pin and a bracket oil cylinder; the first bracket plate, the second bracket plate and the bracket oil cylinder are hinged on the chassis; the bracket pin is arranged in the second sliding groove, one end of the bracket pin can slide along the second sliding groove, and the other end of the bracket pin is hinged with the bracket second plate and the bracket oil cylinder.
Preferably, a holding frame for penetrating and unlocking the drill rod assembly is further arranged on one end of the drilling machine assembly, which is far away from the power head assembly; the retaining frame comprises a retaining frame baffle, a retaining frame oil cylinder, an unlocking block, a fixed shaft and a roller; the retaining frame baffle is fixedly connected with the drilling machine assembly, and a through hole for penetrating through the drill rod assembly is formed in the middle of the retaining frame baffle; the unlocking device comprises a retaining frame oil cylinder, unlocking blocks, a retaining frame baffle plate, a retaining frame oil cylinder, a unlocking rod assembly and a locking mechanism, wherein the retaining frame oil cylinder and the unlocking blocks are symmetrically arranged on two sides of a through hole; the fixed shafts are evenly distributed at the edges of the through holes in a circumferential array, and the rollers are sleeved on the fixed shafts and are mutually and rotatably connected through bearings.
Preferably, the drill rod assembly comprises a drill rod main body, and a male joint and a female joint which are respectively arranged at two ends of the drill rod main body and can be mutually matched and clamped; the male joint is provided with a spring bolt supported by a spring, the spring bolt can stretch out and draw back under the action of the spring, and the female joint is provided with an unlocking column capable of pressing the spring bolt; the drill bit assembly comprises a drill bit welding body, a cutting pick and a PDC alloy drill bit; the cutting teeth are regularly arranged on the surface of the drill bit welded body, and the PDC alloy drill bit is welded at the front end of the drill bit welded body.
Preferably, the drilling assembly further comprises an adjusting mechanism for adjusting the height and the drilling inclination angle of the drilling machine assembly; the adjusting mechanism comprises a bed body sliding frame, a heightening oil cylinder and an inclination adjusting oil cylinder; one end of the bed body sliding frame is connected with the drilling machine assembly through a rotating shaft pin, and the other end of the bed body sliding frame extends into the rotary seat outer sleeve, is matched with a sliding key arranged in the rotary seat outer sleeve and slides up and down relative to the rotary seat outer sleeve; one end of the heightening oil cylinder is connected with the rotary seat outer sleeve, the other end of the heightening oil cylinder is connected with the bed body sliding frame, the heightening oil cylinder moves in a telescopic mode to drive the bed body sliding frame to move up and down relative to the rotary seat outer sleeve, and the height of the drilling machine assembly is adjusted; one end of the inclination adjusting oil cylinder is connected with the drilling machine assembly, the other end of the inclination adjusting oil cylinder is connected with the bed body sliding frame, the height adjusting oil cylinder moves in a telescopic mode to drive the drilling machine assembly to rotate relative to the bed body sliding frame, and the drilling inclination angle is adjusted.
Preferably, the drilling assembly is further provided with a first camera and three laser sensors; the first camera is installed on the power head assembly, the first laser sensor is installed on a drilling machine assembly corresponding to the initial position of one end, close to the drill rod assembly, of the power head assembly, and the second laser sensor and the third laser sensor are installed at the front end and the rear end of the drilling machine assembly respectively.
Preferably, the drill rod transport vehicle comprises a drill rod library, a connecting frame, a second slewing bearing, a manipulator, a second camera and a rotary position sensor; the drill rod warehouse is hinged with the connecting frame, the second rotary support is arranged on the connecting frame, and the manipulator is arranged on the second rotary support and can rotate relative to the connecting frame; the second camera is arranged at one end of the drill rod library and used for monitoring the conditions of rod grabbing and rod releasing; the rotary position sensor is used for monitoring angle change and is arranged at five rotary joints of the manipulator.
Preferably, the crawler assembly comprises two crawlers, rectangular frames are arranged in front and at back of the upper portions of the crawlers, the valve seat assembly is arranged on the rear rectangular frame, and the hydraulic pump set, the explosion-proof motor, the hydraulic valve set and the explosion-proof PLC control box are all arranged on the valve seat assembly in a centralized mode; the hydraulic oil tank is arranged at the middle lower part of the crawler assembly; the hydraulic pump set comprises a first hydraulic pump, a second hydraulic pump, an auxiliary pump and a transfer case; the first hydraulic pump, the second hydraulic pump and the auxiliary pump are all arranged on the transfer case, and the transfer case is arranged on the explosion-proof motor; the explosion-proof PLC control box integrates a PLC, a power supply control system, a gateway and a monitoring system.
Compared with the prior art, the integrated intelligent pressure relief drilling machine disclosed by the invention has the advantages that:
(1) the pressure relief drilling machine combines the drilling part and the driving part, and has small integral volume.
(2) This release rig rear sets up manipulator and drilling rod transport vechicle, and arm structure is similar to the excavator arm, and each joint swing angle is big, and the manipulator can extend the below ground negative value position to realize that multiposition, the multi-angle of drilling rod snatch in a flexible way, provide very big convenience for downhole operation.
(3) The pressure relief drilling machine is provided with a holding frame and a rear vice which are operated in a combined manner, so that the locking and unlocking of a drill rod assembly can be realized; meanwhile, a series of rollers are arranged on the inner circumference of the holding frame, so that the radial disturbance error of the drill rod during drilling can be reduced, and the drill rod is prevented from deviating during drilling.
(4) This release rig hydraulic system adopts open closed to mix hydraulic system, a total oil tank, and the closed is used for the main power rotatory, and all the other are used for impel with supplementary, the double pump acceleration rate, the effectual space of having practiced thrift, small, the transmission is steady, impact and energy loss are little.
Drawings
For a clearer explanation of the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for a person skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a structural diagram of an integrated intelligent pressure relief drilling machine disclosed by the invention.
Fig. 2 is a diagram showing a structure of a host computer.
FIG. 3 is a block diagram of a draft assembly.
Fig. 4 is a structural view of the explosion-proof motor.
Fig. 5 is a structural view of a hydraulic pump unit.
Figure 6 is a front view of the drilling assembly.
FIG. 7 is a top view of the drilling assembly.
Fig. 8 is an enlarged view at I of fig. 7.
FIG. 9 is a diagram of a drill press assembly.
Fig. 10 is a view showing a structure of a holding frame.
Fig. 11 is a rear vise configuration view.
Fig. 12 is a diagram showing a structure of a bracket.
FIG. 13 is a drill pipe assembly block diagram.
Fig. 14 is a cross-sectional view taken along line a-a of fig. 13.
Fig. 15 is a cross-sectional view taken at B-B in fig. 13.
FIG. 16 is a block diagram of a drill bit assembly.
Fig. 17 shows a drill pipe carriage.
In the figure: 1. a host; 1-1, a traction assembly; 1-1-1, a track assembly; 1-1-2, a hydraulic pump group; 1-1-2-1, a first hydraulic pump; 1-1-2-2, a second hydraulic pump; 1-1-2-3, an auxiliary pump; 1-1-2-4, transfer case; 1-1-3, explosion-proof motor; 1-1-4, a hydraulic valve group; 1-1-5, a valve seat assembly; 1-1-6, an explosion-proof PLC control box; 1-1-7, a hydraulic oil tank; 1-2, drilling assembly; 1-2-1, a feather key; 1-2-2, a rotary seat outer sleeve; 1-2-3, a rotating shaft; 1-2-4, a first slewing bearing; 1-2-5, a drill bit assembly; 1-2-5-1, a drill bit welding body; 1-2-5-2, cutting pick; 1-2-5-3, PDC alloy bit; 1-2-6, a drill rod assembly; 1-2-6-1, a drill rod body; 1-2-6-2, male connector; 1-2-6-2-1, a bolt; 1-2-6-2-2, spring; 1-2-6-3, a female joint; 1-2-6-3-1, an unlocking column; 1-2-7, a holding frame; 1-2-7-1, maintaining the frame oil cylinder; 1-2-7-2, an unlocking block; 1-2-7-3, and fixing the shaft; 1-2-7-4, a retaining frame baffle; 1-2-7-5, roller; 1-2-8, a drilling machine assembly; 1-2-8-1, a rack; 1-2-8-2, a rear vice; 1-2-8-2-1, friction tile; 1-2-8-2-2, a rear vice plate; 1-2-8-2-3 parts of a rear vice pin; 1-2-8-2-4, a rear vice oil cylinder; 1-2-8-2-5, two rear vice plates; 1-2-8-2-5-1 first chute; 1-2-8-3, a chassis; 1-2-8-4, a bracket; 1-2-8-4-1, a bracket one plate; 1-2-8-4-1-1 and a second chute; 1-2-8-4-2, a bracket pin; 1-2-8-4-3, and a bracket II plate; 1-2-8-4-4, a bracket oil cylinder; 1-2-9, heightening the oil cylinder; 1-2-10, a first camera; 1-2-11, a bed body sliding frame; 1-2-12, an inclination adjusting oil cylinder; 1-2-13, a power head assembly; 1-2-14, a first laser sensor; 1-2-15, a second laser sensor; 1-2-16, a third laser sensor; 2. a drill pipe transport vehicle; 2-1, a drill rod warehouse; 2-2, a connecting frame; 2-3, a second slewing bearing; 2-4, a manipulator; 2-5, a second camera; 2-6, a rotary position sensor.
Detailed Description
The following provides a brief description of embodiments of the present invention with reference to the accompanying drawings. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any inventive work belong to the protection scope of the present invention.
Fig. 1-17 show a preferred embodiment of the invention, whose structure has been dissected in detail from different points of view, respectively.
The integrated intelligent pressure relief drilling machine as shown in figures 1 and 2 comprises a main machine 1 and a drill rod transport vehicle 2. The main machine 1 is integrated integrally and comprises a traction assembly 1-1 and a drilling assembly 1-2.
As shown in figure 3, the traction assembly 1-1 comprises a crawler assembly 1-1-1, a hydraulic pump set 1-1-2, an explosion-proof motor 1-1-3, a hydraulic valve set 1-1-4, a valve seat assembly 1-1-5, an explosion-proof PLC control box 1-1-6 and a hydraulic oil tank 1-1-7.
The crawler assembly 1-1-1 comprises two crawlers, rectangular frames are arranged on the front and back of the upper portion of each crawler, the valve seat assembly 1-1-5 is arranged on the rear rectangular frame, and the hydraulic pump unit 1-1-2, the explosion-proof motor 1-1-3, the hydraulic valve group 1-1-4 and the explosion-proof PLC control box 1-1-6 are all arranged on the valve seat assembly 1-1-5 in a centralized mode. The hydraulic oil tank 1-1-7 is arranged at the middle lower part of the crawler assembly 1-1-1.
As shown in fig. 4 and 5, the hydraulic pump unit 1-1-2 includes a first hydraulic pump 1-1-2-1, a second hydraulic pump 1-1-2-2, an auxiliary pump 1-1-2-3, and a transfer case 1-1-2-4. The first hydraulic pump 1-1-2-1, the second hydraulic pump 1-1-2-2 and the auxiliary pump 1-1-2-3 are all installed on the transfer case 1-1-2-4, the transfer case 1-1-2-4 is installed on the explosion-proof motor 1-1-3, the explosion-proof motor 1-1-3 is connected with the transfer case 1-1-2-4 to distribute power, and meanwhile, the first hydraulic pump, the second hydraulic pump and the auxiliary pump 1-1-2-3 are accelerated. Specifically, the explosion-proof PLC control box 1-1-6 integrates a PLC, a power supply control system, a gateway and a monitoring system.
As shown in figures 6, 7 and 8, the drilling assembly 1-2 is rotatably arranged above the crawler assembly 1-1-1 and comprises a first rotary support 1-2-4, a rotary seat outer sleeve 1-2-2, a drilling machine assembly 1-2-8, a power head assembly 1-2-13, a drill rod assembly 1-2-6, a drill bit assembly 1-2-5, a first camera 1-2-10 and three laser sensors. The first slewing bearing 1-2-4 is arranged on the crawler assembly 1-1-1, the slewing seat outer sleeve 1-2-2 is arranged on the first slewing bearing 1-2-4, and the whole drilling assembly 1-2 is driven to rotate relative to the traction assembly 1-1 under the action of the first slewing bearing 1-2-4. The drilling machine assembly 1-2-8 is placed in the rotary seat outer sleeve 1-2-2, is indirectly connected with the rotary seat outer sleeve 1-2-2 through an adjusting mechanism, and is adjusted in height and drilling inclination angle through the adjusting mechanism. The power head assembly 1-2-13 comprises a plunger motor and a speed reducer, is arranged at the rear end of the drilling machine assembly 1-2-8 and can perform front and back feeding motion relative to the drilling machine assembly 1-2-8. The drill rod assembly 1-2-6 is detachably and fixedly connected with the power head assembly 1-2-13 and moves back and forth under the driving of the power head assembly 1-2-13.
Specifically, as shown in FIG. 9, the drill assembly 1-2-8 includes a chassis 1-2-8-3, a rack 1-2-8-1, a rear vise 1-2-8-2, a bracket 1-2-8-4, and a retaining frame 1-2-7. The rack 1-2-8-1 is arranged on two sides of the chassis 1-2-8-3 and used for driving the power head assembly 1-2-13 to move back and forth along the chassis 1-2-8-3.
The rear vice 1-2-8-2 is arranged in the middle of the chassis 1-2-8-3, and the center of the rear vice is located on the axis from the power head assembly 1-2-13 to the holding frame 1-2-7 and used for unlocking the connection between the power head assembly 1-2-13 and the drill rod assembly 1-2-6. As shown in FIG. 11, each rear vise 1-2-8-2 includes a rear vise first plate 1-2-8-2-2, a rear vise second plate 1-2-8-2-5, a rear vise pin 1-2-8-2-3, a rear vise cylinder 1-2-8-2-4, and a friction shoe 1-2-8-2-1. The first back vice plate 1-2-8-2-2, the second back vice plate 1-2-8-2-5 and the oil cylinder 1-2-8-2-4 are hinged on the chassis 1-2-8-3, the first sliding chute 1-2-8-2-5-1 is arranged on the second back vice plate 1-2-8-2-5, one end of the back vice pin 1-2-8-2-3 is arranged in the first sliding chute 1-2-8-2-5-1, can slide along the first sliding groove 1-2-8-2-5-1, and the other end is hinged with a rear vice plate 1-2-8-2-2 and a rear vice oil cylinder 1-2-8-2-4. When the rear vice oil cylinder 1-2-8-2-4 extends, the rear vice two plate 1-2-8-2-5 is extruded, so that the rear vice pin 1-2-8-2-3 slides in the first sliding groove 1-2-8-2-5-1, and the whole rear vice 1-2-8-2 generates a shearing effect. The friction tile 1-2-8-2-1 is arranged on two opposite sides of the first rear vice plate 1-2-8-2-2 and the second rear vice plate 1-2-8-2-5, and can extrude the unlocking column 1-2-6-3-1 by utilizing the extrusion effect of the friction tile, so that the separation of the drill rod assembly 1-2-6 and the power head assembly 1-2-13 is realized.
The bracket 1-2-8-4 is arranged in the middle of the chassis 1-2-8-3, and is centered on the axis from the power head assembly 1-2-13 to the retaining frame 1-2-7, and is used for lifting the drill rod assembly 1-2-6 so as to facilitate the centering of the power head assembly 1-2-13 and the drill rod assembly 1-2-6. Meanwhile, the drill rod can be prevented from falling and hitting the drilling machine when the drill rod is disassembled. As shown in FIG. 12, each bracket 1-2-8-4 includes a bracket first plate 1-2-8-4-1, a bracket second plate 1-2-8-4-3, a bracket pin 1-2-8-4-2, and a bracket cylinder 1-2-8-4-4. The first bracket plate 1-2-8-4-1, the second bracket plate 1-2-8-4-3 and the bracket oil cylinder 1-2-8-4-4 are hinged on the chassis 1-2-8-3, and the two free ends of the first bracket plate 1-2-8-4-1 and the second bracket plate 1-2-8-4-3 are both long arc plate structures. The first plate 1-2-8-4-1 of the bracket is provided with a second chute 1-2-8-4-1-1, one end of a bracket pin 1-2-8-4-2 is arranged in the second chute 1-2-8-4-1-1 and can slide along the second chute 1-2-8-4-1-1, and the other end is hinged with the second plate 1-2-8-4-3 of the bracket and a bracket oil cylinder 1-2-8-4-4.
The holding frame 1-2-7 is arranged at one end of the drilling machine assembly 1-2-8 far away from the power head assembly 1-2-13 and used for penetrating and unlocking the drill rod assembly 1-2-6. As shown in FIG. 10, the holding frame 1-2-7 includes a holding frame baffle 1-2-7-4, a holding frame cylinder 1-2-7-1, an unlocking block 1-2-7-2, a fixed shaft 1-2-7-3 and a roller 1-2-7-5. The retaining frame baffle 1-2-7-4 is fixedly connected with the drilling machine assembly 1-2-8, and a through hole for penetrating through the drill rod assembly 1-2-6 is formed in the middle of the retaining frame baffle. The holding frame oil cylinders 1-2-7-1 and the unlocking blocks 1-2-7-2 are symmetrically arranged on two groups of two sides of the through hole, one end of each holding frame oil cylinder 1-2-7-1 is fixedly connected with a holding frame baffle 1-2-7-4, the other end of each holding frame oil cylinder is hinged with the corresponding unlocking block 1-2-7-2, the unlocking blocks 1-2-7-2 are arranged in grooves in the holding frame baffle 1-2-7-4, and the drill rod is unlocked in a front-and-back movement mode under the driving of the holding frame oil cylinders 1-2-7-1. The fixed shafts 1-2-7-3 are evenly distributed at the edge of the through hole in a circumferential array, and the rollers 1-2-7-5 are sleeved on the fixed shafts 1-2-7-3 and are mutually and rotatably connected through bearings. The holding frame 1-2-7 can clamp the front drill rod to drill in the drilling process, and can push the unlocking column 1-2-6-3-1 to unlock the drill rod in the drilling process. Meanwhile, the rollers 1-2-7-5 are arranged, so that the drill pipe disturbance can be limited by using the self-circle, and the excessive deviation of the drill pipe during the drilling process can be avoided.
The adjusting mechanism comprises a bed body sliding frame 1-2-11, a height-adjusting oil cylinder 1-2-9 and an inclination-adjusting oil cylinder 1-2-12. One end of the bed body sliding frame 1-2-11 is connected with the drilling machine assembly 1-2-8 through a rotating shaft pin, and the other end extends into the rotary seat outer sleeve 1-2-2. The sliding keys 1-2-1 matched with the bed body sliding frames 1-2-11 are arranged in grooves on two sides in the rotary seat outer sleeve 1-2-2, and the bed body sliding frames 1-2-11 can slide up and down in the rotary seat outer sleeve 1-2-2 along the sliding keys 1-2-1. One end of the heightening oil cylinder 1-2-9 is hinged with the rotary seat outer sleeve 1-2-2, the other end is hinged with the bed body sliding frame 1-2-11, and the heightening oil cylinder 1-2-9 can move telescopically to drive the bed body sliding frame 1-2-11 to move up and down relative to the rotary seat outer sleeve 1-2-2, so that the height of the drilling machine assembly 1-2-8 is adjusted. One end of the inclination adjusting oil cylinder 1-2-12 is hinged with the drilling machine assembly 1-2-8, the other end of the inclination adjusting oil cylinder is hinged with the bed body sliding frame 1-2-11, and the inclination adjusting oil cylinder 1-2-9 can move telescopically to drive the drilling machine assembly 1-2-8 to rotate relative to the bed body sliding frame 1-2-11, so that the drilling inclination angle is adjusted. The inclination angle and height adjustment of the drilling machine assembly 1-2-8 can enable the drilling machine to be more suitable for complex coal wall conditions.
As shown in fig. 13, 14 and 15, the drill rod assembly 1-2-6 comprises a drill rod main body 1-2-6-1, and a male joint 1-2-6-2 and a female joint 1-2-6-3 which are respectively arranged at two ends of the drill rod main body 1-2-6-1 and can be mutually matched and clamped, wherein the drill rod assembly 1-2-6 and the power head assembly 1-2-13 as well as two adjacent drill rods are respectively clamped with the female joint 1-2-6-3 through the matching of the male joint 1-2-6-2. The male connector 1-2-6-2 is provided with a bolt 1-2-6-2-1 supported by a spring 1-2-6-2-2, the bolt 1-2-6-2-1 can stretch under the action of the spring 1-2-6-2-2, and the female connector 1-2-6-3 is provided with an unlocking column 1-2-6-3-1 capable of pressing the bolt 1-2-6-2-1. When locking, the male connector 1-2-6-2 is directly inserted into the female connector 1-2-6-3. When unlocking, the unlocking column 1-2-6-3-1 is pressed, the unlocking column 1-2-6-3-1 presses the bolt 1-2-6-2-1, and the bolt 1-2-6-2-1 contracts under the action of the spring 1-2-6-2-2 to realize unlocking.
As shown in FIG. 16, the bit assembly 1-2-5 includes a bit weld 1-2-5-1, a cutting pick 1-2-5-2, and a PDC alloy bit 1-2-5-3. The cutting picks 1-2-5-2 are regularly arranged on the surface of the drill bit welded body 1-2-5-1, and the PDC alloy drill bit 1-2-5-3 is welded at the front end of the drill bit welded body 1-2-5-1. The drill bit assembly 1-2-5 is a stepped drill bit, and is guided by a small-diameter drill bit to be kept straight, and a large-diameter drill body is used for reaming, so that the problem of drilling deviation of the drill bit is effectively solved.
The first camera 1-2-10 is arranged on the power head assembly 1-2-13 and can monitor the condition of changing and connecting the drill rod. The first laser sensor 1-2-14 is mounted on the drilling machine assembly 1-2-8 corresponding to the initial position of one end of the power head assembly 1-2-13 close to the drill rod assembly 1-2-6, and is used for detecting a drill rod and starting the power head assembly. The second laser sensor 1-2-15 and the third laser sensor 1-2-16 are respectively arranged at the front end and the rear end of the drilling machine assembly 1-2-8, the second laser sensor 1-2-15 is used for monitoring the forward movement position of the power head assembly 1-2-13, and the third laser sensor 1-2-16 is used for monitoring the backward movement position of the power head assembly 1-2-13.
As shown in fig. 17, the drill pipe transport vehicle 2 includes a drill pipe magazine 2-1, a connection frame 2-2, a second slewing bearing 2-3, a manipulator 2-4, a second camera 2-5, and a rotational position sensor 2-6. One end of the connecting frame 2-2 is hinged with the drill rod warehouse 2-1, and the other end is hinged with the traction assembly 1-1. The second rotary support is arranged on the connecting frame 2-2, and the manipulator 2-4 is arranged on the second rotary support 2-3 and can rotate relative to the connecting frame 2-2. The second camera 2-5 is arranged at one end of the drill rod library 2-1 and used for monitoring the rod grabbing and releasing conditions. The manipulator 2-4 is a five-degree-of-freedom flexible manipulator 2-4, and the rotary position sensors 2-6 are mounted at five rotary joints of the manipulator 2-4 and used for monitoring angle changes so as to carry out trajectory planning according to a given position.
When the drilling machine works, the outer sleeve 1-2-2 of the rotary seat is firstly rotated to a proper position, and a proper height and a proper inclination angle are adjusted for the drilling machine assembly 1-2-8 by utilizing the height adjusting oil cylinder 1-2-9 and the inclination adjusting oil cylinder 1-2-12. When the coal wall is drilled, a drill rod is grabbed to the power head assembly 1-2-13 by the manipulator 2-4, the drill rod is detected by the first laser sensor 1-2-14, the lower part of the drill rod is placed on the bracket 1-2-8-4, and the manipulator 2-4 returns to the original position. The oil cylinders of the brackets 1-2-8-4 are driven, the oil cylinders of the brackets 1-2-8-4 stretch out and draw back, so that the drill rod rises to the position where the axes between the power head assemblies 1-2-13 and the holding frames 1-2-7 are collinear, the power head assemblies 1-2-13 are in transmission connection with the drill rod through the matching of the male connectors 1-2-6-2 and the female connectors 1-2-6-3, and the drill rod is pushed into a coal bed by the aid of the power head assemblies 1-2-13. In the process, the power head assembly 1-2-13 moves from one end of the chassis 1-2-8-3 to the other end, drilling is stopped after the second laser sensor 1-2-15 is triggered, and pushing of the first section of drill rod is completed. And then, when the drill rod rotates to the position where the unlocking column 1-2-6-3-1 is opposite to the unlocking block 1-2-7-2 on the holding frame 1-2-7, starting the holding frame 1-2-7 oil cylinder in the holding frame 1-2-7 to push the unlocking block 1-2-7-2, and pressing the unlocking column 1-2-6-3-1 at the joint of the power head assembly 1-2-13 and the drill rod so as to separate the exposed tail end of the first section of drill rod from the power head assembly 1-2-13. And then, driving the power head assembly 1-2-13 to retreat, when the rear end of the power head assembly 1-2-13 triggers a third laser sensor 1-2-16 arranged at the rear end of the drilling machine assembly 1-2-8, driving a manipulator 2-4 to put into a second section of drill rod, enabling one end of the second section of drill rod to be in transmission connection with the exposed end of the first section of drill rod, enabling the other end of the second section of drill rod to be in transmission connection with the power head assembly 1-2-13, and pushing the second section of drill rod by utilizing the torque again. And the rest is done in sequence to finish the installation of a plurality of drill rods. And after drilling is finished, reversely operating, completing the disassembly of two ends of each drill rod through the matching of the rear vice 1-2-8-2 and the retaining frame 1-2-7, grabbing to a drill rod box by the manipulator 2-4, and circularly reciprocating to finish a group of drilling.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. 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 previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An integrated intelligent pressure relief drilling machine comprises a host machine (1) and a drill rod transport vehicle (2), and is characterized in that the host machine (1) is integrated integrally and comprises a traction assembly (1-1) and a drilling assembly (1-2);
the traction assembly (1-1) comprises a crawler assembly (1-1-1), a hydraulic pump set (1-1-2), an explosion-proof motor (1-1-3), a hydraulic valve set (1-1-4), a valve seat assembly (1-1-5), an explosion-proof PLC control box (1-1-6) and a hydraulic oil tank (1-1-7);
the drilling assembly (1-2) can be rotatably arranged above the crawler assembly (1-1-1) and comprises a first rotary support (1-2-4), a rotary seat outer sleeve (1-2-2), a drilling machine assembly (1-2-8), a power head assembly (1-2-13), a drill rod assembly (1-2-6) and a drill bit assembly (1-2-5); the rotary seat outer sleeve (1-2-2) is arranged on the first rotary support (1-2-4) and drives the whole drilling assembly (1-2) to rotate relative to the traction assembly (1-1); the power head assembly (1-2-13) is arranged at the rear end of the drilling machine assembly (1-2-8) and can perform front and back feeding motion relative to the drilling machine assembly (1-2-8); the drill rod assembly (1-2-6) is detachably and fixedly connected with the power head assembly (1-2-13) and moves back and forth under the driving of the power head assembly (1-2-13).
2. The integrated intelligent pressure relief drilling machine according to claim 1, wherein the drilling machine assembly (1-2-8) comprises a chassis (1-2-8-3), a rack (1-2-8-1), a rear vice (1-2-8-2) and a bracket (1-2-8-4);
the rack (1-2-8-1) is arranged on two sides of the chassis (1-2-8-3) and used for driving the power head assembly (1-2-13) to move back and forth along the chassis (1-2-8-3);
the rear vice (1-2-8-2) is arranged in the middle of the chassis (1-2-8-3) and used for unlocking the connection between the power head assembly (1-2-13) and the drill rod assembly (1-2-6); each rear vice (1-2-8-2) comprises a rear vice first plate (1-2-8-2-2), a rear vice second plate (1-2-8-2-5), a rear vice pin (1-2-8-2-3), a rear vice oil cylinder (1-2-8-2-4) and a friction tile (1-2-8-2-1); the first rear vice plate (1-2-8-2-2), the second rear vice plate (1-2-8-2-5) and the rear vice oil cylinder (1-2-8-2-4) are hinged on the chassis (1-2-8-3), the second rear vice plate (1-2-8-2-5) is provided with a first sliding chute (1-2-8-2-5-1), one end of the rear vice pin (1-2-8-2-3) is arranged in the first sliding chute (1-2-8-2-5-1) and can slide along the first sliding chute (1-2-8-2-5-1), and the other end of the rear vice plate (1-2-8-2-2) and the rear vice oil cylinder (1-2) 8-2-4); the friction tile (1-2-8-2-1) is arranged on two opposite sides of the first rear vice plate (1-2-8-2-2) and the second rear vice plate (1-2-8-2-5);
the bracket (1-2-8-4) is arranged in the middle of the chassis (1-2-8-3) and is used for lifting the drill rod assembly (1-2-6); each bracket (1-2-8-4) comprises a bracket first plate (1-2-8-4-1), a bracket second plate (1-2-8-4-3), a bracket pin (1-2-8-4-2) and a bracket oil cylinder (1-2-8-4-4); the first bracket plate (1-2-8-4-1), the second bracket plate (1-2-8-4-3) and the bracket oil cylinder (1-2-8-4-4) are hinged on the chassis (1-2-8-3); a second sliding groove (1-2-8-4-1-1) is arranged on the first bracket plate (1-2-8-4-1), one end of the bracket pin (1-2-8-4-2) is arranged in the second sliding groove (1-2-8-4-1-1) and can slide along the second sliding groove (1-2-8-4-1-1), and the other end of the bracket pin is hinged with the second bracket plate (1-2-8-4-3) and the bracket oil cylinder (1-2-8-4-4).
3. The integrated intelligent pressure relief drilling machine as claimed in claim 2, wherein a retaining frame (1-2-7) for passing and unlocking the drill rod assembly (1-2-6) is further arranged on one end of the drilling machine assembly (1-2-8) far away from the power head assembly (1-2-13); the maintaining frame (1-2-7) comprises a maintaining frame baffle (1-2-7-4), a maintaining frame oil cylinder (1-2-7-1), an unlocking block (1-2-7-2), a fixed shaft (1-2-7-3) and a roller (1-2-7-5); the retaining frame baffle (1-2-7-4) is fixedly connected with the drilling machine assembly (1-2-8), and a through hole for penetrating through the drill rod assembly (1-2-6) is formed in the middle of the retaining frame baffle; the device comprises a retaining frame oil cylinder (1-2-7-1), a retaining frame baffle (1-2-7-4), a retaining frame oil cylinder (1-2-7-1), unlocking blocks (1-2-7-2), a retaining frame oil cylinder (1-2-7-1) and a locking block (2-7-2), wherein the retaining frame oil cylinder (1-2-7-1) and the unlocking blocks (1-2-7-2) are symmetrically arranged on two sides of a through hole, one end of the retaining frame oil cylinder (1-2-7-1) is fixedly connected with the retaining frame baffle (1-2-7-4), the other end of the retaining frame oil cylinder is hinged with the corresponding unlocking block (1-2-7-2), the unlocking block (1-2-7-2); the fixed shafts (1-2-7-3) are uniformly distributed at the edge of the through hole in a circumferential array, and the rollers (1-2-7-5) are sleeved on the fixed shafts (1-2-7-3) and are mutually and rotatably connected through bearings.
4. The integrated intelligent pressure relief drilling machine according to claim 1, wherein the drill rod assembly (1-2-6) comprises a drill rod main body (1-2-6-1) and a male joint (1-2-6-2) and a female joint (1-2-6-3) which are respectively arranged at two ends of the drill rod main body (1-2-6-1) and can be matched and clamped with each other; the male connector (1-2-6-2) is provided with a bolt (1-2-6-2-1) supported by a spring (1-2-6-2-2), the bolt (1-2-6-2-1) can stretch out and draw back under the action of the spring (1-2-6-2-2), and the female connector (1-2-6-3) is provided with an unlocking column (1-2-6-3-1) capable of pressing the bolt (1-2-6-2-1); the drill bit assembly (1-2-5) comprises a drill bit welding body (1-2-5-1), a cutting pick (1-2-5-2) and a PDC alloy drill bit (1-2-5-3); the cutting picks (1-2-5-2) are regularly arranged on the surface of the bit welding body (1-2-5-1), and the PDC alloy bit (1-2-5-3) is welded at the front end of the bit welding body (1-2-5-1).
5. The integrated intelligent pressure relief drilling machine according to claim 1, wherein the drilling assembly (1-2) further comprises an adjusting mechanism for adjusting the height and drilling inclination of the drilling assembly (1-2-8); the adjusting mechanism comprises a bed body sliding frame (1-2-11), a heightening oil cylinder (1-2-9) and an inclination adjusting oil cylinder (1-2-12); one end of the bed body sliding frame (1-2-11) is connected with the drilling machine assembly (1-2-8) through a rotating shaft pin, and the other end of the bed body sliding frame extends into the rotary seat outer sleeve (1-2-2) and is matched with a sliding key (1-2-1) arranged in the rotary seat outer sleeve (1-2-2) to slide up and down relative to the rotary seat outer sleeve (1-2-2); one end of the heightening oil cylinder (1-2-9) is connected with the rotary seat outer sleeve (1-2-2), the other end of the heightening oil cylinder is connected with the bed body sliding frame (1-2-11), the heightening oil cylinder (1-2-9) moves in a telescopic mode to drive the bed body sliding frame (1-2-11) to move up and down relative to the rotary seat outer sleeve (1-2-2), and the height of the drilling machine assembly (1-2-8) is adjusted; one end of the inclination adjusting oil cylinder (1-2-12) is connected with the drilling machine assembly (1-2-8), the other end of the inclination adjusting oil cylinder is connected with the bed body sliding frame (1-2-11), and the heightening oil cylinder (1-2-9) moves in a telescopic mode to drive the drilling machine assembly (1-2-8) to rotate relative to the bed body sliding frame (1-2-11) and adjust a drilling inclination angle.
6. The integrated intelligent pressure relief drilling machine according to claim 1, wherein a first camera (1-2-10) and three laser sensors are further mounted on the drilling assembly (1-2); the first camera (1-2-10) is installed on the power head assembly (1-2-13), the first laser sensor (1-2-14) is installed on a drilling machine assembly (1-2-8) corresponding to the initial position of one end, close to the drill rod assembly (1-2-6), of the power head assembly (1-2-13), and the second laser sensor (1-2-15) and the third laser sensor (1-2-16) are installed at the front end and the rear end of the drilling machine assembly (1-2-8) respectively.
7. The integrated intelligent pressure relief drilling machine according to claim 1, wherein the drill rod transport vehicle (2) comprises a drill rod magazine (2-1), a connecting frame (2-2), a second slewing bearing (2-3), a manipulator (2-4), a second camera (2-5) and a rotary position sensor (2-6); the drill rod warehouse (2-1) is hinged with the connecting frame (2-2), the second rotary support is arranged on the connecting frame (2-2), and the manipulator (2-4) is arranged on the second rotary support (2-3) and can rotate relative to the connecting frame (2-2); the second camera (2-5) is installed at one end of the drill rod library (2-1) and used for monitoring the conditions of grabbing and releasing the rod; the rotary position sensors (2-6) are used for monitoring angle changes and are arranged at five rotary joints of the mechanical arm (2-4).
8. The integrated intelligent pressure relief drilling machine according to claim 1, wherein the track assembly (1-1-1) comprises two tracks, rectangular frames are arranged in front and behind the tracks, the valve seat assembly (1-1-5) is arranged on the rear rectangular frame, and the hydraulic pump set (1-1-2), the explosion-proof motor (1-1-3), the hydraulic valve set (1-1-4) and the explosion-proof PLC control box (1-1-6) are arranged on the valve seat assembly (1-1-5) in a centralized manner; the hydraulic oil tank (1-1-7) is arranged at the middle lower part of the crawler assembly (1-1-1); the hydraulic pump set (1-1-2) comprises a first hydraulic pump (1-1-2-1), a second hydraulic pump (1-1-2-2), an auxiliary pump (1-1-2-3) and a transfer case (1-1-2-4); the first hydraulic pump (1-1-2-1), the second hydraulic pump (1-1-2-2) and the auxiliary pump (1-1-2-3) are all installed on the transfer case (1-1-2-4), and the transfer case (1-1-2-4) is installed on the explosion-proof motor (1-1-3); the explosion-proof PLC control box (1-1-6) integrates a PLC, a power supply control system, a gateway and a monitoring system.
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| CN202011398509.8A CN112554786A (en) | 2020-12-02 | 2020-12-02 | Integrated intelligent pressure relief drilling machine |
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| CN202011398509.8A CN112554786A (en) | 2020-12-02 | 2020-12-02 | Integrated intelligent pressure relief drilling machine |
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| CN113047794A (en) * | 2021-03-31 | 2021-06-29 | 重庆新泰机械有限责任公司 | Electric throttling control box based on well control |
| CN113107359A (en) * | 2021-05-19 | 2021-07-13 | 徐州富锲机电科技有限公司 | Integrated pressure relief drilling machine chassis |
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| CN104895484A (en) * | 2015-06-08 | 2015-09-09 | 平顶山市铁福来机电设备有限公司 | Coal mine downhole crawler type drilling and punching integrated equipment |
| CN105625941A (en) * | 2016-02-02 | 2016-06-01 | 中煤科工集团西安研究院有限公司 | Crawler-type all hydraulic tunnel drilling rig with automatic rod-replacing function |
| CN107956433A (en) * | 2017-12-21 | 2018-04-24 | 徐工集团工程机械有限公司 | Drilling machine, which is used, unloads lever apparatus and drilling machine |
| CN110374499A (en) * | 2019-05-30 | 2019-10-25 | 中国矿业大学 | A kind of separate type pressure-relief drill rig |
| CN110905420A (en) * | 2019-11-13 | 2020-03-24 | 中国矿业大学 | Large-aperture pressure relief drilling machine |
| CN111173449A (en) * | 2020-03-11 | 2020-05-19 | 河南铁福来装备制造股份有限公司 | Large-torque drilling machine for coal mine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113047794A (en) * | 2021-03-31 | 2021-06-29 | 重庆新泰机械有限责任公司 | Electric throttling control box based on well control |
| CN113107359A (en) * | 2021-05-19 | 2021-07-13 | 徐州富锲机电科技有限公司 | Integrated pressure relief drilling machine chassis |
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