A ball transfer mechanism for a harmonic drive and linear piston motor is disclosed. The ball transfer mechanism includes a spherical ball and a cylindrical seat portion. The seat portion defines a hemispherical shaped recess with a contour for receiving the ball. The ball transfer mechanism is in an exterior wall of a housing for converting rotary motion to linear motion, driving a linear piston motor. The harmonic drive drives a rotor of the linear piston motor. The harmonic drive includes a hollow cylindrical coupler portion engaging a rotor portion for transferring torque to the rotor portion. Transfer mechanisms disposed along a housing wall of the linear piston motor engage the coupler portion. The coupler portion includes harmonic cam grooves for receiving spherical balls in the ball transfer mechanism that drives rotational motion in the rotor in response to axially linear movement of the piston assembly.

A ball transfer mechanism for a harmonic drive and linear piston motor is disclosed. The ball transfer mechanism includes a spherical ball and a cylindrical seat portion. The seat portion defines a hemispherical shaped recess with a contour for receiving the ball. The ball transfer mechanism is in an exterior wall of a housing for converting rotary motion to linear motion, driving a linear piston motor. The harmonic drive drives a rotor of the linear piston motor. The harmonic drive includes a hollow cylindrical coupler portion engaging a rotor portion for transferring torque to the rotor portion. Transfer mechanisms disposed along a housing wall of the linear piston motor engage the coupler portion. The coupler portion includes harmonic cam grooves for receiving spherical balls in the ball transfer mechanism that drives rotational motion in the rotor in response to axially linear movement of the piston assembly.

A vibratory grouting drilling rig includes: a drilling rig bracket, a moving bracket, and a driving mechanism mounted on the drilling rig bracket for driving the moving bracket to move; wherein a working bracket is slidingly mounted on the moving bracket, and a sliding direction of the working bracket is identical to a moving direction of the moving bracket; a vibratory grouting rod and a drilling rod are mounted on the working bracket; multiple flexible connectors are connected between the working bracket and the drilling rig bracket, and are arranged along the moving direction of the moving bracket; the flexible connectors go around an end of the moving bracket and are connected to the drilling rig bracket. When the moving bracket moves, the flexible connectors pull the working bracket to move relative to the moving bracket, thus providing extra drilling force.

A vibratory grouting drilling rig includes: a drilling rig bracket, a moving bracket, and a driving mechanism mounted on the drilling rig bracket for driving the moving bracket to move; wherein a working bracket is slidingly mounted on the moving bracket, and a sliding direction of the working bracket is identical to a moving direction of the moving bracket; a vibratory grouting rod and a drilling rod are mounted on the working bracket; multiple flexible connectors are connected between the working bracket and the drilling rig bracket, and are arranged along the moving direction of the moving bracket; the flexible connectors go around an end of the moving bracket and are connected to the drilling rig bracket. When the moving bracket moves, the flexible connectors pull the working bracket to move relative to the moving bracket, thus providing extra drilling force.

A drilling machine has a hybrid thrust/pull back system. The hybrid thrust/pull-back system includes at least two different types of drive mechanisms that can be operated concurrently or independently depending upon an operating state of the drilling machine.

A rotary drilling rig includes a vertical mast and a rotary head that can vertically move along the mast with respect to a work surface. To move the rotary head along the mast, a hydraulic feed actuator is connected with the rotary head via a wire rope feed system including a hoist rope and a pulldown rope. To maintain the hoist and pulldown ropes in tension and prevent them from dislodging from the respective pulleys of the wire rope system, the hoist and pulldown ropes can be connected to respective hoist and pulldown tensioning actuators. The hoist actuator can be associated with a hoist hydraulic circuit and the pulldown tensioning actuator can be associated with a separate pulldown hydraulic circuit.

A rotary drilling rig includes a vertical mast and a rotary head that can vertically move along the mast with respect to a work surface. To move the rotary head along the mast, a hydraulic feed actuator is connected with the rotary head via a wire rope feed system including a hoist rope and a pulldown rope. To maintain the hoist and pulldown ropes in tension and prevent them from dislodging from the respective pulleys of the wire rope system, the hoist and pulldown ropes can be connected to respective hoist and pulldown tensioning actuators. The hoist actuator can be associated with a hoist hydraulic circuit and the pulldown tensioning actuator can be associated with a separate pulldown hydraulic circuit.

A moon-based in-situ condition-preserved coring multi-stage large-depth drilling system and method therefor. The system includes a rotary plate provided inside a lander, an in-situ condition-preserved coring tool provided on a surface of the rotary plate, a space frame provided on a surface of the rotary plate, a working platform provided on a top of the space frame, a mechanical arm provided on a bottom surface of the working platform, and a camera provided on the bottom surface of the working platform, the mechanical arm is fixedly connected to the working platform, and the camera is fixedly connected to the working platform. By controlling the mechanical arm to place the in-situ condition-preserved coring tool on the moon surface, and using the in-situ condition-preserved coring tool to sample the lunar soil on the moon surface, the coring operation problem of the lunar soil is solved.

A moon-based in-situ condition-preserved coring multi-stage large-depth drilling system and method therefor. The system includes a rotary plate provided inside a lander, an in-situ condition-preserved coring tool provided on a surface of the rotary plate, a space frame provided on a surface of the rotary plate, a working platform provided on a top of the space frame, a mechanical arm provided on a bottom surface of the working platform, and a camera provided on the bottom surface of the working platform, the mechanical arm is fixedly connected to the working platform, and the camera is fixedly connected to the working platform. By controlling the mechanical arm to place the in-situ condition-preserved coring tool on the moon surface, and using the in-situ condition-preserved coring tool to sample the lunar soil on the moon surface, the coring operation problem of the lunar soil is solved.

In one of its example aspects the technology disclosed herein concerns a wellhead lubricator. In an example embodiment and mode the wellhead lubricator comprises a yoke housing; a first clamp; a second clamp; and, an extensible actuator. The yoke housing comprises a first end configured for connection to a barrel housing and a second end configured for connection to a wellhead. The yoke housing defines a yoke cavity through which a barrel rod extends along an axis of the yoke cavity. The first clamp is situated in the yoke cavity and is configured for selective engagement with the barrel rod. The second clamp is also situated in the yoke cavity and is configured for selective engagement with the barrel rod. The extensible actuator is connected to at least one of the first clamp and the second clamp. The extensible actuator, the first clamp, and the second clamp are configured to be operated in coordinated manner to provide translation of the barrel rod along the axis of the yoke cavity.