A multi-functional inspection device for tunneling faces and its usage method

Abstract

This invention relates to a multi-functional inspection device and its method of use for fully mechanized tunneling faces. It includes a mobile trolley and a robotic arm fixed to the trolley. A ring-shaped adjustment device is connected to the top of the robotic arm, and a spiderweb track is installed on the ring-shaped adjustment device. An inspection slider is installed on the spiderweb track, and several detection devices are installed on the inspection slider. This invention, through the use of the robotic arm and spiderweb track, enables the lifting and movement of existing detection devices to a suitable position, and the adjustment of the angle to align with the point to be inspected. It allows for close-range, multi-angle scanning or inspection, minimizing the technical problem of unclear images due to dust in underground environments, and enabling clear and accurate observation of detailed information at the desired observation location.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underground inspection devices, and specifically relates to a multifunctional inspection device for a fully-mechanized excavation face and a use method. BACKGROUND

[0002] ‌A fully-mechanized excavation face refers to a working face of comprehensive mechanized excavation, which is referred to as a fully-mechanized excavation.‌ The fully-mechanized excavation face mainly relies on a heading machine for operation. The heading machine integrates cutting, loading, transfer and subsidence, and can realize continuous operation. Compared with the traditional drilling and blasting method, the fully-mechanized excavation has the advantages of fewer processes, faster speed, higher efficiency, better quality and construction safety.

[0003] The characteristics of the fully-mechanized excavation face include:

[0004] ‌High degree of mechanization and automation‌: The fully-mechanized excavation face mainly relies on the heading machine for operation, realizing the mechanization of basic processes such as coal breaking, coal loading and coal transportation.

[0005] ‌High efficiency‌: Compared with the traditional drilling and blasting method, the fully-mechanized excavation face has higher efficiency and can quickly advance the roadway.

[0006] ‌Good safety‌: The fully-mechanized excavation face reduces manual operation, reduces the labor intensity of workers and improves construction safety.

[0007] In terms of application scenarios, the fully-mechanized excavation face is widely used in coal mines, tunnels, underground engineering and other fields. In coal mines, the fully-mechanized excavation face is mainly used for developing roadways to prepare for the coal mining face. In tunnels and underground engineering, the fully-mechanized excavation face is used for excavating tunnels and underground chambers to improve construction efficiency and quality.

[0008] When the fully-mechanized excavation is working, it is necessary to inspect the fully-mechanized excavation face to ensure the safety of the working face, improve the working efficiency and ensure the engineering quality. When the fully-mechanized excavation face is inspected, it is necessary to stop the machine for detailed inspection and maintenance. This is because in the stopped state, more comprehensive inspection and repair can be carried out to ensure the safe operation of the equipment.‌ The main inspection contents of the fully-mechanized excavation face inspection include the ventilation system, safety facilities, dustproof measures, gas management and working environment.

[0009] The existing inspection robot mainly uses existing detection devices such as cameras, laser radars, ultrasonic waves and other heterogeneous sensors to obtain image, point cloud, distance and other information for checking ventilation systems, safety facilities, dust prevention measures, gas management and working environment. However, since the working environment is underground and there is a lot of dust, the existing inspection device is usually used with a mobile device, and can only be used to scan or detect the above positions on the ground of the pit. Since there are many positions to be observed and the distance is far, and there is a lot of dust, the observation effect is not good, and the detailed information of the required observation position cannot be clearly and accurately observed. SUMMARY

[0010] The application provides a multifunctional inspection device for a fully-mechanized excavation working face and a use method, which can realize close-range multi-angle scanning or detection of a required observation position, and can clearly and accurately observe detailed information of the required observation position.

[0011] The application discloses a multifunctional inspection device for a fully-mechanized excavation working face, which comprises a mobile trolley, a mechanical arm arranged on the mobile trolley, a ring-shaped adjusting device connected to the top end of the mechanical arm, a spider web track arranged on the ring-shaped adjusting device, an inspection sliding block arranged on the spider web track, and a plurality of detection devices arranged on the inspection sliding block.

[0012] Through the above arrangement, the existing detection device can be lifted and moved to a suitable position, and the angle can be adjusted to align with the detection point, so that close-range multi-angle scanning or detection can be realized, the technical problem of unclear detection image caused by a lot of dust in the underground environment is reduced to the greatest extent, and detailed information of the required observation position can be clearly and accurately observed.

[0013] Further, a power supply box and a driving motor are arranged on the mobile trolley, a plurality of mobile wheels are rotatably connected to the bottom of the mobile trolley, and the mobile wheels are driven by the driving motor.

[0014] Further, the mobile wheel comprises a main wheel disc, and a plurality of auxiliary wheels are rotatably connected to the main wheel disc.

[0015] Further, the mechanical arm comprises a base, a first connecting arm rotatably connected to the base, a second connecting arm rotatably connected to the first connecting arm, and the second connecting arm is connected to the ring-shaped adjusting device through a connecting disc.

[0016] Further, the ring-shaped adjusting device comprises a fixed ring and a plurality of telescopic cylinders rotatably connected to the fixed ring, one end of each telescopic cylinder away from the fixed ring is rotatably connected to a fixed part, and the fixed part is fixedly connected to the spider web track through bolts.

[0017] Further, the spider web track comprises a plurality of ladder-shaped monorails with different lengths, two adjacent ladder-shaped monorails are rotationally connected through a hinge, and a T-shaped track is arranged on the ladder-shaped monorail.

[0018] Further, the spider web track is provided with an anti-disengagement block at both ends, and the anti-disengagement block is fixedly connected with the spider web track through bolts.

[0019] Further, the inspection sliding block is provided with two driving wheels rotationally arranged, the driving wheels abut against one side of the spider web track, and the driving wheels are driven by a motor.

[0020] Further, the inspection sliding block is provided with a dust removal block on both sides, and the dust removal block is connected with the inspection sliding block through bolts.

[0021] The application also relates to a use method of the multifunctional inspection device for a fully-mechanized coal mining face.

[0022] S1, selecting a suitable detection device according to the specific situation of the required inspection position, and installing the detection device on the inspection sliding block;

[0023] S2, selecting a proper number of ladder-shaped monorails according to the size of the required inspection position, and assembling the ladder-shaped monorails, and installing the inspection sliding block on the ladder-shaped monorails;

[0024] S3, driving the mobile trolley to move to a suitable position, and driving the mechanical arm to move the ring-shaped adjusting device and the spider web track to a required observation position;

[0025] S4, adjusting the ring-shaped adjusting device so that the plane of the spider web track is opposite to the required observation position;

[0026] S5, starting the detection device and driving the inspection sliding block to move along the spider web track.

[0027] The multifunctional inspection device for a fully-mechanized coal mining face and the use method can achieve the following technical effects:

[0028] 1. The existing detection device can be lifted and moved to a suitable position, and the angle can be adjusted to align with the detection point, so that close-range and multi-angle scanning or detection can be realized, and the technical problem of unclear detection image caused by much dust in the underground environment is reduced to the greatest extent, and the detailed information of the required observation position can be clearly and accurately observed.

[0029] 2. Remote operation can be realized in cooperation with a remote control system, and the personal safety of the staff during inspection can be ensured.

[0030] The foregoing general description and the following description are only exemplary and explanatory, and are not used to limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0031] One or more embodiments are illustrated by way of example in the figures that are not intended to be limiting of the present embodiments. Like numbers refer to like elements throughout the drawings, and:

[0032] Figure 1 is a schematic diagram of the overall structure of a multifunctional inspection device for a fully-mechanized excavation face of the present application;

[0033] Figure 2 is a schematic diagram of the structure of a spider web track in a multifunctional inspection device for a fully-mechanized excavation face of the present application;

[0034] Figure 3 is Figure 2 is an enlarged schematic diagram of A in

[0035] Figure 4 is an exploded schematic diagram of an inspection sliding block and related structures in a multifunctional inspection device for a fully-mechanized excavation face of the present application;

[0036] Figure 5 is an exploded schematic diagram of part of a spider web track in a multifunctional inspection device for a fully-mechanized excavation face of the present application;

[0037] Figure 6 is a schematic diagram of the structure of a ring-shaped adjusting device in a multifunctional inspection device for a fully-mechanized excavation face of the present application;

[0038] Figure 7 is a method flowchart of a use method of a multifunctional inspection device for a fully-mechanized excavation face of the present application. ACCOMPA

[0039] 1, mobile trolley; 2, mechanical arm; 3, ring-shaped adjusting device; 4, spider web track; 5, inspection sliding block; 6, detection device; 7, power supply box; 8, mobile wheel; 9, main wheel disc; 10, auxiliary wheel; 11, base; 12, first connecting arm; 13, second connecting arm; 14, connecting disc; 15, fixing ring; 16, telescopic rod; 17, fixing piece; 18, ladder-shaped monorail; 19, leaf; 20, T-shaped track; 21, anti-falling block; 22, driving wheel; 23, dust removal block. DETAILED DESCRIPTION

[0040] In order to enable a more detailed understanding of the features and technical content of the embodiments of the present application, the implementation of the embodiments of the present application is described in detail below with reference to the accompanying drawings, which are only used for reference and do not limit the embodiments of the present application. In the following technical description, in order to facilitate explanation, a plurality of details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, in order to simplify the drawings, well-known structures and devices can be simplified.

[0041] The terms "first", "second", and the like in the description and in the claims of the application and above drawings are used for distinguishing between similar objects talking about the application and not necessarily for describing a specific sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and embodiments of the application described herein are capable of producing embodiments in which such terms are interchanged. Furthermore, the terms "comprise", "have" and any variations thereof are intended to cover a non-exclusive inclusion.

[0042] In the application, the terms "upper", "lower", "inner", "middle", "outer", "front", "back" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to indicating the orientation or positional relationship, the above-mentioned terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the application can be understood according to the specific circumstances.

[0043] In addition, the terms "set", "connected", "fixed" should be broadly understood. For example, "connected" can be fixed connection, detachable connection, or integral structure; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium, or internal communication between two devices, elements or components. For those skilled in the art, the specific meanings of the above terms in the application can be understood according to the specific circumstances.

[0044] Unless otherwise specified, the term "a plurality of" means two or more, and the term "a plurality of groups" means two groups or more.

[0045] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0046] As Figures 1-6As shown, the multifunctional inspection device for fully-mechanized working face and the use method thereof are disclosed, which comprises a moving trolley 1, a mechanical arm 2, a ring adjusting device 3, a spider web track 4, an inspection sliding block 5 and a plurality of detection devices 6 arranged on the inspection sliding block 5, wherein the bottom of the mechanical arm 2 is fixedly connected with the upper surface of the moving trolley 1, and the mechanical arm 2 can move together with the moving trolley 1. The end of the mechanical arm 2 away from the moving trolley 1 is detachably connected with the ring adjusting device 3, and the mechanical arm 2 is used for lifting and moving the ring adjusting device 3 with the spider web track 4, the inspection sliding block 5 and the detection devices 6 to a suitable height, and roughly adjusting the deflection angle thereof, so that the ring adjusting device 3 roughly faces the required detection direction. The ring adjusting device 3 is self-adjusted, and the plane where the spider web track 4 is located is finely adjusted, so that the spider web track 4 faces the required detection direction as much as possible, and the required detection device is located at the position of the center of the spider web track 4 and faces the position as much as possible, and a certain observation distance is kept. The inspection sliding block 5 drives the detection devices 6 to move on the spider web track, and the detection devices 6 pass through the spider web-shaped track formed by the spider web track 4, so that the required observation position is scanned layer by layer.

[0047] The moving trolley 1 is provided with a power supply box 7 and a driving motor, and a plurality of moving wheels 8 are rotatably connected to the bottom of the moving trolley 1, and the moving wheels 8 are driven by the driving motor. The moving trolley 1 is used for driving the whole device to move to a suitable position in an underground pit.

[0048] The mechanical arm 2 is arranged on the moving trolley 1 and moves together with the moving trolley 1, and the mechanical arm 2 comprises a base 11, the base 11 is rotatably connected with a first connecting arm 12, the first connecting arm 12 is rotatably connected with a second connecting arm 13, and the second connecting arm 13 is connected with the ring adjusting device 3 through a connecting disc 14. The detection devices 6 can be lifted to a certain height, so that closer detection work is facilitated.

[0049] The ring adjusting device 3 is connected with the mechanical arm 2, and the ring adjusting device 3 comprises a fixed ring 15 and a plurality of telescopic cylinders rotatably connected with the fixed ring 15, and the ends of telescopic rods 16 away from the fixed ring 15 are rotatably connected with fixed parts 17, and the fixed parts 17 are fixedly connected with the spider web track 4 through bolts. After the mechanical arm 2 is locked, the plane of the spider web track 4 can be finely adjusted, so that the spider web track 4 is aligned with the required detection position.

[0050] The spider web track 4 is arranged on the side of the ring adjusting device 3 away from the mechanical arm 2, and the spider web track 4 comprises a plurality of ladder-shaped single tracks 18 with different lengths, adjacent two ladder-shaped single tracks 18 are rotatably connected through a hinge 19, and the ladder-shaped single track 18 is provided with a T-shaped track 20. The detection devices 6 can move in the same plane, and multi-angle detection is realized.

[0051] The inspection sliding block 5 is provided with two driving wheels 22 rotatably arranged, the driving wheels 22 abut against one side of the spider web track 4, and the driving wheels 22 are driven by a motor. The inspection sliding block 5 can be driven to move on the spider web track 4.

[0052] Optionally, the spider web track 4 is provided with a anti-falling block 21 at both ends, and the anti-falling block 21 is fixedly connected with the spider web track 4 through bolts. It can prevent loss caused by the patrol inspection sliding block 5 falling off due to misoperation.

[0053] Optionally, the patrol inspection sliding block 5 is provided with a dust removal block 23 on both sides, and the dust removal block 23 is connected with the patrol inspection sliding block 5 through bolts. Dust on the spider web track 4 can be cleaned in time.

[0054] Among them, the detection device 6 selects appropriate existing devices for detection according to different required detection effects, and the related detection device 6 background technology has been described, which is prior art, so it is not necessary to repeat it here.

[0055] Application scenario of an exemplary embodiment:

[0056] The multifunctional inspection device of the fully mechanized coal mining face according to the application, when in use, first needs to select appropriate detection device 6 according to the specific situation of the required inspection position, and install it on the patrol inspection sliding block 5, then select the appropriate number of ladder-shaped monorails 18 according to the size of the required inspection position and assemble them, install the patrol inspection sliding block 5 on the ladder-shaped monorail 18, after the installation is completed, start the mobile trolley 1 and drive it to move to the appropriate position, drive the mechanical arm 2 to move the ring-shaped adjusting device 3 and the spider web track 4 to the required observation position, that is, the mechanical arm 2 lifts and moves the ring-shaped adjusting device 3 with the spider web track 4, the patrol inspection sliding block 5 and the detection device 6 to the appropriate height, and roughly adjusts the deflection angle, so that it roughly faces the required detection direction. Then, through the adjustment of the ring-shaped adjusting device 3, fine adjustment is carried out, so that the spider web track 4 faces the required detection direction as much as possible, and the required detection device is located in the center of the spider web track as much as possible. Keep a certain observation distance. After the adjustment is completed, the detection device 6 is started and the patrol inspection sliding block 5 is driven to move along the spider web track 4, and the required observation position is scanned layer by layer. In this way, the existing detection device 6 can be lifted and moved to the appropriate position, and the angle can be adjusted to align with the detection point, so that the detection image is clear and the technical problem of unclear detection image caused by dust in the underground environment can be solved. The detailed information of the required observation position can be observed clearly and accurately.

[0057] The above description and drawings fully illustrate the embodiments of the application, so that those skilled in the art can practice them. Other embodiments can include structural and other changes. The embodiments only represent possible changes. Unless explicitly required, individual components and functions are optional, and the order of operation can be changed. Some parts and features of some embodiments can be included in or replace parts and features of other embodiments. The embodiments of the application are not limited to the structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the application is only limited by the appended claims.

Claims

1. A multifunctional inspection device for fully-mechanized mining face, characterized in that, comprising: a mobile trolley (1), a mechanical arm (2) is arranged on the mobile trolley (1), a ring-shaped adjusting device (3) is connected to the top end of the mechanical arm (2), a spider web track (4) is arranged on the ring-shaped adjusting device (3), an inspection sliding block (5) is arranged on the spider web track (4), and a plurality of detection devices (6) are arranged on the inspection sliding block (5); the ring-shaped adjusting device (3) comprises a fixed ring (15) and a plurality of telescopic cylinders rotatably connected to the fixed ring (15), the telescopic cylinders (16) are rotatably connected to the fixed members (17) at the ends away from the fixed ring (15), and the fixed members (17) are fixedly connected to the spider web track (4) by bolts.

2. The multifunctional inspection device for fully-mechanized mining face according to claim 1, characterized in that, a power supply box (7) and a driving motor are arranged on the mobile trolley (1), a plurality of mobile wheels (8) are rotatably connected to the bottom of the mobile trolley (1), and the mobile wheels (8) are driven by the driving motor.

3. The multifunctional inspection device for fully-mechanized mining face according to claim 2, characterized in that, the mobile wheels (8) comprise a main wheel disc (9), and a plurality of sub-wheels (10) are rotatably connected to the main wheel disc (9).

4. The multifunctional inspection device for fully-mechanized mining face according to claim 1, characterized in that, the mechanical arm (2) comprises a base (11), a first connecting arm (12) is rotatably connected to the base (11), a second connecting arm (13) is rotatably connected to the first connecting arm (12), and the second connecting arm (13) is connected to the ring-shaped adjusting device (3) through a connecting disc (14).

5. The multifunctional inspection device for fully-mechanized mining face according to claim 1, characterized in that, the spider web track (4) comprises a plurality of ladder-shaped single tracks (18) with different lengths, adjacent two ladder-shaped single tracks (18) are rotatably connected through a hinge (19), and a T-shaped track (20) is arranged on the ladder-shaped single track (18).

6. The multifunctional inspection device for fully-mechanized mining face according to claim 5, characterized in that, anti-dropping blocks (21) are arranged at both ends of the spider web track (4), and the anti-dropping blocks (21) are fixedly connected to the spider web track (4) by bolts.

7. The multifunctional inspection device for fully-mechanized mining face according to claim 1, characterized in that, the inspection sliding block (5) is rotatably provided with two driving wheels (22), the driving wheels (22) abut against one side of the spider web track (4), and the driving wheels (22) are driven by a motor.

8. The multifunctional inspection device for fully-mechanized mining face according to claim 1, characterized in that, dust removal blocks (23) are arranged on both sides of the inspection sliding block (5), and the dust removal blocks (23) are connected to the inspection sliding block (5) by bolts.

9. A use method of the multifunctional inspection device for fully-mechanized mining face according to claim 1, comprising the following steps: S1, according to the specific circumstances of the required inspection position, select the appropriate detection device (6), and install it on the inspection slider (5); S2, according to the size of the required inspection position, select the appropriate number of ladder monorail (18) and assemble, install the inspection slider (5) on the ladder monorail (18); S3, drive the mobile trolley (1) to move to the appropriate position, drive the mechanical arm (2) to move the ring-shaped adjusting device (3) and the spider web track (4) to the required observation position; S4, adjust the ring-shaped adjusting device (3) to make the plane of the spider web track (4) opposite the required observation position; S5, turn on the detection device (6) and drive the inspection slider (5) to move along the spider web track (4).

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