Movable intelligent dust measuring robot device and dust measuring method thereof

Abstract

The application discloses a movable intelligent dust measuring robot device for underground use and a dust measuring method thereof. The device comprises a robot main body, an installation chamber is arranged in the robot main body, two transverse box plates and two longitudinal box plates are arranged in the installation chamber, the transverse box plates and the longitudinal box plates are movable along the height direction of the robot main body, a transverse through slot is formed in the top of the robot main body and is used for the transverse box plates to pass through, a longitudinal through slot is formed in the top of the robot main body and is used for the longitudinal box plates to pass through, the two transverse box plates and the two longitudinal box plates are sequentially and independently moved to the top of the robot main body and are arranged to form a rectangular box body, dust detectors are arranged in the rectangular box body, a top plate is arranged above the rectangular box body, and the top plate is movable close to or away from the rectangular box body. The space method is used to intercept a certain space in the detection area, the air disturbance is reduced, the flowability of dust in the interception process is reduced, the dust concentration in the intercepted dust space is close to the actual dust concentration, and the dust detection precision is improved.

Description

Technical Field

[0001] This invention relates to the field of downhole dust measurement technology, specifically to a mobile downhole intelligent dust measurement robot device and its dust measurement method. Background Technology

[0002] In existing dust measurement methods, most underground dust measurement methods employ automated dust meters, often paired with mobile robots, to achieve unmanned automated dust measurement operations underground. The robot moves the automated dust meter to different locations, enabling multi-directional and multi-location underground dust measurement, effectively reflecting underground dust concentration. Currently, automated dust measurement uses an extraction method, drawing air and dust from the environment into a sealed space using a negative pressure mechanism. The automated dust meter then detects the dust concentration within this sealed space, reflecting the dust concentration in that area. However, due to the different specific gravities of air and dust, they flow at different velocities under negative pressure, resulting in a significant difference between the actual dust content in the air and the extracted dust content. This leads to poor detection accuracy and fails to accurately and intuitively reflect underground dust concentration, making it unsuitable for applications requiring precise underground concentration detection. Therefore, a more accurate dust measurement device is needed to meet the requirements of high-precision dust measurement applications. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a mobile intelligent dust detection robot device and its dust detection method. The device uses a space interception method to intercept a certain space within the detection area, thereby reducing air disturbance and dust mobility during the interception process. This makes the dust concentration in the intercepted dust space close to the actual dust concentration, improving the dust detection accuracy and making it suitable for use in the field of high-precision dust detection.

[0004] The objective of this invention is achieved through the following technical solution: a mobile intelligent dust monitoring robot device for downhole operation, comprising a robot body, a tracked walking mechanism mounted on the bottom of the robot body, an installation chamber within the robot body, two transverse boxes and two longitudinal boxes within the installation chamber, the transverse and longitudinal boxes moving along the height direction of the robot body, a transverse through-slot for the transverse boxes to pass through at the top of the robot body, and a longitudinal through-slot for the longitudinal boxes to pass through at the top of the robot body, wherein the two transverse boxes and the two longitudinal boxes move individually one by one to the installation chamber. A rectangular box is formed around the top of the robot body. A dust detector is installed on the top of the robot body and is located inside the rectangular box. A mounting base is fixed on the top of the robot body, and a top plate is provided on the top of the mounting base. The top plate moves closer to or away from the rectangular box and is adapted to the top of the rectangular box to seal the top opening of the rectangular box. An air inlet is provided through the top plate, and a blower mechanism is provided on the top of the top plate. The blower mechanism includes an air duct, one end of which is installed in the air inlet. The blower mechanism is used to make the dust inside the rectangular box float.

[0005] In some embodiments, a first lifting mechanism is connected to the bottom of each of the two transverse boxes, and a second lifting mechanism is connected to the bottom of each of the two longitudinal boxes. The first lifting mechanism includes a first lead screw and a first lifting column. The first lead screw is vertically arranged, and its bottom is rotatably connected to the robot body. The first lifting column is sleeved on the first lead screw and threadedly connected to it. The top of the first lifting column is connected to the transverse box. The second lifting mechanism includes a second lead screw and a second lifting column. The second lead screw is vertically arranged, and its bottom is rotatably connected to the robot body. The second lifting column is threadedly connected to the second lead screw, and its top is fixedly connected to the bottom of the longitudinal box. A driving mechanism is provided in the mounting cavity to drive the first lead screw and the second lead screw to rotate.

[0006] In some embodiments, the drive mechanism includes four worm gears arranged in a rectangular shape. A first worm wheel is provided on the first lead screw, and a second worm wheel is provided on the second lead screw. Two of the worm gears mesh with the first worm wheels on the two first lead screws, and the other two worm gears mesh with the second worm wheels on the two second lead screws. The drive mechanism is used to drive the worm gears to rotate.

[0007] In some embodiments, the drive mechanism is provided in two sets, the two sets of drive mechanisms are arranged diagonally, and the two drive mechanisms respectively drive the two worm gears arranged at right angles to rotate. The drive mechanism includes a motor and a two-stage adjustable reducer. The two-stage adjustable reducer includes a reduction gearbox, an input shaft, and a transmission shaft. The input shaft and the transmission shaft are rotatably connected in the reduction gearbox via bearings. One end of the input shaft is connected to the output shaft of the motor via a coupling. A pinion is keyed to the input shaft, and a large gear is keyed to the transmission shaft. The large gear meshes with the pinion. The reduction gearbox is divided into two transmission chambers by a partition. A transverse transmission assembly and a longitudinal transmission assembly are respectively installed in the two transmission chambers. The transverse transmission assembly includes a first sliding wheel and a first output shaft. The first sliding wheel is slidably sleeved on the transmission shaft via a spline. The first output shaft is hollow and rotatably connected to the reduction gearbox via a bearing. There is a gap between the first output shaft and the transmission shaft. A friction wheel is provided at one end of the first output shaft near the first sliding wheel. A friction pair is formed on the end face of the first sliding wheel near the first output shaft. A first gear is provided at the other end of the first output shaft through the reduction gearbox. A second gear is keyed to a worm gear near and parallel to the first output shaft. The second gear meshes with the first gear. The longitudinal transmission assembly includes a second sliding wheel, an intermediate shaft, and a second output shaft. The second sliding wheel is slidably mounted on the transmission shaft via a spline. The intermediate shaft is hollow, with one end rotatably connected to the reduction gearbox and the other end provided with a transmission friction wheel. A friction pair is formed on the end face of the second sliding wheel near the transmission friction wheel. A first bevel gear is provided on the intermediate shaft. The second output shaft is perpendicular to the transmission shaft and rotatably connected to the reduction gearbox. A second bevel gear and a third gear are respectively provided at both ends of the second output shaft. The second bevel gear meshes with the first bevel gear. A fourth gear is keyed onto a worm gear near and parallel to the second output shaft, and the fourth gear meshes with the third gear.

[0008] In some embodiments, an electromagnet is provided in both of the transmission chambers. The outer ring of the electromagnet is fixed on the gearbox, and the inner ring of the electromagnet is rotatably connected to the transmission shaft. One electromagnet is located between the partition and the first sliding wheel, and the other electromagnet is located between the partition and the second sliding wheel. The end faces of the first and second sliding wheels near the electromagnets are provided with magnetic plates opposite to the magnetic poles of the electromagnets.

[0009] In some embodiments, the drive shaft is provided with a first return spring in the spline groove where the first sliding wheel is installed, and the two ends of the first return spring are respectively connected to the first sliding wheel and the drive shaft. The drive shaft is provided with a second return spring in the spline groove where the second sliding wheel is installed, and the two ends of the second return spring are respectively connected to the second sliding wheel and the drive shaft.

[0010] In some embodiments, the inner sidewall of the transverse box plate is provided with a sliding groove, and rubber sealing strips are fixed on both sides of the longitudinal box plate. The rubber sealing strips are interference-fitted into the sliding grooves, and the top of the rubber sealing strips is provided with first wedge-shaped surfaces on both sides.

[0011] In some embodiments, the blower mechanism further includes a fan mounted on the top plate, and the fan's outlet is connected to the air duct.

[0012] In some embodiments, an electric push rod is horizontally mounted on the mounting base, the telescopic shaft of the electric push rod is connected to the top plate, an elastic sealing gasket is fixed at the bottom of the top plate, the elastic sealing gasket is interference-fitted with the rectangular box, and a second wedge-shaped surface is provided at the bottom of the elastic sealing gasket near one end of the rectangular box.

[0013] The dust measurement method of the mobile downhole intelligent dust measurement robot includes the following steps: S1. Cut off the dust measurement space; the two horizontal box plates and the two vertical box plates rise one by one to the top of the robot body to form a rectangular box. Finally, the top plate moves to cover the rectangular box to form a sealed dust measurement chamber. S2. Simulate a dust floating environment in the dust measuring chamber; blow air into the dust measuring chamber through a blower mechanism to make the dust float freely, simulating the dust floating environment. S3. Conduct dust measurement operations; use a dust detector to measure the dust concentration in the dust measurement chamber; S4. Dust removal; The dust in the dust measuring chamber is removed through a negative pressure mechanism; S5. Reset; the top plate, two transverse panels, and two longitudinal panels are restored to their original positions.

[0014] The beneficial effects of this invention are: 1. Two horizontal and two vertical panels rise sequentially to the top of the robot body to form a rectangular box. Finally, the top plate moves to the top of the rectangular box to seal the top opening, thus forming a sealed rectangular box. This allows for the capture of space within the detection area for testing. Furthermore, the horizontal, vertical, and top panels all move by contacting the air from the sides, resulting in a small contact area with the air, reducing air disturbance and minimizing dust flow during capture. This ensures that the dust concentration within the captured dust space closely approximates the actual dust concentration, improving dust detection accuracy and making it suitable for high-precision dust measurement applications.

[0015] 2. The dust inside the rectangular box is blown up by the blower mechanism, which prevents the dust from settling at the bottom of the rectangular box and makes the dust float freely, simulating the floating environment of dust in the well, so as to make the detection accuracy more precise. Attached Figure Description

[0016] Figure 1 This is a front view of the mobile downhole intelligent dust measuring robot device of the present invention; Figure 2 This is a top view of the mobile downhole intelligent dust measuring robot device of the present invention; Figure 3 This is a schematic diagram of the worm gear transmission in the mobile downhole intelligent dust measuring robot device of the present invention; Figure 4 This is a schematic diagram of the internal structure of the two-stage adjustable reducer in the mobile downhole intelligent dust measuring robot device of the present invention; Figure 5 This is a schematic diagram of the first lifting mechanism in the mobile downhole intelligent dust measuring robot device of the present invention; Figure 6 This is a schematic diagram of the second lifting mechanism in the mobile downhole intelligent dust measuring robot device of the present invention; In the diagram, 1-robot body, 2-installation chamber, 3-transverse panel, 4-longitudinal panel, 5-transverse slot, 6-longitudinal slot, 7-dust detector, 8-mounting base, 9-top plate, 10-air inlet, 11-air duct, 12-first lead screw, 13-first lifting column, 14-second lead screw, 15-second lifting column, 16-worm gear, 17-first worm wheel, 18-second worm wheel, 19-motor, 20-reduction gearbox, 21-input shaft, 22-drive shaft, 23-pinion gear, 24-large gear, 25-partition plate, 26-then ... 1. Sliding wheel, 27. First output shaft, 28. Friction wheel, 29. First gear, 30. Second gear, 31. Second sliding wheel, 32. Intermediate shaft, 33. Second output shaft, 34. Transmission friction wheel, 35. First bevel gear, 36. Second bevel gear, 37. Third gear, 38. Fourth gear, 39. Electromagnet, 40. Magnetic plate, 41. First return spring, 42. Second return spring, 43. Slide groove, 44. Rubber sealing strip, 45. Fan, 46. Electric push rod, 47. Elastic sealing gasket, 48. Second wedge surface. Detailed Implementation

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0018] like Figures 1 to 6As shown, the mobile intelligent dust monitoring robot device for downhole operation includes a robot body 1. A tracked walking mechanism is installed at the bottom of the robot body 1. An installation chamber 2 is provided inside the robot body 1. The installation chamber 2 contains two transverse panels 3 and two longitudinal panels 4. Both the transverse panels 3 and longitudinal panels 4 move along the height direction of the robot body 1. A transverse through-slot 5 is provided at the top of the robot body 1 for the transverse panels 3 to pass through. The shape and size of the transverse through-slot 5 are adapted to the size of the transverse panels 3, improving the sealing between the transverse panels 3 and the transverse through-slot 5 and preventing dust from entering the installation chamber 2 through the transverse through-slot 5. A longitudinal panel 4 is provided at the top of the robot body 1 for... The longitudinal through groove 6 is adapted to the size of the longitudinal box plate 4, improving the sealing between the longitudinal box plate 4 and the longitudinal through groove 6, preventing dust from entering the installation chamber 2 through the longitudinal through groove 6. The two transverse box plates 3 and the two longitudinal box plates 4 move sequentially and individually to the top of the robot body 1 to form a rectangular box. The individual movement reduces air disturbance during movement, reduces dust flow, and makes the dust concentration in the interception space more closely match the actual dust concentration. A dust detector 7 is installed on the top of the robot body 1, located inside the rectangular box. A mounting base 8 is fixed on the top of the robot body 1, and the top of the mounting base 8 is equipped with... A top plate 9 moves towards or away from the rectangular box. The top plate 9 is fitted to the top of the rectangular box to seal the top opening of the rectangular box. An air inlet 10 is provided through the top plate 9. A blower mechanism is provided on the top of the top plate 9. The blower mechanism includes an air duct 11, one end of which is installed in the air inlet 10. The blower mechanism is used to make the dust in the rectangular box float. The robot body 1 is driven by the track walking mechanism to walk on the underground road surface to achieve multi-directional and multi-location dust detection. Two horizontal box plates 3 and two vertical box plates 4 are raised to the top of the robot body 1 in sequence to form a rectangular box. Finally, the top plate 9 moves to the top of the rectangular box to seal the rectangular box. The top opening forms a sealed rectangular box, which then captures the space within the detection area for testing. The horizontal box panel 3, the vertical box panel 4, and the top panel 9 all move by contacting the air from the sides, resulting in a small contact area with the air, reducing air disturbance and decreasing the flow of dust during the capture process. This ensures that the dust concentration in the captured dust space is close to the actual dust concentration. Once the sealed rectangular box space is formed, a pneumatic blower mechanism blows the dust inside the rectangular box, preventing the dust from settling at the bottom of the rectangular box. This makes the dust appear to float freely, simulating the floating environment of dust underground, thus improving the detection accuracy and making it suitable for use in high-precision dust measurement fields.

[0019] Furthermore, such as Figure 1 and Figure 2As shown, the blower mechanism also includes a blower 45, which is installed on the top plate 9. The outlet of the blower 45 is connected to the air duct 11, and the inlet of the blower 45 is equipped with a filter screen to prevent dust from entering the well. By blowing air into the rectangular box through the blower 45, the dust is made to float, thereby improving the detection accuracy.

[0020] Furthermore, such as Figure 2 As shown, an electric push rod 46 is horizontally mounted on the mounting base 8. The telescopic shaft of the electric push rod 46 is connected to the top plate 9. An elastic sealing gasket 47 is fixed at the bottom of the top plate 9. The elastic sealing gasket 47 is interference-fitted with the rectangular box. The bottom of the elastic sealing gasket 47 near one end of the rectangular box is provided with a second wedge-shaped surface 48. The electric push rod 46 drives the top plate 9 to move. The elastic sealing gasket 47 is tightly attached to the top surface of the transverse box plate 3 and the longitudinal box plate 4, which improves the sealing strength between the top plate 9 and the rectangular box. The setting of the second wedge-shaped surface 48 makes it easy for the elastic sealing gasket 47 to be squeezed and deformed, so as to interfere with the rectangular box and improve the sealing strength.

[0021] In some embodiments, such as Figure 3 , Figure 5 and Figure 6As shown, the bottoms of the two transverse box plates 3 are each connected to a first lifting mechanism, and the bottoms of the two longitudinal box plates 4 are each connected to a second lifting mechanism. The first lifting mechanism includes a first lead screw 12 and a first lifting column 13. The first lead screw 12 is vertically arranged, and its bottom is rotatably connected to the robot body 1. The first lifting column 13 is sleeved on the first lead screw 12 and threadedly connected to it. The top of the first lifting column 13 is connected to the transverse box plate 3. When the transverse box plate 3 and the longitudinal box plates 4 are located within the mounting chamber 2, the top of the transverse box plate 3 fits into the transverse through groove 5 to close the transverse through groove 5, while simultaneously regulating the transverse... The box plate 3 is limited, and similarly, the top of the longitudinal box plate 4 is fitted into the longitudinal through groove 6 to close the longitudinal through groove 6 and limit the longitudinal box plate 4. When the first lead screw 12 rotates, the transverse box plate 3 will move along the axial direction of the first lead screw 12, realizing the up and down lifting of the transverse box plate 3. The second lifting mechanism includes a second lead screw 14 and a second lifting column 15. The second lead screw 14 is vertically set, and the bottom of the second lead screw 14 is rotatably connected to the robot body 1. The second lifting column 15 is threadedly connected to the second lead screw 14, and the top of the second lifting column 15 is fixedly connected to the bottom of the longitudinal box plate 4. When the second lead screw 14 rotates, the transverse box plate 3 will move along the axial direction of the first lead screw 12, realizing the up and down lifting of the transverse box plate 3. 2. During rotation, the longitudinal box plate 4 moves up and down along the axial direction of the second lead screw 12. The lifting and lowering of the transverse box plate 3 and the longitudinal box plate 4 are achieved through the formation of the lead screw transmission pair. The moving speed is relatively slow to further reduce air disturbance. A drive mechanism is provided in the mounting chamber 2. The drive mechanism is used to drive the first lead screw 12 and the second lead screw 14 to rotate. The drive mechanism includes four worm gears 16, which form a rectangular shape. A first worm wheel 17 is provided on the first lead screw 12, and a second worm wheel 18 is provided on the second lead screw 14. Two of the worm gears 16 are respectively connected to the first worm wheels 17 on the two first lead screws 12. 7. The other two worm gears 16 mesh with the second worm wheels 18 on the two second lead screws 14 respectively. The meshing of the worm wheels and worm gears drives the first lead screw 12 and the second lead screw 14 to rotate, realizing the lifting and lowering movement of the transverse box plate 3 and the longitudinal box plate 4. The drive mechanism is used to drive the worm gears 16 to rotate. There are two sets of drive mechanisms. The two sets of drive mechanisms are set diagonally. The two drive mechanisms drive the two worm gears 16 arranged at right angles to rotate respectively. In order to reduce the arrangement of drive mechanisms, two sets of drive mechanisms are set. The two sets of drive mechanisms drive the two worm gears 16 arranged at right angles to rotate respectively, so as to save the space occupied by the drive mechanism.

[0022] In some embodiments, such as Figure 3 and Figure 4As shown, the drive mechanism includes a motor 19 and a two-stage adjustable reducer. The two-stage adjustable reducer includes a gearbox 20, an input shaft 21, and a transmission shaft 22. Both the input shaft 21 and the transmission shaft 22 are rotatably connected to the gearbox 20 via bearings. One end of the input shaft 21 is connected to the output shaft of the motor 19 via a coupling. A pinion 23 is keyed to the input shaft 21, and a large gear 24 is keyed to the transmission shaft 22. The large gear 24 meshes with the pinion 23. The gearbox 20 is divided into two transmission chambers by a partition 25. A transverse transmission assembly and a longitudinal transmission assembly are respectively installed in the two transmission chambers. The motor 19 drives the input shaft 21 to rotate, and the input shaft 21 drives the transmission shaft 22 to rotate through the meshing of the pinion 23 and the large gear 24, thereby reducing the speed of the motor 19 for output, thus achieving speed reduction. The purpose is to make the movement of the transverse box plate 3 and the longitudinal box plate 4 slower, thereby reducing the impact on air disturbance. The transverse transmission assembly includes a first sliding wheel 26 and a first output shaft 27. The first sliding wheel 26 is slidably sleeved on the transmission shaft 22 via a spline. The first output shaft 27 is hollow and is rotatably connected to the reduction gearbox 20 via a bearing. There is a gap between the first output shaft 27 and the transmission shaft 22. A friction wheel 28 is provided at one end of the first output shaft 27 near the first sliding wheel 26. A friction pair is formed on the end face of the first sliding wheel 26 near the first output shaft 27. A first gear 29 is provided at the other end of the first output shaft 27 through the reduction gearbox 20. A second gear 30 is keyed to the worm gear 16 near and parallel to the first output shaft 27. The second gear 30 meshes with the first gear 29.The longitudinal transmission assembly includes a second sliding wheel 31, an intermediate shaft 32, and a second output shaft 33. The second sliding wheel 31 is slidably mounted on the transmission shaft 22 via a spline. The intermediate shaft 32 is hollow, with one end rotatably connected to the reduction gearbox 20 and the other end equipped with a transmission friction wheel 34. A friction pair is formed on the end face of the second sliding wheel 31 near the transmission friction wheel 34. A first bevel gear 35 is mounted on the intermediate shaft 32. The second output shaft 33 is perpendicular to the transmission shaft 22 and rotatably connected to the reduction gearbox 20. A second bevel gear 36 and a third gear 37 are respectively mounted at both ends of the second output shaft 33. A fourth gear 38 is keyed to a worm gear 16 that meshes with the first bevel gear 35 and is close to and parallel to the second output shaft 33. The fourth gear 38 meshes with the third gear 37. The transmission between the first output shaft 27 and the second output shaft 33 can be performed alternately without stopping the motor 19. This allows the transverse box plate 3 and the longitudinal box plate 4 to be raised and lowered independently by switching the connection method. Specifically, since both the first output shaft 27 and the hollow shaft 32 are hollow, the transmission shaft 22 will not drive the first output shaft 27 and the second output shaft 33 to move. When it is necessary to drive the transverse box plate 3 to move, the first sliding wheel 26 moves close to the friction wheel 28. This causes the friction pair of the first sliding wheel 26 to contact the friction wheel 28, forming a friction transmission pair. The transmission shaft 22 drives the first sliding wheel 26 to rotate. The first sliding wheel 26, through the contact between the friction pair and the friction wheel 28, drives the first output shaft 27 to rotate. The first output shaft 27, through the meshing of the first gear 29 and the second dimension 30, drives the corresponding worm gear 16 to rotate. The worm gear 16 drives the corresponding first worm wheel 17 to rotate, thereby driving the corresponding first lead screw 12 to rotate, which in turn drives the corresponding transverse box plate 3 to rise and fall. After the transverse box plate 3 has risen and fallen to its position, the first sliding wheel 26 returns to its original position, cutting off the power transmission of the first output shaft 27. At the same time, the second sliding wheel 26... The wheel 31 moves closer to the transmission friction wheel 34, causing the friction pair of the second sliding wheel 31 to contact the transmission friction wheel 34, thereby driving the intermediate shaft 32 to rotate. The intermediate shaft 32 drives the second output shaft 33 to rotate through the meshing of the first bevel gear 35 and the second bevel gear 36. The second output shaft 33 drives the corresponding worm gear 16 to rotate through the meshing of the third gear 37 and the fourth gear 38. The worm gear 16 drives the second worm wheel 18 to rotate, thereby driving the second lead screw 14 to rotate, realizing the lifting and lowering of the longitudinal box plate 4. In specific implementation, the two drive mechanisms are pneumatically operated independently, causing the two transverse box plates 3 and the two longitudinal box plates 4 to rise independently to form a rectangular box.

[0023] Furthermore, such as Figure 4As shown, each of the two transmission chambers is equipped with an electromagnet 39. The outer ring of the electromagnet 39 is fixed to the reduction gearbox 20, and the inner ring of the electromagnet 39 is rotatably connected to the transmission shaft 22. One electromagnet 39 is located between the partition plate 25 and the first sliding wheel 26, and the other electromagnet 39 is located between the partition plate 25 and the second sliding wheel 31. The end faces of the first sliding wheel 26 and the second sliding wheel 31 near the electromagnet 39 are equipped with magnetic plates 40 with opposite magnetic poles to the electromagnet 39. When the electromagnet 39 is energized, it generates a force that repels the first sliding wheel 26 and the second sliding wheel 31. This force causes the friction pair of the first sliding wheel 26 to contact the friction wheel 28, and the friction pair of the second sliding wheel 31 to contact the transmission friction wheel 34. The two drive mechanisms are equipped with four electromagnets 39. The four electromagnets 39 control the lifting and lowering of the two transverse box plates 3 and two transverse box plates 4 in a one-to-one correspondence. Thus, by energizing the four electromagnets 39 sequentially, a single transverse box plate can be controlled. The lifting and lowering of the transverse and longitudinal boxes 3 and 4; it is worth noting that after the dust concentration detection is completed, there is no need to worry about air disturbance. The two drive mechanisms can be started simultaneously to move the transverse box 3 and the longitudinal box 4 back to their original positions. The transmission shaft 22 is provided with a first return spring 41 in the spline groove where the first sliding wheel 26 is installed. The two ends of the first return spring 41 are connected to the first sliding wheel 26 and the transmission shaft 22, respectively. The transmission shaft 22 is provided with a second return spring 42 in the spline groove where the second sliding wheel 31 is installed. The two ends of the second return spring 42 are connected to the second sliding wheel 31 and the transmission shaft 22, respectively. When the electromagnet 39 controlling the first sliding wheel 26 is de-energized, the first sliding wheel 26 is pulled back to its original position under the force of the first return spring 41, cutting off the power transmission to the first output shaft 26. When the electromagnet 39 controlling the second sliding wheel 31 is de-energized, the second sliding wheel 31 is pulled back to its original position under the force of the second return spring 42, cutting off the power transmission to the second output shaft 33.

[0024] In some embodiments, such as Figure 2 As shown, the inner wall of the transverse box plate 3 is provided with a sliding groove 43, and rubber sealing strips 44 are fixed on both sides of the longitudinal box plate 4. The rubber sealing strips 44 are interference-fitted into the sliding groove 43. The top two sides of the rubber sealing strips 44 are provided with first wedge-shaped surfaces. By setting the rubber sealing strips 44, the sealing strength between the longitudinal box plate 4 and the transverse box plate 3 is improved, preventing dust from escaping during the blowing process and ensuring the accuracy of the test. At the same time, rubber pads are provided on the side walls of the transverse through groove 5 and the longitudinal through groove 6. By compressing the rubber pads, the gap between the transverse through groove 5 and the transverse box plate 3 and the gap between the longitudinal through groove 6 and the longitudinal box plate 4 are eliminated. By improving the sealing strength, the escape of dust and its flow into the installation chamber 2 are prevented.

[0025] The dust measurement method of the mobile downhole intelligent dust measurement robot includes the following steps: S1. Cut off the dust measurement space; the two horizontal box plates 3 and the two vertical box plates 4 rise one by one to the top of the robot body 1 to form a rectangular box. Finally, the top plate moves to cover the rectangular box to form a sealed dust measurement chamber. S2. Simulate a dust floating environment in the dust measuring chamber; blow air into the dust measuring chamber through a blower mechanism to make the dust float freely, simulating the dust floating environment. S3. Conduct dust measurement operations; use dust detector 7 to measure the dust concentration in the dust measurement chamber; S4. Dust removal; The dust in the dust measuring chamber is removed through a negative pressure mechanism; S5, Reset; Top plate 9, two transverse box plates 3 and two longitudinal box plates 4 return to their original positions.

[0026] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," and "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention. Furthermore, those skilled in the art will understand that the beneficial effects to be achieved by this invention are merely to achieve better beneficial effects compared with the current embodiments in the prior art under specific conditions, rather than to directly achieve the best use effect in the industry.

[0027] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A mobile intelligent dust monitoring robot device for downhole operation, comprising a robot body (1), wherein a tracked walking mechanism is installed at the bottom of the robot body (1), characterized in that, The robot body (1) has an installation chamber (2) inside, which contains two transverse boxes (3) and two longitudinal boxes (4). The transverse boxes (3) and longitudinal boxes (4) move along the height of the robot body (1). The top of the robot body (1) has a transverse through slot (5) for the transverse boxes (3) to pass through, and a longitudinal through slot (6) for the longitudinal boxes (4) to pass through. The two transverse boxes (3) and the two longitudinal boxes (4) move one by one to the top of the robot body (1) to form a rectangular box. The top of the robot body (1) is provided with A dust detector (7) is installed inside the rectangular box. A mounting base (8) is fixed on the top of the robot body (1). A top plate (9) is provided on the top of the mounting base (8). The top plate (9) moves closer to or away from the rectangular box. The top plate (9) is adapted to the top of the rectangular box to seal the top opening of the rectangular box. An air inlet (10) is provided through the top plate (9). A blower mechanism is provided on the top of the top plate (9). The blower mechanism includes an air duct (11). One end of the air duct (11) is installed in the air inlet (10). The blower mechanism is used to make the dust inside the rectangular box float.

2. The mobile intelligent dust monitoring robot device for downhole operation according to claim 1, characterized in that, The bottom of each of the two transverse box plates (3) is connected to a first lifting mechanism, and the bottom of each of the two longitudinal box plates (4) is connected to a second lifting mechanism. The first lifting mechanism includes a first lead screw (12) and a first lifting column (13). The first lead screw (12) is vertically arranged, and the bottom of the first lead screw (12) is rotatably connected to the robot body (1). The first lifting column (13) is sleeved on the first lead screw (12) and threadedly connected to the first lead screw (12). The top of the first lifting column (13) is connected to the transverse box plate. (3) The second lifting mechanism includes a second lead screw (14) and a second lifting column (15). The second lead screw (14) is vertically arranged. The bottom of the second lead screw (14) is rotatably connected to the robot body (1). The second lifting column (15) is threadedly connected to the second lead screw (14). The top of the second lifting column (15) is fixedly connected to the bottom of the longitudinal box plate (4). A driving mechanism is provided in the installation chamber (2). The driving mechanism is used to drive the first lead screw (12) and the second lead screw (14) to rotate.

3. The mobile downhole intelligent dust monitoring robot device according to claim 2, characterized in that, The drive mechanism includes four worms (16) arranged in a rectangular shape. A first worm wheel (17) is provided on the first lead screw (12), and a second worm wheel (18) is provided on the second lead screw (14). Two of the worms (16) mesh with the first worm wheels (17) on the two first lead screws (12), and the other two worms (16) mesh with the second worm wheels (18) on the two second lead screws (14). The drive mechanism is used to drive the worms (16) to rotate.

4. The mobile downhole intelligent dust measuring robot device according to claim 3, characterized in that, The drive mechanism is provided in two sets, which are arranged diagonally. The two drive mechanisms drive the two worm gears (16) arranged at right angles to rotate respectively. The drive mechanism includes a motor (19) and a two-stage adjustable reducer. The two-stage adjustable reducer includes a gearbox (20), an input shaft (21), and a transmission shaft (22). The input shaft (21) and the transmission shaft (22) are rotatably connected in the gearbox (20) through bearings. One end of the input shaft (21) is connected to the output shaft of the motor (19) through a coupling. A small gear (23) is keyed on the input shaft (21), and a large gear (24) is keyed on the transmission shaft (22). The large gear (24) meshes with the small gear (23). The gearbox (20) is divided into two transmission chambers by a partition (25). A transverse transmission assembly and a longitudinal transmission assembly are respectively provided in the two transmission chambers. The transverse transmission assembly includes a first sliding wheel (26) and a first output shaft (27). The first sliding wheel (26) is slidably sleeved on the transmission shaft (22) via a spline. The first output shaft (27) is hollow and is rotatably connected to the gearbox (20) via a bearing. There is a gap between the first output shaft (27) and the transmission shaft (22). A friction wheel (28) is provided at one end of the first output shaft (27) near the first sliding wheel (26). A friction pair is formed on the end face of the first sliding wheel (26) near the first output shaft (27). A first gear (29) is provided at the other end of the first output shaft (27) through the gearbox (20). A second gear (30) is keyed to a worm (16) near and parallel to the first output shaft (27). The second gear (30) meshes with the first gear (29). The longitudinal transmission assembly includes a second sliding wheel (31), an intermediate shaft (32), and a second output shaft (33). The second sliding wheel (31) is slidably mounted on the transmission shaft (22) via a spline. The intermediate shaft (32) is hollow. One end of the intermediate shaft (32) is rotatably connected to the reduction gearbox (20), and the other end is provided with a transmission friction wheel (34). A friction pair is formed on the end face of the second sliding wheel (31) near the transmission friction wheel (34). A first bevel gear (33) is provided on the intermediate shaft (32). 5) The second output shaft (33) is perpendicular to the transmission shaft (22). The second output shaft (33) is rotatably connected to the gearbox (20). The two ends of the second output shaft (33) are respectively provided with a second bevel gear (36) and a third gear (37). The second bevel gear (36) meshes with the first bevel gear (35). A fourth gear (38) is keyed on the worm (16) close to and parallel to the second output shaft (33). The fourth gear (38) meshes with the third gear (37).

5. The mobile downhole intelligent dust measuring robot device according to claim 4, characterized in that, Both of the transmission chambers are equipped with electromagnets (39). The outer ring of the electromagnet (39) is fixed on the gearbox (20), and the inner ring of the electromagnet (39) is rotatably connected to the transmission shaft (22). One electromagnet (39) is located between the partition (25) and the first sliding wheel (26), and the other electromagnet (39) is located between the partition (25) and the second sliding wheel (31). The end face of the first sliding wheel (26) near the electromagnet (39) and the end face of the second sliding wheel (31) near the electromagnet (39) are both provided with magnetic plates (40) opposite to the magnetic poles of the electromagnet (39).

6. The mobile downhole intelligent dust monitoring robot device according to claim 5, characterized in that, The drive shaft (22) has a first return spring (41) installed in the spline groove where the first sliding wheel (26) is installed. The two ends of the first return spring (41) are connected to the first sliding wheel (26) and the drive shaft (22) respectively. The drive shaft (22) has a second return spring (42) installed in the spline groove where the second sliding wheel (31) is installed. The two ends of the second return spring (42) are connected to the second sliding wheel (31) and the drive shaft (22) respectively.

7. The mobile downhole intelligent dust monitoring robot device according to claim 1, characterized in that, The inner sidewall of the transverse box plate (3) is provided with a sliding groove (43), and both sides of the longitudinal box plate (4) are fixed with rubber sealing strips (44). The rubber sealing strips (44) are interference-fitted into the sliding groove (43), and both sides of the top of the rubber sealing strips (44) are provided with a first wedge-shaped surface.

8. The mobile downhole intelligent dust monitoring robot device according to claim 7, characterized in that, The blower mechanism also includes a fan (45), which is mounted on the top plate (9), and the air outlet of the fan (45) is connected to the air duct (11).

9. The mobile downhole intelligent dust measuring robot device according to claim 1, characterized in that, An electric push rod (46) is horizontally mounted on the mounting base (8). The telescopic shaft of the electric push rod (46) is connected to the top plate (9). An elastic sealing gasket (47) is fixed at the bottom of the top plate (9). The elastic sealing gasket (47) is interference-fitted with the rectangular box. The bottom of the elastic sealing gasket (47) near one end of the rectangular box is provided with a second wedge-shaped surface (48).

10. The dust measurement method of the mobile downhole intelligent dust measurement robot according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Cut off the dust measurement space; the two horizontal box plates (3) and the two vertical box plates (4) rise one by one to the top of the robot body (1) to form a rectangular box. Finally, the top plate moves to cover the rectangular box to form a sealed dust measurement chamber. S2. Simulate a dust floating environment in the dust measuring chamber; blow air into the dust measuring chamber through a blower mechanism to make the dust float freely, simulating the dust floating environment. S3. Conduct dust measurement work; use a dust detector (7) to measure the dust concentration in the dust measurement chamber; S4. Dust removal; The dust in the dust measuring chamber is removed through a negative pressure mechanism; S5, reset; the top plate (9), the two transverse box plates (3) and the two longitudinal box plates (4) are restored to their original positions.

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