Multifunctional inspection device for fully mechanized excavation face and use method of multifunctional inspection device

Abstract

The invention relates to a multifunctional inspection device for a fully mechanized excavation face and a use method. The multifunctional inspection device comprises a moving trolley and a mechanical arm fixedly arranged on the moving trolley, the top end of the mechanical arm is connected with an annular adjusting device, a cobweb track is arranged on the annular adjusting device, an inspection sliding block is arranged on the cobweb track, and a plurality of detection devices are arranged on the inspection sliding block. According to the multifunctional inspection device for the fully mechanized excavation face and the use method, the mechanical arm and the cobweb track are arranged, so that an existing detection device can be lifted and moved to a proper position, the angle is adjusted to be aligned to a point needing to be detected, and close-range and multi-angle scanning or detection is achieved; the technical problem that the detection image is not clear due to much raised dust in the underground environment is solved to the maximum extent, and detailed information of the position needing to be observed can be clearly and accurately observed.

Description

Technical Field

[0001] The present invention relates to the technical field of underground inspection devices, and in particular to a multifunctional inspection device for a comprehensive excavation working face and a use method thereof. Background Art

[0002] ‌ Comprehensive excavation face refers to the working face of comprehensive mechanized excavation, referred to as comprehensive excavation. ‌ Comprehensive excavation face mainly relies on the operation of the tunnel boring machine, which integrates cutting, loading, transportation and sinking, and can realize continuous operation. Compared with the traditional drilling and blasting method, comprehensive excavation has the advantages of fewer processes, faster speed, higher efficiency, better quality and safer construction.

[0003] The characteristics of the comprehensive excavation working face include: High degree of mechanization and automation: The comprehensive excavation working face mainly relies on the roadheader for operation, realizing the mechanization of basic processes such as coal breaking, coal loading and coal transportation.

[0004] ‌High efficiency‌: Compared with the traditional drilling and blasting method, the comprehensive excavation working face is more efficient and can advance the tunnel quickly.

[0005] Good safety: The comprehensive excavation working face reduces manual operations, reduces the labor intensity of workers, and improves construction safety.

[0006] In terms of application scenarios, the fully-mechanized excavation face is widely used in coal mines, tunnels, underground projects and other fields. In coal mines, the fully-mechanized excavation face is mainly used to open up tunnels and prepare for coal mining. In tunnels and underground projects, the fully-mechanized excavation face is used to excavate tunnels and underground caverns to improve construction efficiency and quality.

[0007] During comprehensive mechanized excavation work, it is necessary to inspect the comprehensive excavation face in order to ensure the safety of the working face, improve work efficiency, and ensure the quality of the project. When inspecting the comprehensive excavation face, it is necessary to shut down the machine for detailed inspection and maintenance. This is because in the shutdown state, more comprehensive inspections and repairs can be carried out to ensure the safe operation of the equipment. The main inspection contents of the comprehensive excavation face inspection include ventilation systems, safety facilities, dust prevention measures, gas management, working environment, etc.

[0008] Existing inspection robots mainly use existing detection devices such as cameras, laser radars, ultrasonic and other heterogeneous sensors to obtain images, point clouds, distances and other information for inspection of ventilation systems, safety facilities, dust prevention measures, gas management, working environment, etc. However, since the working environment is underground and there is a lot of dust, most of the existing inspection devices are mobile devices used in conjunction with inspection devices, and can only scan or detect the above-mentioned positions on the ground of the pit. Since there are many positions to be observed, the distance is far, and there is a lot of dust, the observation effect is not good, and the detailed information of the required observation positions cannot be clearly and accurately observed. Summary of the invention

[0009] The present invention provides a multifunctional inspection device for a comprehensive excavation working face and a use method thereof, which can realize close-range multi-angle scanning or detection of a desired observation position, and can clearly and accurately observe detailed information of the desired observation position.

[0010] The present invention discloses a multifunctional inspection device for a comprehensive excavation working face, comprising a mobile trolley, a mechanical arm is arranged on the mobile trolley, a ring-shaped adjustment device is connected to the top of the mechanical arm, a spider web track is arranged on the ring-shaped adjustment device, an inspection slider is arranged on the spider web track, and a plurality of detection devices are arranged on the inspection slider.

[0011] Through the above settings, the existing detection device can be lifted and moved to a suitable position, and the angle can be adjusted to align with the point to be detected. Close-range and multi-angle scanning or detection can be performed, which minimizes the technical problem of unclear detection images in underground environments with a lot of dust, and allows detailed information on the required observation location to be clearly and accurately observed.

[0012] Furthermore, the mobile trolley is provided with a power supply box and a driving motor, and a plurality of moving wheels are rotatably connected to the bottom of the mobile trolley, and the moving wheels are driven by the driving motor.

[0013] Furthermore, the moving wheel comprises a main wheel disc, and a plurality of secondary wheels are rotatably connected to the main wheel disc.

[0014] Furthermore, the mechanical arm includes a base, the base is rotatably connected to a first connecting arm, the first connecting arm is rotatably connected to a second connecting arm, and the second connecting arm is connected to the annular adjustment device via a connecting disk.

[0015] Furthermore, the annular adjustment device includes a fixed ring and a plurality of telescopic cylinders rotatably connected to the fixed ring, and the ends of the telescopic rods away from the fixed ring are rotatably connected to the fixing parts, and the fixing parts are fixedly connected to the spider web track by bolts.

[0016] Furthermore, the spider web track includes a plurality of trapezoidal monorails of different lengths, two adjacent trapezoidal monorails are rotatably connected via hinges, and a T-shaped track is arranged on the trapezoidal monorail.

[0017] Furthermore, anti-slip blocks are provided at both ends of the spider web track, and the anti-slip blocks are fixedly connected to the spider web track by bolts.

[0018] Furthermore, the inspection slider is provided with two rotatable driving wheels, the driving wheels are in contact with one side of the spider web track, and the driving wheels are driven by a motor.

[0019] Furthermore, dust removal blocks are provided on both sides of the inspection slider, and the dust removal blocks are connected to the inspection slider by bolts.

[0020] The present invention also relates to a method for using a multifunctional inspection device for a fully mechanized excavation working face, comprising the following steps: S1. Select a suitable detection device according to the specific conditions of the required inspection location and install it on the inspection slider; S2. Select an appropriate number of trapezoidal monorails according to the size of the required inspection position and assemble them, and install the inspection slider on the trapezoidal monorail; S3, driving the mobile trolley to move to a suitable position, and driving the mechanical arm to move the annular adjustment device and the spider web track to the desired observation position; S4. Adjust the annular adjustment device so that the plane where the spider web track is located is facing the required observation position; S5, turn on the detection device and drive the inspection slider to move along the spider web track.

[0021] The present invention provides a multifunctional inspection device for a fully mechanized excavation working face and a method for using the same, which can achieve the following technical effects: 1. The existing detection device can be lifted and moved to a suitable position, and the angle can be adjusted to align with the detection point. Close-range and multi-angle scanning or detection can be carried out to the greatest extent, which can reduce the technical problem of unclear detection images in underground environments with a lot of dust, and the detailed information of the required observation position can be clearly and accurately observed.

[0022] 2. It can be remotely operated in conjunction with the remote control system to ensure the personal safety of staff during inspections.

[0023] The foregoing general description and the following description are exemplary and explanatory only and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] One or more embodiments are exemplarily described by corresponding drawings, and these exemplary descriptions and drawings do not limit the embodiments. Elements with the same reference numerals in the drawings are regarded as similar elements, and wherein: Figure 1 It is a schematic diagram of the overall structure of a multifunctional inspection device for a fully mechanized excavation working face according to the present invention; Figure 2 It is a structural schematic diagram of a spider web track in a multifunctional inspection device for a comprehensive excavation working face of the present invention; Figure 3 yes Figure 2 A is an enlarged schematic diagram; Figure 4 It is a schematic diagram of the exploded structure of an inspection slide block and its related structures in a multifunctional inspection device for a fully mechanized excavation working face of the present invention; Figure 5It is an exploded schematic diagram of a portion of the spider web track in a multifunctional inspection device for a fully mechanized excavation working face according to the present invention; Figure 6 It is a structural schematic diagram of a ring-shaped adjustment device in a multifunctional inspection device for a fully mechanized excavation working face according to the present invention; Figure 7 It is a method flow chart of the use method of a multifunctional inspection device for a comprehensive excavation working face of the present invention. Attached photos

[0025] 1. Mobile trolley; 2. Mechanical arm; 3. Annular adjustment device; 4. Spider web track; 5. Inspection slider; 6. Detection device; 7. Power supply box; 8. Mobile wheel; 9. Main wheel disc; 10. Auxiliary wheel; 11. Base; 12. First connecting arm; 13. Second connecting arm; 14. Connecting disc; 15. Fixed ring; 16. Telescopic rod; 17. Fixing piece; 18. Trapezoidal monorail; 19. Hinge; 20. T-track; 21. Anti-slip block; 22. Driving wheel; 23. Dust removal block. DETAILED DESCRIPTION

[0026] In order to be able to understand the features and technical contents of the embodiments of the present invention in more detail, the implementation of the embodiments of the present invention is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present invention. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0027] The terms "first", "second", etc. in the description and claims of the embodiments of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present invention described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0028] In the embodiments of the present invention, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly used to better describe the embodiments of the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present invention can be understood according to the specific circumstances.

[0029] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0030] Unless otherwise specified, the term "plurality" means two or more and "plurality" means two or more.

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention may be combined with each other.

[0032] like Figure 1-6 As shown, the present invention discloses a multifunctional inspection device for a comprehensive excavation working face and a method for using the same, which includes a mobile trolley 1, a mechanical arm 2, an annular adjustment device 3, a spider web track 4, an inspection slider 5, and a plurality of detection devices 6 arranged on the inspection slider 5, wherein the bottom of the mechanical arm 2 is fixedly connected to the upper surface of the mobile trolley 1, and the mechanical arm 2 can move with the mobile trolley 1. The end of the mechanical arm 2 away from the mobile trolley 1 is detachably connected with the annular adjustment device 3, and the mechanical arm 2 is used to lift and move the annular adjustment device 3 with the spider web track 4, the inspection slider 5, and the detection device 6 to a suitable height, and roughly adjust its deflection angle so that it roughly faces the required detection direction. The annular adjustment device 3 self-adjusts and fine-tunes the plane where the spider web track 4 is located so that it faces the required detection direction as much as possible, and the required detection device is located at the position facing the center of the spider web track as much as possible, and a certain observation distance is maintained. The inspection slider 5 drives the detection device 6 to move on the spider web track, passing through the spider web-shaped track formed by the spider web track 4, so as to scan the required observation position layer by layer.

[0033] The mobile trolley 1 is provided with a power supply box 7 and a driving motor, and the bottom of the mobile trolley 1 is rotatably connected to a plurality of moving wheels 8, which are driven by the driving motor to drive the entire device to move to a suitable position in the underground pit.

[0034] The mechanical arm 2 is arranged on the mobile trolley 1 and moves with the mobile trolley 1, and includes a base 11, the base 11 is rotatably connected to a first connecting arm 12, the first connecting arm 12 is rotatably connected to a second connecting arm 13, and the second connecting arm 13 is connected to the annular adjustment device 3 through a connecting plate 14. The detection device 6 can be raised to a certain height to facilitate closer detection work.

[0035] The annular adjustment device 3 is connected to the mechanical arm 2, which includes a fixed ring 15 and a plurality of telescopic cylinders rotatably connected to the fixed ring 15, and the ends of the telescopic rods 16 away from the fixed ring 15 are rotatably connected to the fixing parts 17, and the fixing parts 17 are fixedly connected to the spider web track 4 by bolts. After the mechanical arm 2 is locked, the plane of the spider web track 4 can be fine-tuned to align it with the desired detection location.

[0036] The spider web track 4 is arranged on the side of the annular adjustment device 3 away from the mechanical arm 2, and includes a plurality of trapezoidal monorails 18 of different lengths, two adjacent trapezoidal monorails 18 are rotatably connected by hinges 19, and a T-shaped track 20 is arranged on the trapezoidal monorail 18. The detection device 6 can be moved in the same plane to realize multi-angle detection.

[0037] The inspection slider 5 is provided with two driving wheels 22 which are rotatably provided, and the driving wheels 22 abut against one side of the spider web track 4, and the driving wheels 22 are driven by a motor. The inspection slider 5 can be driven to move on the spider web track 4.

[0038] Optionally, anti-dropping blocks 21 are provided at both ends of the spider web track 4, and the anti-dropping blocks 21 are fixedly connected to the spider web track 4 by bolts, so as to prevent the inspection slider 5 from falling off and causing losses due to misoperation.

[0039] Optionally, dust removal blocks 23 are provided on both sides of the inspection slide block 5, and the dust removal blocks 23 are connected to the inspection slide block 5 by bolts. Dust on the spider web track 4 can be cleaned in time.

[0040] Among them, the detection device 6 selects a suitable existing device for detection according to different required detection effects. The relevant detection devices 6 have been described in the background technology and are all existing technologies, so they will not be described in detail here.

[0041] Application scenario of an exemplary embodiment: When the multifunctional inspection device for a comprehensive excavation working face involved in the present invention is used, it is first necessary to select a suitable detection device 6 according to the specific conditions of the required inspection position and install it on the inspection slider 5, then select a suitable number of trapezoidal monorails 18 according to the size of the required inspection position and assemble them, install the inspection slider 5 on the trapezoidal monorail 18, and after the installation is completed, start the mobile trolley 1 and drive the mobile trolley 1 to move to a suitable position, drive the mechanical arm 2 to move the annular adjustment device 3 and the spider web track 4 to the required observation position, that is, the mechanical arm 2 lifts and moves the annular adjustment device 3 with the spider web track 4, the inspection slider 5 and the detection device 6 to a suitable height, and roughly adjusts its deflection angle so that it roughly faces the required detection direction. Then, fine-tune by adjusting the annular adjustment device 3, so that the spider web track 4 is as close to the required detection direction as possible, and the required detection device is as close to the center of the spider web track as possible, and a certain observation distance is maintained. After the adjustment is completed, turn on the detection device 6 and drive the inspection slider 5 to move along the spider web track 4 to scan the required observation position layer by layer. With such an arrangement, the existing detection device 6 can be lifted and moved to a suitable position, and the angle can be adjusted to align with the point to be detected, so that close-range and multi-angle scanning or detection can be performed, thereby minimizing the technical problem of unclear detection images caused by a lot of dust in underground environments, and detailed information of the required observation position can be clearly and accurately observed.

[0042] The above description and the accompanying drawings fully illustrate the embodiments of the present invention so that those skilled in the art can practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The embodiments of the present invention are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A multifunctional inspection device for a fully mechanized excavation working face, characterized in that: include: A mobile trolley (1) is provided with a mechanical arm (2), the top of the mechanical arm (2) is connected to an annular adjustment device (3), a spider web track (4) is provided on the annular adjustment device (3), a patrol slider (5) is provided on the spider web track (4), and a plurality of detection devices (6) are provided on the patrol slider (5).

2. A multifunctional inspection device for a fully mechanized excavation working face according to claim 1, characterized in that: The mobile trolley (1) is provided with a power supply box (7) and a drive motor. The bottom of the mobile trolley (1) is rotatably connected to a plurality of moving wheels (8), and the moving wheels (8) are driven by the drive motor.

3. A multifunctional inspection device for a fully mechanized excavation working face according to claim 2, characterized in that: The moving wheel (8) comprises a main wheel disc (9), and a plurality of secondary wheels (10) are rotatably connected to the main wheel disc (9).

4. The multifunctional inspection device for a fully mechanized excavation working face according to claim 1 is characterized in that: The mechanical arm (2) comprises a base (11), the base (11) being rotatably connected to a first connecting arm (12), the first connecting arm (12) being rotatably connected to a second connecting arm (13), and the second connecting arm (13) being connected to the annular adjustment device (3) via a connecting disk (14).

5. The multifunctional inspection device for a fully mechanized excavation working face according to claim 1 is characterized in that: The annular adjustment device (3) comprises a fixing ring (15) and a plurality of telescopic cylinders rotatably connected to the fixing ring (15); one end of the telescopic rod (16) away from the fixing ring (15) is rotatably connected to a fixing member (17); and the fixing member (17) is fixedly connected to the spider web track (4) by bolts.

6. The multifunctional inspection device for a fully mechanized excavation working face according to claim 1 is characterized in that: The spider web track (4) comprises a plurality of trapezoidal monorails (18) of different lengths, two adjacent trapezoidal monorails (18) being rotatably connected via hinges (19), and a T-shaped track (20) is provided on the trapezoidal monorail (18).

7. A multifunctional inspection device for a fully mechanized excavation working face according to claim 6, characterized in that: Anti-slip blocks (21) are provided at both ends of the spider web track (4), and the anti-slip blocks (21) are fixedly connected to the spider web track (4) by bolts.

8. The multifunctional inspection device for a fully mechanized excavation working face according to claim 1 is characterized in that: The inspection slider (5) is provided with two rotatable drive wheels (22), the drive wheels (22) abut against one side of the spider web track (4), and the drive wheels (22) are driven by a motor.

9. The multifunctional inspection device for a comprehensive excavation working face according to claim 1 is characterized in that: Dust removal blocks (23) are provided on both sides of the inspection slider (5), and the dust removal blocks (23) are connected to the inspection slider (5) via bolts.

10. The method for using the multifunctional inspection device for a fully mechanized excavation working face according to claim 1 comprises the following steps: S1. Select a suitable detection device (6) according to the specific conditions of the required inspection position and install it on the inspection slider (5); S2. Select an appropriate number of trapezoidal monorails (18) according to the size of the required inspection position and assemble them, and install the inspection slider (5) on the trapezoidal monorail (18); S3, driving the mobile trolley (1) to move to a suitable position, and driving the mechanical arm (2) to move the annular adjustment device (3) and the spider web track (4) to a desired observation position; S4, adjusting the annular adjustment device (3) so that the plane where the spider web track (4) is located is aligned with the desired observation position; S5, turning on the detection device (6) and driving the inspection slider (5) to move along the spider web track (4).

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