A telescopic crawler for use in a coal mine shaft

Abstract

This invention provides a telescopic crawler for underground coal mine exploration, comprising, from back to front, a cable connection section, a control section, a first transition connection section, an upper anchoring section, a second transition connection section, a telescopic section, a third transition connection section, a lower anchoring section, and a camera section. In this telescopic crawler, the control section receives control commands and controls the crawler's posture, the camera section monitors the conditions inside the borehole, and the upper, telescopic, and lower anchoring sections work together to enable the crawler to move at the bottom of the borehole. Compared to traditional manual or drilling rig-driven methods, this crawler allows for wider coverage of the exploration area, real-time monitoring and control of the crawler from outside the borehole during exploration, and real-time reception of feedback information from the crawler, thus improving exploration efficiency.

Description

Technical Field

[0001] This invention belongs to the field of underground coal mine detection technology, and relates to crawlers, specifically a telescopic crawler for underground coal mine holes. Background Technology

[0002] Underground boreholes play a crucial role in safe coal mining. Functions such as water exploration and drainage, gas extraction, grouting, and stress relief all rely on boreholes. During coal mining, the number and length of boreholes are increasing to mitigate hazards such as water damage, rock bursts, and coal and gas outbursts. With advancements in sensing technologies, sensors are becoming smaller and consume less power. Therefore, fully utilizing boreholes for various detection and investigation tasks will be more beneficial for disaster prevention and control.

[0003] Currently, drilling detection instruments are typically sent into the hole manually or by pushing with a drilling rig. However, manual pushing usually does not exceed 100 meters, and the detection area that can be covered is limited. Although drilling rig pushing can push the instrument a greater distance, the detection efficiency is low. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a telescopic crawler for underground coal mine boreholes, which solves the technical problems of limited coverage and low detection efficiency when using manual labor or drilling rigs to push detection instruments.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A telescopic crawler for use in underground coal mines includes, from back to front, a cable connection section, a control section, a first transition connection section, an upper anchoring section, a second transition connection section, a telescopic section, a third transition connection section, a lower anchoring section, and a camera section.

[0007] The upper anchoring section includes an anchoring section electrical connector, a front anchoring housing, a pressure-bearing housing, and a rear anchoring housing connected sequentially from front to back. A motor mounting base is fixedly installed on the inner wall of the pressure-bearing housing. An anchoring screw drive motor is fixedly installed inside the motor mounting base. The rotor of the anchoring screw drive motor is connected to a screw guide nut. An anchoring screw is movably installed inside the screw guide nut. The rear end of the anchoring screw passes through the anchoring screw drive motor and is fixedly connected to the front anchoring assembly. The front anchoring assembly is movably installed inside the front anchoring housing. The front end of the anchoring screw extends out of the screw guide nut and is fixedly connected to the rear anchoring assembly. The rear anchoring assembly is movably installed inside the rear anchoring housing.

[0008] The present invention also has the following technical features:

[0009] The upper anchoring section and the lower anchoring section have the same structure.

[0010] The front and rear anchoring shells are provided with straightening strip grooves, and straightening strips are provided in the straightening strip grooves. The straightening strips are installed on the front and rear anchoring shells.

[0011] The front anchoring assembly and the rear anchoring assembly have the same structure and are arranged opposite to each other. The front anchoring assembly includes a cylinder barrel that is movably installed inside the front anchoring housing. Both ends of the cylinder barrel are open and are respectively fixedly installed with an outer end cover and an inner end cover. The inner end cover is fixedly connected to the anchoring screw. A piston rod and a cylinder spring are installed inside the cylinder barrel. The inner end of the piston rod is close to the cylinder spring, and the outer end of the piston rod extends out of the through hole opened on the outer end cover and is fixedly installed with a strut connecting block. The inner ends of multiple struts are hinged to the strut connecting block. An involute anchor block is installed on the outer end of each strut. The involute anchor block can extend from the anchor block extension slots opened on the front anchoring housing and the rear anchoring housing. The anchor block extension slots are arranged one-to-one with the involute anchor blocks.

[0012] A buffer spring is coaxially mounted on the piston rod, and the buffer spring is located between the support rod connecting block and the inner end of the piston rod.

[0013] The telescopic section includes a telescopic section electrical connector whose front end is connected to the third transition connection section. The rear end of the telescopic section electrical connector is installed inside the front part of the telescopic section housing. The front part of the telescopic section inner housing is movably disposed inside the rear part of the telescopic section housing. The rear part of the telescopic section inner housing is connected to the second transition connection section.

[0014] A telescopic screw drive motor is fixedly installed on the inner wall of the front part of the telescopic short section outer shell. The front end of the telescopic screw is rotatably installed inside the telescopic screw drive motor. The front end of the push-pull rod is movably installed outside the rear end of the telescopic screw. The rear end of the push-pull rod is fixedly set on the inner wall of the telescopic short section inner shell. A linear bearing is fixedly installed on the inner wall of the front part of the telescopic short section outer shell. The push-pull rod passes through the linear bearing and is movably installed inside the linear bearing.

[0015] The control section includes a current conversion section, a cable connection section fixedly installed at the rear end of the current conversion section, and a front end of the current conversion section connected to the rear end of the main control outer cylinder. The rear end of the main control connector is installed in the front end of the main control outer cylinder, and the front end of the main control outer cylinder is connected to the first transition connection section. A main control inner cylinder is coaxially arranged inside the main control outer cylinder. The front end of the main control connector extends into the rear end of the main control inner cylinder, and a main control ring slide and a slip ring are installed in the front end of the main control inner cylinder. The space inside the current conversion section is the voltage conversion module setting cavity, and the space enclosed by the main control inner cylinder, the main control ring slide, and the slip ring is the communication module setting cavity.

[0016] The main control connector is equipped with a main control frame, on which a main control circuit board, a photoelectric conversion module, and a switch board are mounted. The first interface of the switch board is connected to the main control circuit board, the second interface of the switch board is connected to the communication module in the communication module cavity, the third interface of the switch board is connected to the photoelectric conversion module, and the photoelectric conversion module is connected to the photoelectric composite cable in the voltage conversion module cavity.

[0017] The rear end of the current conversion sub is fitted with a cable connector fixing nut.

[0018] The cable connection section includes a cable connector installed inside the control section. A cable connector protective shell is fixedly installed outside the cable connector, and a protective washer is provided inside the cable connector protective shell. The protective washer is located at the rear end of the cable connector.

[0019] The camera section includes a camera section housing, a sealing cover at the front end of the camera section housing, a lens hole on the sealing cover and a lens protection transparent cover, and a camera section electrical connector at the rear end of the camera section housing, which is connected to the lower anchoring section; an industrial camera is installed inside the camera section housing, and a camera communication module and an LED light source board are installed on the industrial camera.

[0020] Compared with the prior art, the present invention has the following technical effects:

[0021] This invention relates to a telescopic crawler for underground coal mine exploration. The control section receives control commands and controls the crawler's posture, while the camera section monitors the borehole conditions. The upper anchoring section, telescopic section, and lower anchoring section work together to enable the crawler's movement at the bottom of the borehole. Compared to traditional manual or drilling rig-driven methods, this crawler allows for wider coverage of the exploration area during underground exploration. Furthermore, it enables real-time monitoring and control of the crawler from outside the borehole during exploration, and allows for real-time reception of feedback information from the crawler, thus improving exploration efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a telescopic crawler used in underground coal mine shafts.

[0023] Figure 2 A schematic diagram of the external structure for anchoring the short section.

[0024] Figure 3 This is a schematic diagram of the internal structure of the anchoring section.

[0025] Figure 4 This is a schematic diagram of the external structure of the anchoring component.

[0026] Figure 5 This is a schematic diagram of the internal structure of the anchoring component.

[0027] Figure 6 This is a schematic diagram of the external structure of the telescopic sub.

[0028] Figure 7 This is a schematic diagram of the internal structure of the telescopic sub.

[0029] Figure 8 A schematic diagram of the external structure for controlling the short section.

[0030] Figure 9 A schematic diagram of the internal structure of the control section.

[0031] Figure 10 This is a structural diagram of a cable connection section.

[0032] The meanings of the labels in the diagram are as follows: 1-Cable connection section, 2-Control section, 3-First transition connection section, 4-Upper anchoring section, 5-Second transition connection section, 6-Telescopic section, 7-Third transition connection section, 8-Lower anchoring section, 9-Camera section.

[0033] 101-Cable connector, 102-Cable connector protective shell, 103-Protective washer.

[0034] 201-Current conversion short section, 202-Main control connector, 203-Main control outer cylinder, 204-Main control inner cylinder, 205-Main control ring slide, 206-Slip ring, 207-Voltage conversion module setting cavity, 208-Communication module setting cavity, 209-Main control frame, 210-Main control circuit board, 211-Photoelectric conversion module, 212-Switch board, 213-Cable connector fixing nut.

[0035] 401-Anchoring short-section electrical connector, 402-Front anchoring housing, 403-Pressure-bearing housing, 404-Rear anchoring housing, 405-Motor mounting base, 406-Anchoring screw drive motor, 407-Screw guide nut, 408-Anchoring screw, 409-Front anchoring assembly, 410-Rear anchoring assembly, 411-Straightening bar groove, 412-Straightening bar, 413-Anchor block extension groove.

[0036] 601-Telescopic short section electrical connector, 602-Telescopic short section outer shell, 603-Telescopic short section inner shell, 604-Telescopic lead screw drive motor, 605-Telescopic lead screw, 606-Push-pull rod, 607-Linear bearing.

[0037] 40901-Cylinder barrel, 40902-Outer end cap, 40903-Inner end cap, 40904-Piston rod, 40905-Cylinder spring, 40906-Support rod connecting block, 40907-Support rod, 40908-Involute anchor block, 40909-Buffer spring.

[0038] The specific content of the present invention will be further explained in detail below with reference to the embodiments. Detailed Implementation

[0039] It should be noted that, unless otherwise specified, all components in this invention are components known in the art, such as:

[0040] Cable connector 101 adopts a conventional optoelectronic composite cable connector known in the prior art.

[0041] The slip ring 206 adopts a conventional stylus slip ring PCB known in the prior art, also called a PCB slip ring or PCB slip ring 206.

[0042] The photoelectric conversion module 211 adopts a conventional photoelectric conversion module known in the prior art.

[0043] The anchoring short-section electrical connector 401, the telescopic short-section electrical connector 601, and the camera short-section electrical connector employ conventional electrical connectors known in the prior art.

[0044] The anchor screw drive motor 406 uses a motor known in the prior art, such as a high-performance DC brushless hollow motor with an integrated driver in the DJI RoboMaster GM6020.

[0045] The telescopic screw drive motor 604 uses a motor known in the prior art, such as the SSS 56104 6-pole brushless internal rotor water-cooled motor.

[0046] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0047] Example:

[0048] This embodiment provides a telescopic crawler for use in underground coal mine shafts, such as... Figure 1 As shown, the cable connection section 1, control section 2, first transition connection section 3, upper anchoring section 4, second transition connection section 5, telescopic section 6, third transition connection section 7, lower anchoring section 8, and camera section 9 are connected sequentially from back to front (i.e., along the direction from the orifice opening to the bottom of the orifice).

[0049] In this embodiment, the first transition connecting section 3, the second transition connecting section 5, and the third transition connecting section 7 have the same structure. The transition connecting section is a hollow shell structure, which serves to connect the sections and isolate the various functional sections. The first transition connecting section 3, the second transition connecting section 5, and the third transition connecting section 7 can also be replaced by a bearing structure.

[0050] As one specific solution in this embodiment, such as Figure 2 and Figure 3 As shown, the upper anchoring section 4 and the lower anchoring section 8 have the same structure; the upper anchoring section 4 includes an anchoring section electrical connector 401, a front anchoring housing 402, a pressure-bearing housing 403, and a rear anchoring housing 404 connected sequentially from front to back; a motor mounting base 405 is fixedly installed on the inner wall of the pressure-bearing housing 403, and an anchoring screw drive motor 406 is fixedly installed inside the motor mounting base 405, the rotor of the anchoring screw drive motor 406 is connected to the screw guide nut 407. An anchoring screw 408 is movably installed inside the lead screw guide nut 407. The rear end of the anchoring screw 408 passes through the anchoring screw drive motor 406 and is fixedly connected to the front anchoring assembly 409, which is movably disposed inside the front anchoring housing 402. The front end of the anchoring screw 408 extends out of the lead screw guide nut 407 and is fixedly connected to the rear anchoring assembly 410, which is movably disposed inside the rear anchoring housing 404.

[0051] In this embodiment, the main function of the upper anchoring short section 4 and the lower anchoring short section 8 is to anchor the short section only to the hole wall to prevent slippage.

[0052] As one specific solution in this embodiment, such as Figure 2 As shown, the front anchoring housing 402 and the rear anchoring housing 404 are provided with straightening grooves 411, and straightening bars 412 are provided in the straightening grooves 411. The straightening bars 412 are installed on the front anchoring housing 402 and the rear anchoring housing 404. In this embodiment, the straightening bars 412 are located at both ends of the upper anchoring section 4 and the lower anchoring section 8 to form a centering and straightening effect, ensuring that the crawler can remain stable during movement.

[0053] As one specific solution in this embodiment, such as Figure 4 and Figure 5As shown, the front anchoring assembly 409 and the rear anchoring assembly 410 have the same structure and are arranged opposite to each other. The front anchoring assembly 409 includes a cylinder 40901 movably disposed within the front anchoring housing 402. Both ends of the cylinder 40901 are open and respectively fixedly mounted with an outer end cap 40902 and an inner end cap 40903. The inner end cap 40903 is fixedly connected to the anchoring screw 408. A piston rod 40904 and a cylinder spring 40905 are disposed inside the cylinder 40901. The inner end of the piston rod 40904 is close to the cylinder spring 40905. 5. The outer end of the piston rod 40904 extends out of the through hole opened on the outer end cover 40902 and is fixedly provided with a support rod connecting block 40906; the inner ends of multiple support rods 40907 are hinged to the support rod connecting block 40906, and an involute anchor block 40908 is movably installed on the outer end of each support rod 40907. The involute anchor block 40908 can extend from the anchor block extension slot 413 opened on the front anchor housing 402 and the rear anchor housing 404, and the anchor block extension slot 413 is set one-to-one with the involute anchor block 40908.

[0054] In this embodiment, there are three involute anchor blocks 40908. The number of involute anchor blocks 40908 is set according to the actual situation. The involute anchor blocks 40908 are installed on the support rod 40907 in a hinged manner.

[0055] In this embodiment, the working principle of the upper anchoring section 4 and the lower anchoring section 8 is as follows: When the anchoring screw drive motor 406 rotates in the forward direction, the rotor of the anchoring screw drive motor 406 rotates, causing the screw guide nut 407 to rotate. The rotational force of the screw guide nut 407 is converted into an axial force and drives the anchoring screw 408 to move forward. At this time, the support rod 40907 of the front anchoring assembly 409 opens, causing the involute anchor block 40908 to extend from the anchor block extension slot 413. At this time, shortening the telescopic section 6 will pull the upper anchoring section 4. Due to the special structure of the involute anchor block 40908, the angle between the involute anchor block 40908 and the support rod 40907 of the upper anchoring short section 4 will decrease (i.e., converge inward), allowing the upper anchoring short section 4 to move forward. However, if the telescopic short section 6 is extended at this time, the angle between the involute anchor block 40908 and the support rod 40907 of the upper anchoring short section 4 will increase (i.e., open outward), making the fit between the involute anchor block 40908 and the hole wall more tighter and increasing the friction. This prevents the upper anchoring short section 4 from retracting, and the crawler can still be anchored inside the hole.

[0056] As one specific solution in this embodiment, such as Figure 5 As shown, a buffer spring 40909 is coaxially arranged on the piston rod 40904, and the buffer spring 40909 is located between the support rod connecting block 40906 and the inner end of the piston rod 40904.

[0057] In this embodiment, when the cylinder barrel 40901 moves along the axial direction, the piston rod 40904 and the cylinder barrel 40901 move relative to each other. The buffer spring 40909 and the cylinder spring 40905 can provide buffering force in this process, so that the involute anchor block 40908 can fit well with the hole wall in the hole of 90mm to 130mm.

[0058] As one specific solution in this embodiment, such as Figure 6 and Figure 7 As shown, the telescopic sub section 6 includes a telescopic sub section electrical connector 601 whose front end is connected to the third transition connecting sub section 7. The rear end of the telescopic sub section electrical connector 601 is installed inside the front part of the telescopic sub section housing 602. The front part of the telescopic sub section inner housing 603 is movably disposed inside the rear part of the telescopic sub section housing 602. The rear part of the telescopic sub section inner housing 603 is connected to the second transition connecting sub section 5. A telescopic screw drive motor 604 is fixedly installed on the inner wall of the front part of the telescopic sub section housing 602. The front end of the telescopic screw 605 is rotatably installed inside the telescopic screw drive motor 604. The front end of the push-pull rod 606 is movably installed outside the rear end of the telescopic screw 605. The rear end of the push-pull rod 606 is fixedly disposed on the inner wall of the telescopic sub section inner housing 603. A linear bearing 607 is fixedly installed on the inner wall of the front part of the telescopic sub section housing 602. The push-pull rod 606 passes through the linear bearing 607 and is movably installed inside the linear bearing 607.

[0059] In this embodiment, the telescopic sub-section 6 works as follows: When the telescopic screw drive motor 604 rotates in the forward direction, it drives the telescopic screw 605 to rotate. The rotational force of the telescopic screw 605 is converted into an axial force, driving the push-pull rod 606 to move backward. The inner housing 603 of the telescopic sub-section extends out of the outer housing 602 of the telescopic sub-section under the action of the push-pull rod 606, and the telescopic sub-section 6 extends. When the telescopic screw drive motor 604 rotates in the reverse direction, it drives the telescopic screw 605 to rotate. The rotational force of the telescopic screw 605 is converted into an axial force, driving the push-pull rod 606 to move forward. The inner housing 603 of the telescopic sub-section retracts into the outer housing 602 of the telescopic sub-section under the action of the push-pull rod 606, and the telescopic sub-section 6 shortens. The linear bearing 607 plays a guiding and supporting role for the push-pull rod 606 in the above process.

[0060] As one specific solution in this embodiment, such as Figure 8 and Figure 9As shown, the control section 2 includes a current conversion section 201. A cable connection section 1 is fixedly installed in the rear end of the current conversion section 201. The front end of the current conversion section 201 is connected to the rear end of the main control outer cylinder 203. The rear end of the main control connector 202 is installed in the front end of the main control outer cylinder 203. The front end of the main control outer cylinder 203 is connected to the first transition connection section 3. A main control inner cylinder 204 is coaxially arranged inside the main control outer cylinder 203. The front end of the main control connector 202 extends into the rear end of the main control inner cylinder 204. A main control ring slide 205 and a slip ring 206 are installed in the front end of the main control inner cylinder 204. The space inside the current conversion section 201 is for the voltage conversion module. The space enclosed by cavity 207, main control inner cylinder 204, main control ring slide 205, and slip ring 206 is the communication module setting cavity 208; a main control frame 209 is set inside the main control connector 202, and a main control circuit board 210, a photoelectric conversion module 211, and a switch board 212 are installed on the main control frame 209; the first interface of the switch board 212 is connected to the main control circuit board 210, the second interface of the switch board 212 is connected to the communication module in the communication module setting cavity 208, the third interface of the switch board 212 is connected to the photoelectric conversion module 211, and the photoelectric conversion module is connected to the photoelectric composite cable in the voltage conversion module setting cavity 207.

[0061] In this embodiment, the communication module adopts a conventional Wi-Fi module known in the prior art. The main function of the control section 2 is to cooperate with the orifice software to control the crawler. The main control circuit board 210 receives the orifice software instructions, decomposes and converts them into internal instructions, and sends them to the anchor screw drive motor 406 and the telescopic section 6 via the CAN bus. The Wi-Fi module of the control section 2 is used to realize wireless network communication, and the photoelectric conversion module 211 is used to realize the conversion of optical signals and electrical signals. Through the above settings, the transmission of video signals and control signals can be realized.

[0062] In this embodiment, the voltage conversion module mounting cavity 207 within the current conversion section 201 is used to mount a battery, a first voltage conversion module, a second voltage conversion module, and a third voltage conversion module, wherein the first voltage conversion module is used to convert 220V... ～ The 127V DC power is converted to 24V AC power. The second voltage conversion module is used to convert the 24V AC power to 12V AC power. The third voltage conversion module is used to convert the 24V AC power to 5V AC power. The 24V AC power is used to power the telescopic screw drive motor 604 and the anchor screw drive motor 406. The 12V AC power is used to power the photoelectric conversion module 211, the switch board 212, and the industrial camera, LED light source board, and Wi-Fi module of the camera section 9. The 5V AC power is used to power the main control circuit board 210.

[0063] In this embodiment, the current conversion section 201 is also provided with an optical fiber connector slide (not shown in the figure), which is used to set and connect the optical fiber composite cable.

[0064] As one specific solution in this embodiment, such as Figure 8 and Figure 9 As shown, a cable connector fixing nut 213 is installed at the rear end of the current conversion stub 201; used to fix the cable connector 101 inside the current conversion stub 201.

[0065] As one specific solution in this embodiment, such as Figure 10 As shown, the cable connector 1 includes a cable connector 101 installed in the control connector 2. A cable connector protective shell 102 is fixedly installed on the outside of the cable connector 101. A protective washer 103 is provided inside the cable connector protective shell 102. The protective washer 103 is located at the rear end of the cable connector 101.

[0066] In this embodiment, the cable connector 1 is used to connect the crawler to the borehole controller, enabling the operator to control and monitor the crawler inside the borehole in real time from outside the borehole through the borehole controller.

[0067] As a specific embodiment, the camera section 9 includes a camera section housing, a sealing cover is provided at the front end of the camera section housing, a lens hole is opened on the sealing cover and covered with a lens protection transparent cover plate, and a camera section electrical connector is provided at the rear end of the camera section housing, which is connected to the electrical connector of the lower anchoring section 8; an industrial camera is provided inside the camera section housing, and a camera communication module and an LED light source board are installed on the industrial camera.

[0068] In this embodiment, the main function of the camera section 9 is to capture the image inside the hole and transmit the video to the control section 2. The industrial camera is responsible for capturing video inside the hole. The camera communication module uses a known Wi-Fi module. The Wi-Fi module is connected to the industrial camera via a network cable and uses a wireless network to transmit the video signal to the Wi-Fi module of the control section. The LED light source board is used to provide illumination inside the hole. The LED light source transmits the light source to the outside of the camera section structure through a light guide. The anchoring section electrical connector 401 is used to connect the lower anchoring section's anchoring section electrical connector 401 to provide power to the camera section. The Wi-Fi module, industrial camera, and LED light source board are all powered by a 12V DC power supply.

[0069] The working process of this invention is as follows:

[0070] Step 1, Connect the crawler:

[0071] Connect the orifice controller and the telescopic crawler in the underground coal mine orifice. Turn on the power to the telescopic crawler in the underground coal mine orifice through the orifice controller and start the camera section 9.

[0072] Step 2, perform initialization:

[0073] Check the status of telescopic section 6. If telescopic section 6 has not reached its limit retraction state, send a command to the telescopic screw drive motor 604 of telescopic section 6 through the orifice controller to make telescopic section 6 retract until it reaches its limit retraction state.

[0074] Check the status of the upper anchoring section 4 and the lower anchoring section 8. If the support rod 40907 of the upper anchoring section 4 and the lower anchoring section 8 has not reached the limit of retraction, then send a command through the orifice controller to the anchoring screw drive motor 406 of the upper anchoring section 4 and the lower anchoring section 8, so that the telescopic screw 605 moves to the position of the center of the pressure-bearing shell 403. At this time, the support rod 40907 retracts to the limit of retraction.

[0075] Step 3, crawl towards the bottom of the hole:

[0076] After initialization, the orifice controller sends a command to the anchoring screw drive motor 406 of the upper anchoring section 4 and the lower anchoring section 8, controlling the motor to rotate forward. The anchoring screw 408 moves forward, driving the front anchoring assembly 409 forward. The involute anchor block 40908 of the front anchoring assembly 409 extends from the anchor block extension slot 413, anchoring the crawler to the orifice wall. Then, a command is sent to the telescopic screw drive motor 604, controlling the motor to rotate forward. The telescopic section 6 extends and advances the lower anchoring section 8 forward. Another command is sent to the telescopic screw drive motor 604, controlling the motor to rotate in the opposite direction. The telescopic section 6 shortens and pulls the upper anchoring section 4 forward. This process is repeated until the total travel of the crawler covers the entire designated detection section.

[0077] Step 4, crawl towards the opening:

[0078] After initialization, the orifice controller sends a command to the anchoring screw drive motors 406 of the upper anchoring section 4 and the lower anchoring section 8, controlling the motors to rotate in the reverse direction. The anchoring screw 408 moves backward, driving the rear anchoring assembly 410 backward. The involute anchor block 40908 of the rear anchoring assembly 410 extends from the anchor block extension slot 413, anchoring the crawler to the orifice wall. Then, a command is sent to the telescopic screw drive motor 604, controlling the motor to rotate in the forward direction. The telescopic section 6 extends and pushes the upper anchoring section 4 backward. Another command is sent to the telescopic screw drive motor 604, controlling the motor to rotate in the reverse direction. The telescopic section 6 shortens and pulls the anchoring section 8 backward. This process is repeated until the total travel of the crawler covers the entire designated detection section.

[0079] Step 5: After the exploration is completed, the borehole controller sends a command to the anchor screw drive motor 406, causing the support rod 40907 and the involute anchor block 40908 to retract, and then the crawler is pulled out of the borehole.

Claims

1. A telescopic crawler for use in underground coal mine shafts, characterized in that, It includes, from back to front, a cable connection section, a control section, a first transition connection section, an upper anchoring section, a second transition connection section, a telescopic section, a third transition connection section, a lower anchoring section, and a camera section; The upper anchoring section includes an anchoring section electrical connector, a front anchoring housing, a pressure-bearing housing, and a rear anchoring housing connected sequentially from front to back. A motor mounting base is fixedly installed on the inner wall of the pressure-bearing housing. An anchoring screw drive motor is fixedly installed in the motor mounting base. The rotor of the anchoring screw drive motor is connected to a screw guide nut. An anchoring screw is movably installed in the screw guide nut. The rear end of the anchoring screw passes through the anchoring screw drive motor and is fixedly connected to the front anchoring assembly. The front anchoring assembly is movably installed in the front anchoring housing. The front end of the anchoring screw extends out of the screw guide nut and is fixedly connected to the rear anchoring assembly. The rear anchoring assembly is movably installed in the rear anchoring housing. The upper anchoring sub and the lower anchoring sub have the same structure; The front anchoring component and the rear anchoring component have the same structure and are arranged opposite to each other; The front anchoring assembly includes a cylinder movably disposed within the front anchoring housing. Both ends of the cylinder are open and respectively fixedly fitted with an outer end cap and an inner end cap. The inner end cap is fixedly connected to the anchoring screw. A piston rod and a cylinder spring are disposed inside the cylinder. The inner end of the piston rod is close to the cylinder spring, and the outer end of the piston rod extends out of a through hole on the outer end cap and is fixedly fitted with a strut connecting block. The inner ends of multiple struts are hinged to the strut connecting block. An involute anchor block is movably mounted on the outer end of each strut. The involute anchor block can extend from the anchor block extension slots on the front and rear anchoring housings. The anchor block extension slots correspond one-to-one with the involute anchor blocks. A buffer spring is coaxially mounted on the piston rod, and the buffer spring is located between the support rod connecting block and the inner end of the piston rod. The telescopic section includes a telescopic section electrical connector whose front end is connected to the third transition connection section. The rear end of the telescopic section electrical connector is installed inside the front part of the telescopic section housing. The front part of the telescopic section inner housing is movably disposed inside the rear part of the telescopic section housing. The rear part of the telescopic section inner housing is connected to the second transition connection section. A telescopic screw drive motor is fixedly installed on the inner wall of the front part of the telescopic short section outer shell. The front end of the telescopic screw is rotatably installed inside the telescopic screw drive motor. The front end of the push-pull rod is movably installed outside the rear end of the telescopic screw. The rear end of the push-pull rod is fixedly set on the inner wall of the telescopic short section inner shell. A linear bearing is fixedly installed on the inner wall of the front part of the telescopic short section outer shell. The push-pull rod passes through the linear bearing and is movably installed inside the linear bearing.

2. The telescopic crawler for underground coal mine shafts as described in claim 1, characterized in that, The front and rear anchoring shells are provided with straightening strip grooves, and straightening strips are provided in the straightening strip grooves. The straightening strips are installed on the front and rear anchoring shells.

3. The telescopic crawler for underground coal mine shafts as described in claim 1, characterized in that, The control section includes a current conversion section, a cable connection section fixedly installed at the rear end of the current conversion section, and a front end of the current conversion section connected to the rear end of the main control outer cylinder. The rear end of the main control connector is installed inside the front end of the main control outer cylinder, and the front end of the main control outer cylinder is connected to the first transition connection section. A main control inner cylinder is coaxially arranged inside the main control outer cylinder. The front end of the main control connector extends into the rear end of the main control inner cylinder, and a main control ring slide and a slip ring are installed inside the front end of the main control inner cylinder. The space inside the current conversion section is the voltage conversion module mounting cavity, and the space enclosed by the main control inner cylinder, the main control ring slide, and the slip ring is the communication module mounting cavity. The main control connector is equipped with a main control frame, on which a main control circuit board, a photoelectric conversion module, and a switch board are mounted. The first interface of the switch board is connected to the main control circuit board, the second interface of the switch board is connected to the communication module in the communication module cavity, the third interface of the switch board is connected to the photoelectric conversion module, and the photoelectric conversion module is connected to the photoelectric composite cable in the voltage conversion module cavity.

4. The telescopic crawler for underground coal mine shafts as described in claim 3, characterized in that, The rear end of the current conversion sub is fitted with a cable connector fixing nut.

5. The telescopic crawler for underground coal mine shafts as described in claim 1, characterized in that, The cable connection section includes a cable connector installed inside the control section. A cable connector protective shell is fixedly installed outside the cable connector, and a protective washer is provided inside the cable connector protective shell. The protective washer is located at the rear end of the cable connector.

6. The telescopic crawler for underground coal mine shafts as described in claim 1, characterized in that, The camera section includes a camera section housing, a sealing cover at the front end of the camera section housing, a lens hole on the sealing cover and a lens protection transparent cover, and a camera section electrical connector at the rear end of the camera section housing, which is connected to the lower anchoring section; an industrial camera is installed inside the camera section housing, and a camera communication module and an LED light source board are installed on the industrial camera.

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