Drill pipe transfer system
By designing a drill pipe transfer system, which combines a drill pipe box and a lifting frame, the drill pipe transfer trajectory is simplified, the problem of complex robot arm movements and interference in narrow spaces is solved, and efficient drill pipe transportation is achieved.
Patent Information
- Application Number
- CN202411984386.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2044-12-31
AI Technical Summary
In existing technologies, the robotic arm of an automatic mining drilling rig has complex and inefficient movements during drill rod transfer in narrow spaces. Furthermore, it is prone to interference with tracked vehicles or the rig frame under conditions of large negative inclination angles, making it impossible to automatically transport drill rods.
A drill pipe transfer system was designed, including a drill pipe box and a lifting frame. The drill pipe box is mounted on a rotary table, and the lifting frame is rotatably mounted on a tracked vehicle. The drill pipe in the drill pipe box is directly passed through the gap between the frame and into the frame range by a transfer manipulator, which simplifies the movement trajectory. The system uses a combination of vertical and longitudinal movement units and clamping units, which is suitable for transfer in narrow spaces.
It simplifies the drill pipe transportation process, reduces height requirements, adapts to narrow space environments, improves transportation efficiency, avoids interference between the robotic arm and other equipment, and achieves balanced transport of drill pipes.
Smart Images
Figure CN119641255B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of engineering machinery, in particular to a drill rod transfer system. BACKGROUND
[0002] The mine automatic drilling machine is mainly used for drilling operation in the mine, and the drill rods in the drill rod box need to be conveyed to the rack by the manipulator. However, in the prior art, the drill rods in the drill rod box need to be transferred to the designated transfer device first, and then the drill rods are placed on the rack by the manipulator. The manipulator has more actions and a complex process, which leads to low efficiency of drill rod conveying and overall construction.
[0003] Therefore, a drill rod transfer system suitable for narrow space drill rod transfer is needed. SUMMARY
[0004] The present application aims to provide a drill rod transfer system suitable for narrow space drill rod transfer.
[0005] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: a drill rod transfer system, comprising a drill rod box and a lifting frame, the drill rod box is installed on a rotary table, the lifting frame is rotationally arranged on a caterpillar vehicle, the lifting frame is connected with the rack, the drill rods in the drill rod box are perpendicular to the rack, a transfer manipulator is arranged on the drill rod box, a first opening is arranged on the lifting frame, the gap between the first opening and the rack is aligned, and the transfer manipulator is used to move the drill rods in the drill rod box and pass through the gap between the first opening and the rack.
[0006] The beneficial effects of the present application are as follows:
[0007] 1. In the present application, the drill rods are grabbed by the manipulator, then pass through the first opening and the gap between the rack, and enter the range of the rack, so that the rack can be connected and disconnected with the drill rods.
[0008] 2. The present application simplifies the movement trajectory during drill rod transfer, only needs to move along the three coordinate axes of the rectangular coordinate, and can complete the transfer without performing arc movement such as upward turning, thereby saving the height requirement during drill rod transfer and being suitable for narrow space drill rod transfer.
[0009] Further, the drill rod box comprises a bottom plate, a standard vertical plate and an open vertical plate, the bottom plate, the standard vertical plate and the open vertical plate form a U-shaped section box with an open top, the open vertical plate is arranged on the side of the drill rod box facing the rack, and the open vertical plate is provided with a second opening with a width greater than the diameter of the drill rod.
[0010] Further, the open vertical plate is provided with a horizontal moving unit close to the side of the rack, and the transfer manipulator is arranged on the horizontal moving unit.
[0011] The lateral moving unit is connected with the open vertical plate lower part, and comprises a sliding seat, a rack and a sliding rail, the sliding rail and the rack are arranged in parallel, the outer side of the sliding rail and the rack forms a first guide rail for the sliding seat to slide, the sliding seat is sleeved on the first guide rail formed by the sliding rail and the rack, a motor is arranged on the sliding seat, a driving gear is arranged on the output shaft of the motor, and the driving gear is engaged with the rack.
[0012] Further, the transfer manipulator comprises a vertical moving unit, a longitudinal moving unit and a clamping unit connected in sequence.
[0013] Further, the vertical moving unit comprises a lifting cylinder, a lifting outer cylinder and a lifting inner cylinder, the lifting outer cylinder is connected with the sliding seat, the lifting inner cylinder is arranged in the lifting outer cylinder in a sliding mode, two inner sliding rails are symmetrically arranged in the lifting outer cylinder, the inner sliding rails are used for guiding the movement of the lifting inner cylinder, the lifting cylinder is connected with the bottom of the lifting outer cylinder, and the upper end of the output shaft of the lifting cylinder is connected with the lifting inner cylinder or the longitudinal moving unit.
[0014] Further, the longitudinal moving unit comprises a cross beam and a moving seat, the cross beam is connected with the top of the lifting inner cylinder, the cross beam is provided with a second guide rail, the second guide rail has the same structure as the first guide rail, the moving seat has the same structure as the sliding seat, the moving seat moves on the second guide rail along the length direction of the drill pipe in the drill pipe box, the clamping unit is installed on the moving seat, and the clamping unit is used for clamping the drill pipe.
[0015] Further, the width of the second opening is greater than the width of the clamping unit.
[0016] Further, the clamping unit comprises a telescopic oil cylinder, a hand claw and an inner cylinder, the lower end of the output shaft of the telescopic oil cylinder is connected with the hand claw, and the hand claw is used for grabbing the drill pipe.
[0017] Further, the lifting frame comprises a rotary table and a connecting unit, the rotary table is provided with a first rotary device in the middle part, the first rotary device is installed on the tracked vehicle, and the first rotary device is used for driving the drill pipe box and the frame on the rotary table to horizontally rotate.
[0018] Further, the connecting unit comprises a lifting assembly, a second rotary device and a connecting plate, the lifting assembly comprises a lifting sleeve and two columns, the lifting sleeve is arranged on the columns in a sliding mode at two sides respectively, the second rotary device is installed on the side of the lifting sleeve close to the frame, the connecting plate is arranged on the side of the second rotary device close to the frame, the connecting plate is connected with the frame, and the second rotary device is used for driving the frame to vertically rotate.
[0019] Further, the lifting sleeve is provided with a first opening, and the first opening is open upward.
[0020] Further, the connecting plate is horizontally provided with a rectangular hole, the internal gap of the frame, the rectangular hole, the inner hole of the second rotary device and the first opening are aligned and used for the drill pipe to pass through.
[0021] Further, the lifting sleeve is provided with two installation cavities, the two installation cavities are arranged on the two sides of the first opening, one lifting oil cylinder is arranged in each of the two installation cavities, the lifting oil cylinder is fixedly connected with the bottom of the stand, and the output shaft of the lifting oil cylinder is connected with the side wall of the installation cavity.
[0022] The present scheme has the following effects:
[0023] 1. Compared with the prior art, the drill rod needs to be transported to the specified position by using a transfer device, and then transported to the rack by using a mechanical hand; in the present scheme, since the transfer trajectory is simple and only needs to be moved along the three coordinate axes of the triangular coordinate, the transfer mechanical hand can directly grab the drill rod from the drill rod box, greatly simplifying the conveying route and saving the transfer device.
[0024] 2. The transfer mechanical hand can move along the length direction of the drill rod, and can clamp the drill rod at the center or the gravity center position of the drill rod when different specifications of the drill rod are used, which is beneficial to keeping the drill rod balanced during the conveying process.
[0025] 3. The lifting inner cylinder and the outer cylinder adopt a symmetrical sliding rail guide structure, which is beneficial to the balance of the hand claw and prevents the inner cylinder from being seriously deviated to shorten the service life of the mechanical hand.
[0026] 4. The first opening is open at the top, which can be used for lifting the drill rod, greatly saving the space of the drilling machine along the length direction of the drill rod, and is beneficial to adapt to the narrow space environment.
[0027] 5. The transfer mechanical hand adopts a vertical moving unit and a clamping unit to adjust the height of the hand claw, compared with using only one lifting driving part, the present scheme increases the number of driving parts, the lifting speed is faster, the stroke of a single driving part is shorter when lifting the same height, the flexibility is higher, when the clamping unit crosses the opening vertical plate, the minimum height required by the cross beam is also smaller, thereby reducing the movement height of the transfer mechanical hand, and the present scheme is more suitable for the transfer of the drill rod in a narrow space.
[0028] 6. During the transfer process, the drill rod can make a descending movement in the second opening of the drill rod box, without the need of moving the drill rod out of the drill rod box and then descending, so that the distance between the drill rod box, the connecting unit and the rack can be shortened, thereby reducing the size of the entire drilling machine to adapt to the idle restriction in a narrow space. BRIEF DESCRIPTION OF DRAWINGS
[0029] Figure 1 A three-dimensional overall view of a drilling machine suitable for the embodiment;
[0030] Figure 2 A three-dimensional isometric view of a drill rod box of the embodiment;
[0031] Figure 3 A cross-sectional view of a lifting outer cylinder of the embodiment;
[0032] Figure 4Lifting outer cylinder plan view for the embodiment;
[0033] Figure 5 Front three-dimensional axonometric view of the lifting frame for the embodiment;
[0034] Figure 6 Rear three-dimensional axonometric view of the lifting frame for the embodiment. DETAILED DESCRIPTION
[0035] Further details are described below through specific embodiments:
[0036] The reference signs in the drawings of the specification include: tracked vehicle 1, vehicle frame 2, machine frame 3, power head 4, drill pipe 5, overturning manipulator 6, gripper 7, lifting frame 8, transfer manipulator 9, drill pipe box 10, anchoring system 11, hydraulic system 12, electric control system 13,
[0037] Bottom plate 1001, side plate 1002, standard vertical plate 1003, partition plate 1004, open vertical plate 1005, rack 1006, sliding rail 1007, sliding seat 1008, motor 1009,
[0038] Rotary table 801, first rotary 802, stand column 803, lifting sleeve 804, lifting oil cylinder 805, second rotary 806, connecting plate 807,
[0039] Lifting oil cylinder 901, lifting outer cylinder 902, outer pipe 90201, connecting block 90202, inner sliding rail 90203, hand claw 903, clamping driving part 904, telescopic joint 905, telescopic oil cylinder 906, crossbeam 907, moving seat 908, motor 909, rack 910, sliding rail 911, lifting inner cylinder 912.
[0040] EMBODIMENT
[0041] Drill pipe transfer system, suitable for a drilling rig as shown in Figure 1 , which includes tracked vehicle 1, vehicle frame 2 is arranged on tracked vehicle 1, anchoring system 11, hydraulic system 12, electric control system 13 and lifting frame 8 are arranged on vehicle frame 2, drill pipe box and machine frame 3 are arranged on lifting frame 8, transfer manipulator 9 is arranged on drill pipe box, power head 4, gripper 7 and overturning manipulator 6 are arranged on machine frame 3, transfer manipulator 9 inserts drill pipe 5 in drill pipe box 10 through machine frame 3, overturning manipulator 6 overturns drill pipe 5 by 90°, and the center of drill pipe 5 and gripper 7 is aligned, so as to facilitate the connection of drill pipe 5.
[0042] This embodiment is the lifting frame 8 and transfer manipulator 9 part of the drilling rig. The embodiment is basically as shown in Figure 2 : drill pipe transfer system, which includes drill pipe box 10, transfer manipulator 9 and lifting frame 8.
[0043] As shown in Figure 2As shown, the drill pipe box 10 comprises a bottom plate 1001, a side plate 1002, a standard vertical plate 1003 and an open vertical plate 1005. Among them, the bottom plate 1001, the side plate 1002, the vertical plate and the open vertical plate 1005 are bolted to form an open box on the top as a space for storing drill pipes 5. The inside of the standard vertical plate 1003 and the open vertical plate 1005 is vertically provided with a partition plate 1004 at equal intervals. The partition plate 1004 is arranged at an interval matched with the size of the drill pipe 5. A column of drill pipes 5 is placed between two adjacent partition plates 1004, so as to facilitate the transfer manipulator 9 to grab the drill pipe 5.
[0044] The open vertical plate 1005 is arranged on the side of the drill pipe box 10 facing the rack 3. The open vertical plate 1005 is provided with a transverse moving unit near the side close to the rack 3. The transverse moving unit is provided with a transfer manipulator 9. The transfer manipulator 9 comprises a vertical moving unit, a longitudinal moving unit and a clamping unit connected in sequence.
[0045] The open vertical plate 1005 is provided with a second opening in the middle, which has a width greater than the size of the drill pipe 5 and the transfer manipulator 9. The drill pipe 5 and the gripper 903 can smoothly pass through the second opening, thereby forming a space for the drill pipe 5 to lift and the transfer manipulator 9 to move when conveying the drill pipe 5.
[0046] The transverse moving unit and the lower part of the open vertical plate 1005 are bolted. The transverse moving unit comprises a sliding seat 1008, a rack 1006 and a sliding rail 1007. The sliding rail 1007 and the rack 1006 are arranged in parallel. The outside of the sliding rail 1007 and the rack 1006 forms a first guide rail for the sliding seat 1008 to slide. The sliding seat 1008 is sleeved on the first guide rail formed by the rack 1006 and the sliding rail 1007, and can move transversely along the guide rail, so as to select different columns of drill pipes 5 for grabbing. The sliding seat 1008 is provided with a motor 1009. The output shaft of the motor 1009 is provided with a driving gear. The driving gear is engaged with the rack 1006, thereby forming a gear and rack 1006 pair.
[0047] The second opening of the open vertical plate 1005 and the partition plates 1004 on both sides thereof, as well as the partition plates 1004 on the open vertical plate 1005 and the standard vertical plate 1003 at the corresponding positions form a space for the drill pipe 5 gripped by the clamping unit of the transfer manipulator 9 to move up and down and front and back (along the axis of the drill pipe 5) in the drill pipe box 10.
[0048] The vertical moving unit comprises a lifting cylinder 901, a lifting outer cylinder 902 and a lifting inner cylinder 912. The lifting cylinder 901 is arranged in the lifting outer cylinder 902. The lifting inner cylinder 912 is arranged in the lifting outer cylinder 902. Figure 3 , Figure 4As shown, the lifting outer cylinder 902 comprises an outer tube 90201 and a connecting block 90202 welded on the lower outer side of the outer tube 90201, the connecting block 90202 is bolted with the sliding seat 1008, the lifting inner cylinder 912 is slidingly arranged in the outer tube 90201, two inner sliding rails 90203 are symmetrically and vertically bolted in the outer tube 90201, the inner sliding rails 90203 are used for guiding the movement of the lifting inner cylinder 912; the lifting oil cylinder 901 is connected with the bottom of the lifting outer cylinder 902, the output shaft of the lifting oil cylinder 901 is connected with the lifting inner cylinder 912 or the longitudinal moving unit.
[0049] The longitudinal moving unit comprises a cross beam 907 and a moving seat 908, the cross beam 907 is bolted with the top of the lifting inner cylinder 912, the cross beam 907 is provided with a second guide rail which has the same structure as the first guide rail, the moving seat 908 has the same structure as the sliding seat 1008, the moving seat 908 moves along the length direction of the drill pipe 5 in the drill pipe box 10 on the second guide rail, a clamping unit is installed on the moving seat 908, and the clamping unit is used for clamping the drill pipe 5.
[0050] The clamping unit can adopt the inner and outer sleeve structure similar to the vertical moving unit, in the embodiment, the clamping unit comprises a telescopic oil cylinder 906, a hand claw 903 and an inner cylinder, the output shaft of the telescopic oil cylinder 906 is connected with the hand claw 903, the hand claw 903 is used for gripping the drill pipe 5, the hand claw 903 can be various forms of clamping mechanisms, the clamping mechanism comprises a clamping driving element 904, the clamping driving element 904 can be various linear or rotating elements (such as an oil cylinder, a motor 1009, etc.), the clamping driving element 904 drives the hand claw 903 to clamp and release, so as to realize the clamping and releasing of the drill pipe 5. In the embodiment, the clamping driving element 904 is a linear oil cylinder.
[0051] As shown in Figure 5 , Figure 6 , the lifting frame 8 is L-shaped and comprises a rotating table 801 and a connecting unit which are perpendicular to each other, the rotating table 801 is horizontally arranged, the rotating table 801 is a connecting piece of the drill pipe box 10 and the tracked vehicle 1, the drill pipe box 10 is bolted on the rotating table 801, a first rotary device 802 is bolted on the lower side of the middle part of the rotating table 801, the first rotary device 802 is bolted with the vehicle frame 2 of the tracked vehicle 1, and the first rotary device 802 is used for driving the drill pipe box 10 and the rack 3 on the rotating table 801 to horizontally rotate.
[0052] The connecting unit comprises a lifting assembly, a second rotary device 806 and a connecting plate 807. The lifting assembly comprises a lifting sleeve 804 and two vertical columns 803, the lower ends of the two vertical columns 803 are each welded with a base, the base is bolted to the rotary table 801 near the rack 3, the two vertical columns 803 each passes through the lifting sleeve 804, the lifting sleeve 804 is slidably arranged on the vertical column 803 at two sides of the lifting sleeve 804, a first opening is formed in the middle of the lifting sleeve 804, the first opening is open at the top to provide a space for the drill pipe 5 to move up and down under the driving of the transfer manipulator 9. Two installation cavities are formed in the lifting sleeve 804, the installation cavities are each arranged between the first opening and the vertical column 803, one lifting oil cylinder 805 is arranged in each of the installation cavities, the lifting oil cylinder 805 is bolted to the base of the vertical column 803, and the output shaft of the lifting oil cylinder 805 is connected to the side wall of the installation cavity by using a pin shaft, so that the height of the rack is adjusted.
[0053] The second rotary device 806 is bolted to the lifting sleeve 804 near the rack 3, the connecting plate 807 is bolted to the second rotary device 806 near the rack 3, the connecting plate 807 is bolted to the rack 3, and the second rotary device 806 is used to drive the vertical rotation of the rack 3. A rectangular hole is horizontally arranged on the connecting plate 807 to meet the movement space of the subsequent turnover manipulator 6 when the turnover manipulator 6 turns the drill pipe by 90°, and the internal gap of the rack 3, the rectangular hole, the inner hole of the second rotary device 806 and the first opening are aligned and used to pass the drill pipe 5.
[0054] The use method of the drill pipe transfer system is as follows:
[0055] 1. A certain number of drill pipes 5 are arranged in the drill pipe box 10, the gripper 903 is at any position which does not interfere with the drill pipe box 10 and the drill pipes 5 inside the drill pipe box 10, and the lowest position of the gripper 903 is higher than the top of the open vertical plate 1005;
[0056] 2. The motor 1009 drives the transfer manipulator 9 to move along the first guide rail to select a specified column;
[0057] 3. The motor 1009 drives the gripper 903 to move along the cross beam 907 to a position above the middle of the drill pipe 5 in the drill pipe box 10;
[0058] 4. The gripper 903 is loosened, the vertical movement unit and the clamping unit are combined to adjust the height of the gripper 903 to a height at which the gripper 903 is suitable for grabbing the drill pipe 5;
[0059] 5. The gripper 903 clamps the drill pipe 5, the vertical movement unit and the clamping unit are combined to adjust the height of the gripper 903 to a height which is higher than the top of the open vertical plate 1005;
[0060] 6. The motor 1009 drives the transfer manipulator 9 to move along the first guide rail to a position above the second opening of the open vertical plate 1005;
[0061] 7. The vertical moving unit and the clamping unit are combined to adjust the height of the gripper 903, so that the gripper 903 and the drill pipe 5 clamped by the gripper 903 are lowered to a height suitable for the drill pipe 5 to be conveyed;
[0062] 8. The motor 1009 drives the gripper 903 to move along the cross beam 907 in a direction away from the drill pipe box 10, so that the drill pipe 5 passes through the inner hole of the second rotary table 806, the rectangular hole and the internal gap of the rack 3 in turn, and the drill pipe 5 is conveyed to the range of the rack 3.
[0063] The above is only an embodiment of the present application, and the specific technical solutions and / or common knowledge of the scheme are not described in detail. It should be pointed out that for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.
Claims
1. A pipe transfer system, characterized by: The drilling rod box is installed on the slewing table, the lifting frame is rotatably arranged on the crawler, the lifting frame is connected with the rack, the drilling rod in the drilling rod box is perpendicular to the rack, the drilling rod box is provided with a transfer manipulator, the lifting frame is provided with a first opening, the gap between the first opening and the rack is aligned, and the transfer manipulator is used to move the drilling rod in the drilling rod box and pass through the gap between the first opening and the rack. The drilling rod box comprises a bottom plate, a standard vertical plate and an open vertical plate, the bottom plate, the standard vertical plate and the open vertical plate form a box body with an open U-shaped section, the open vertical plate is arranged on the side of the drilling rod box facing the rack, and the open vertical plate is provided with a second opening with a width greater than the diameter of the drilling rod. The open vertical plate is provided with a transverse moving unit on the side close to the rack, and the transfer manipulator is arranged on the transverse moving unit. The transverse moving unit is connected with the lower part of the open vertical plate, and comprises a sliding seat, a rack and a sliding rail. The sliding rail and the rack are arranged in parallel, the outer sides of the sliding rail and the rack form a first guide rail for the sliding seat to slide, the sliding seat is sleeved on the first guide rail formed by the rack and the sliding rail, a motor is arranged on the sliding seat, a driving gear is arranged on the output shaft of the motor, and the driving gear is engaged with the rack.
2. The drill pipe transfer system of claim 1, wherein: The transfer manipulator comprises a vertical moving unit, a longitudinal moving unit and a clamping unit connected in sequence.
3. The drill pipe transfer system of claim 2, wherein: The vertical moving unit comprises a lifting oil cylinder, a lifting outer cylinder and a lifting inner cylinder.
4. The drill pipe transfer system of claim 3, wherein: The lifting outer cylinder is connected with the sliding seat, the lifting inner cylinder is slidably arranged in the lifting outer cylinder, two inner sliding rails are symmetrically arranged in the lifting outer cylinder, the inner sliding rails are used for guiding the movement of the lifting inner cylinder, the lifting oil cylinder is connected with the bottom of the lifting outer cylinder, and the upper end of the output shaft of the lifting oil cylinder is connected with the lifting inner cylinder or the longitudinal moving unit.
5. The drill pipe transfer system of claim 4, wherein: The longitudinal moving unit comprises a cross beam and a moving seat.
6. The drill pipe transfer system of claim 1, wherein: The cross beam is connected with the top of the lifting inner cylinder, the cross beam is provided with a second guide rail, the second guide rail has the same structure as the first guide rail, the moving seat has the same structure as the sliding seat, the moving seat moves on the second guide rail in the length direction of the drilling rod in the drilling rod box, the clamping unit is arranged on the moving seat, and the clamping unit is used for clamping the drilling rod.
7. The drill pipe transfer system of claim 6, wherein: The width of the second opening is greater than the width of the clamping unit.
8. The drill pipe transfer system of claim 7, wherein: The clamping unit comprises a telescopic oil cylinder, a hand claw and an inner cylinder.
9. The drill pipe transfer system of claim 8, wherein: The lower end of the output shaft of the telescopic oil cylinder is connected with the hand claw, and the hand claw is used for gripping the drilling rod.
10. The drill pipe transfer system of claim 9, wherein: The lifting frame comprises a slewing table and a connecting unit. A first rotary device is arranged in the middle of the slewing table, the first rotary device is arranged on the crawler, and the first rotary device is used to drive the drilling rod box and the rack on the slewing table to rotate horizontally. The connecting unit comprises a lifting assembly, a second rotary device and a connecting plate. The lifting assembly comprises a lifting sleeve and two columns, the two sides of the lifting sleeve are slidably arranged on the columns, the second rotary device is arranged on the side of the lifting sleeve close to the rack, the connecting plate is arranged on the side of the second rotary device close to the rack, the connecting plate is connected with the rack, and the second rotary device is used to drive the rack to rotate vertically. The lifting sleeve is provided with a first opening, and the first opening is open upward. The connecting plate is horizontally provided with a rectangular hole, the internal gap of the rack, the rectangular hole, the inner hole of the second rotary device and the first opening are aligned and used for the drilling rod to pass through. The lifting sleeve is provided with two mounting cavities, the two mounting cavities are arranged on the two sides of the first opening, one lifting oil cylinder is arranged in each of the two mounting cavities, the lifting oil cylinder is fixedly connected with the bottom of the column, and the upper end of the output shaft of the lifting oil cylinder is connected with the side wall of the mounting cavity.
Citation Information
Patent Citations
Mining intelligent drilling machine and drilling rod assembling and disassembling method
CN119641257A