Upward ultra-deep drilling crawling device in complex environment of underground coal mine and using method of upward ultra-deep drilling crawling device

Abstract

The upward ultra-deep drilling crawling device for the underground complex environment of the coal mine comprises a body, and a high-definition camera is arranged at the front end of the body; a plurality of supporting leg assemblies are arranged on the side wall of the body, and each supporting leg assembly comprises at least two crawling supporting legs evenly distributed in the circumferential direction. One end of each crawling supporting leg is hinged to the side wall of the body, the other end of each crawling supporting leg is rotationally matched with a walking wheel, and the walking wheels are connected with a walking motor in a matched mode. The crawling supporting legs are connected with tight supporting assemblies. The invention further discloses a using method of the upward ultra-deep drilling crawling device for the underground complex environment of the coal mine. Through the arrangement of the overall structure, crawling along a drill hole and collection of a fracture development image in the drill hole are achieved, and the traditional mode that an industrial camera is pushed to detect a drill hole wall fracture through manual hole climbing and rod lifting is replaced; the problems that the labor intensity is high, the efficiency is low and the continuous detection requirement is difficult to meet in traditional manual hole climbing, rod lifting and industrial camera pushing detection are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of ultra-deep borehole detection in a complex environment underground in a coal mine, and specifically relates to an upward ultra-deep borehole crawling device in a complex environment underground in a coal mine and a use method thereof. Background Art

[0002] Ultra-deep hole blasting is widely used in the process of coal mining. It can promote the generation of cracks in coal rock media, thereby achieving the purpose of weakening its strength, improving permeability, and transferring stress. If it is blasting weakening of thick hard roof / hard top coal, blasting permeability increase of coal seam, blasting of coal pillars in goaf, etc., this method requires drilling. The blasting effect is evaluated and the blasting parameters are optimized by the number, extension length and direction of pre-blasting cracks in the borehole and the blasting cracks in the adjacent peephole. Therefore, efficient, accurate, convenient and fast detection of cracks inside the borehole is of great significance for evaluating the effectiveness of the means used and ensuring safe production in coal mines.

[0003] Traditional methods of detecting cracks in borehole walls mostly use manual lifting of poles to push industrial cameras for detection, and then analyze the development of cracks in the borehole based on the collected images. This method has certain limitations. First, manual climbing of the hole, lifting of poles and pushing of industrial cameras is not only labor-intensive, but also inefficient, and it is difficult to meet the needs of continuous detection, especially when the drilling depth is greater than 30 meters. Due to the large physical exertion of workers, the heavy weight of the pole, and the water in the hole, it is difficult to continue detection. Secondly, manual operation is often limited by physical strength, environment, line of sight and other factors, such as low illumination, humidity, dust, narrow space, etc., and the clarity and stability of the camera cannot be guaranteed.

[0004] Therefore, it is an urgent need to develop a crawling mechanism that carries a camera and can climb along the borehole wall by itself to detect cracks inside the borehole, so as to replace the traditional method of manual climbing and lifting poles to push industrial cameras to detect cracks in the borehole wall. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide an upward ultra-deep drilling crawling device and a method of use in a complex environment underground in a coal mine.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] An upward ultra-deep drilling crawling device for complex underground coal mine environments comprises a main body, and a high-definition camera is arranged at the front end of the main body;

[0008] A plurality of groups of leg assemblies are arranged on the side wall of the body along the front-rear direction, and the leg assembly includes at least two crawling legs evenly arranged along the circumferential direction; one end of the crawling leg is hingedly connected to the side wall of the body, and the other end of the crawling leg is rotatably matched with a walking wheel, and the walking wheel is adaptively connected to the walking motor;

[0009] The crawling legs are connected with a tightening assembly for pressing the traveling wheels against the wall of the drill hole.

[0010] Preferably, the tightening assembly includes a hydraulic cylinder, an end of the hydraulic cylinder is fixedly connected to the side wall of the main body, a piston end of the hydraulic cylinder is fixedly connected to one end of a support spring, the other end of the support spring is fixedly connected to the central rotating shaft of the roller, and the roller rolls in the rolling groove of the corresponding crawling leg.

[0011] Preferably, a brake is provided at one end of the crawling leg close to the walking wheel.

[0012] Preferably, a pressure sensor for detecting the pressure applied is provided on the traveling wheel.

[0013] Preferably, a rotation speed sensor is arranged on the traveling wheel.

[0014] Preferably, the pressure sensor, rotation speed sensor, and high-definition camera are connected to a control system disposed inside the main body; the control system is connected to a control terminal via a data line, and the control terminal is connected to a hydraulic system of a travel motor, a brake, and a hydraulic cylinder.

[0015] Preferably, two groups of leg assemblies are arranged on the side wall of the body along the front-to-back direction.

[0016] Preferably, the leg assembly includes three crawling legs evenly arranged in a circumferential direction.

[0017] The invention also discloses a method for using the upward ultra-deep drilling crawling device in a complex environment underground in a coal mine.

[0018] The method for using the upward ultra-deep drilling crawling device in a complex environment in a coal mine comprises the following steps:

[0019] Step 1: The operator places the crawling device inside the borehole in the tunnel, controls the piston rod of the hydraulic cylinder to extend through the control terminal, and presses the walking wheel at the end of the crawling leg to the wall of the borehole under the action of the support spring and the roller. The pressure sensor detects the pressure value of the walking wheel. When the pressure value is within the pressure setting range, the piston rod of the hydraulic cylinder stops moving;

[0020] Step 2: Start the travel motor through the control terminal, and the travel wheel drives the crawling device to move along the wall of the borehole. During the movement, the high-definition camera takes pictures of the cracks on the wall of the borehole, and the pressure sensor detects the real-time pressure value of the travel wheel. According to the size of the real-time pressure value, the extension length of the hydraulic cylinder piston rod is adjusted to make the real-time pressure value within the pressure setting range;

[0021] Step 3: When the crawling device reaches the end point of the drilling, it stops moving, and then the travel motor is started through the control terminal to make the travel wheel rotate in the opposite direction to perform the hole withdrawal operation.

[0022] The beneficial effects of the present invention are:

[0023] (1) The crawling device for ultra-deep boreholes in complex underground coal mine environments of the present invention realizes crawling along the borehole and collecting images of crack development in the borehole through the setting of the overall structure, replacing the traditional method of manual climbing and lifting rods to push industrial cameras to detect cracks in the borehole wall, and solving the problem that the traditional method of manual climbing and lifting rods to push industrial cameras for detection has high labor intensity, low efficiency, and difficulty in meeting continuous detection needs.

[0024] (2) Under low light and high noise conditions in coal mines, the present invention uses a high-definition camera instead of an ordinary industrial camera to collect images of fracture development in a borehole, thereby improving the clarity of images in coal mines.

[0025] (3) The arrangement of the tensioning assembly in the present invention, through the coordinated arrangement of the hydraulic cylinder, the supporting spring, the roller and the hinged connection between the crawling legs and the main body, can realize crawling operations for drilling holes of different diameters, thereby broadening the scope of application of the crawling device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0027] Figure 1 It is a schematic diagram of the structure of the upward ultra-deep drilling crawling device in a complex environment of a coal mine underground according to the present invention;

[0028] Figure 2 It is a connection diagram of the pressure sensor, speed sensor, high-definition camera, control system, and control terminal in the present invention;

[0029] Figure 3 is a distribution diagram of a case where the leg assembly of the present invention includes three crawling legs evenly arranged along the circumferential direction;

[0030] Figure 4 It is a schematic diagram of the use of the upward ultra-deep drilling crawling device in a complex environment of a coal mine underground;

[0031] in:

[0032] 1-main body, 2-high-definition camera, 3-crawling legs, 4-travel wheels, 5-travel motors, 6-hydraulic cylinders, 7-support springs, 8-rollers, 9-brakes, 10-pressure sensors, 11-speed sensors, 12-control systems, 13-data cables, 14-control terminals, 15-tunnels, 16-drilling holes. DETAILED DESCRIPTION

[0033] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0034] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0035] In the present invention, the directions or positional relationships indicated by terms such as "upper", "lower", "bottom", "top", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention. They do not specifically refer to any part or element in the present invention and cannot be understood as limitations on the present invention.

[0036] In the present invention, terms such as "connected" and "connection" should be understood in a broad sense, indicating that the connection can be fixed, integral or detachable; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meaning of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0037] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0038] Embodiment 1:

[0039] like Figure 1 As shown, the upward ultra-deep drilling crawling device in the complex environment of a coal mine underground includes a main body 1, and a high-definition camera 2 is arranged at the front end of the main body 1;

[0040] A plurality of groups of leg assemblies are arranged on the side wall of the body 1 along the front-to-back direction, and the leg assemblies include at least two crawling legs 3 evenly arranged along the circumferential direction; one end of the crawling leg 3 is hingedly connected to the side wall of the body 1, specifically, one end of the crawling leg 3 is hingedly connected to the side wall of the body 1 through a hinge shaft, and the plane where the central axis of the crawling leg 3 is located during the rotation of the crawling leg 3 around the hinge shaft is M, and the central axis l of the body 1 is parallel to the plane M. Furthermore, the central axis l of the body 1 is located on the plane M, and the other end of the crawling leg 3 is rotatably matched with a walking wheel 4, and the walking wheel 4 is adaptively connected to the walking motor 5;

[0041] The crawling legs 3 are connected with a tightening assembly for pressing the traveling wheels 4 against the wall of the drilled hole 16 .

[0042] Preferably, the tightening assembly includes a hydraulic cylinder 6, an end of the hydraulic cylinder 6 is fixedly connected to the side wall of the main body 1, a piston end of the hydraulic cylinder 6 is fixedly connected to one end of a support spring 7, the other end of the support spring 7 is fixedly connected to the central rotating shaft of a roller 8, and the roller 8 rolls in a rolling groove of the corresponding crawling leg 3; the hydraulic cylinder 6 is adapted with a hydraulic system, wherein the hydraulic system of the hydraulic cylinder 6 is prior art, and its specific implementation will not be repeated here.

[0043] Preferably, a brake 9 is provided at one end of the crawling leg 3 close to the traveling wheel 4, and the brake 9 is used to slow down or stop the traveling wheel 4, wherein the brake 9 is a prior art, and an existing friction brake can be used.

[0044] Preferably, the travel wheel 4 is provided with a pressure sensor 10 for detecting the pressure applied thereto.

[0045] Preferably, a rotation speed sensor 11 is disposed on the travel wheel 4 .

[0046] Preferably, Figure 2 As shown, the pressure sensor 10, the rotation speed sensor 11, and the high-definition camera 2 are connected to a control system 12 arranged inside the main body 1 to receive the pressure signal data exerted on the walking wheel 4, the rotation speed data of the walking wheel 4, and the crack data of the borehole wall photographed by the high-definition camera 2; the control system 12 is connected to the control terminal 14 via a data line 13, and the control terminal 14 is connected to the hydraulic system of the walking motor 5, the brake 9 and the hydraulic cylinder 6.

[0047] Preferably, two groups of leg assemblies are arranged on the side wall of the body 1 along the front-to-back direction.

[0048] Preferably, the leg assembly includes three crawling legs 3 evenly arranged along the circumferential direction.

[0049] This application Figure 1The leg assembly shown in FIG. 1 includes two crawling legs 3. The structure of the leg assembly including three crawling legs 3 evenly arranged along the circumferential direction is as follows: Figure 3 shown.

[0050] Embodiment 2:

[0051] The method for using the upward ultra-deep drilling crawling device in a complex environment in a coal mine in Example 1 comprises the following steps:

[0052] Step 1, such as Figure 4 As shown, the operator places the crawling device inside the borehole 16 in the tunnel 15, controls the piston rod of the hydraulic cylinder 6 to extend through the control terminal 14, and presses the walking wheel 4 at the end of the crawling leg 3 to the hole wall of the borehole 16 under the action of the support spring 7 and the roller 8. The pressure sensor 10 detects the pressure value of the walking wheel 4. When the pressure value is within the pressure setting range, the piston rod of the hydraulic cylinder 6 stops moving;

[0053] Step 2, start the travel motor 5 through the control terminal 14, and the travel wheel 4 drives the crawling device to move along the wall of the borehole 16. During the movement, the high-definition camera 2 takes pictures of the cracks on the wall of the borehole, and the pressure sensor 10 detects the real-time pressure value of the travel wheel 4. According to the size of the real-time pressure value, the extension length of the piston rod of the hydraulic cylinder 6 is adjusted to make the real-time pressure value within the pressure setting range;

[0054] The pressure setting range in this application is artificially limited according to the on-site conditions;

[0055] Step 3, the crawling device stops moving when reaching the end point of the drilling, and then starts the travel motor 5 through the control terminal 14 to make the travel wheel 4 rotate in the reverse direction to perform the hole withdrawal operation.

[0056] The device for crawling upward in ultra-deep boreholes in complex environments underground in coal mines in the present application realizes crawling along the borehole and collecting images of crack development in the borehole through the setting of the overall structure, replacing the traditional method of manual climbing and lifting rods to push industrial cameras to detect cracks in the borehole wall, and solving the problems of high labor intensity, low efficiency and difficulty in meeting continuous detection needs of traditional manual climbing and lifting rods to push industrial cameras for detection; under low light and high noise conditions underground in coal mines, the present invention uses a high-definition camera 2 instead of an ordinary industrial camera to collect images of crack development in the borehole, thereby improving the clarity of images underground in coal mines.

[0057] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not a limitation of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the protection scope of the present invention.

Claims

1. An upward ultra-deep drilling crawling device for complex underground coal mine environments, comprising a main body, characterized in that: A high-definition camera is arranged at the front end of the body; A plurality of groups of leg assemblies are arranged on the side wall of the body along the front-rear direction, and the leg assembly includes at least two crawling legs evenly arranged along the circumferential direction; one end of the crawling leg is hingedly connected to the side wall of the body, and the other end of the crawling leg is rotatably matched with a walking wheel, and the walking wheel is adaptively connected to the walking motor; The crawling legs are connected with a tightening assembly for pressing the traveling wheels against the wall of the drill hole.

2. The upward ultra-deep drilling crawling device in a complex environment in a coal mine as claimed in claim 1 is characterized in that: The tightening assembly includes a hydraulic cylinder, the end of which is fixedly connected to the side wall of the main body, the piston end of the hydraulic cylinder is fixedly connected to one end of a support spring, the other end of the support spring is fixedly connected to the central rotating shaft of a roller, and the roller rolls in a rolling groove of a corresponding crawling leg.

3. The upward ultra-deep drilling crawling device in a complex environment in a coal mine as claimed in claim 2 is characterized in that: A brake is arranged at one end of the crawling leg close to the traveling wheel.

4. The upward ultra-deep drilling crawling device in a complex environment in a coal mine as claimed in claim 3 is characterized in that: The travel wheel is provided with a pressure sensor for detecting the pressure.

5. The upward ultra-deep drilling crawling device in a complex environment in a coal mine as claimed in claim 4 is characterized in that: A rotation speed sensor is arranged on the traveling wheel.

6. The upward ultra-deep drilling crawling device in a complex environment in a coal mine as claimed in claim 5 is characterized in that: The pressure sensor, the rotation speed sensor, and the high-definition camera are connected to a control system arranged inside the body; the control system is connected to a control terminal via a data line, and the control terminal is connected to a hydraulic system of a travel motor, a brake, and a hydraulic cylinder.

7. The upward ultra-deep drilling crawling device in a complex environment in a coal mine as claimed in claim 6 is characterized in that: Two groups of leg assemblies are arranged on the side wall of the body along the front-rear direction.

8. The upward ultra-deep drilling crawling device in a complex environment in a coal mine as claimed in claim 6, characterized in that: The leg assembly comprises three crawling legs evenly arranged along the circumferential direction.

9. The method for using the upward ultra-deep drilling crawling device in a complex environment in a coal mine as claimed in any one of claims 6 to 8, characterized in that: The following steps are involved: Step 1: The operator places the crawling device inside the borehole in the tunnel, controls the piston rod of the hydraulic cylinder to extend through the control terminal, and presses the walking wheel at the end of the crawling leg to the wall of the borehole under the action of the support spring and the roller. The pressure sensor detects the pressure value of the walking wheel. When the pressure value is within the pressure setting range, the piston rod of the hydraulic cylinder stops moving; Step 2: Start the travel motor through the control terminal, and the travel wheel drives the crawling device to move along the wall of the borehole. During the movement, the high-definition camera takes pictures of the cracks on the wall of the borehole, and the pressure sensor detects the real-time pressure value of the travel wheel. According to the size of the real-time pressure value, the extension length of the hydraulic cylinder piston rod is adjusted to make the real-time pressure value within the pressure setting range; Step 3: When the crawling device reaches the end point of the drilling, it stops moving, and then the travel motor is started through the control terminal to make the travel wheel rotate in the opposite direction to perform the hole withdrawal operation.

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