Device for monitoring rock corrosion rate of karst cave roof

Abstract

The invention provides a device for monitoring the rock corrosion rate of a karst cave roof, and belongs to the technical field of engineering survey. The device for monitoring the rock corrosion rate of the karst cave roof comprises a ground fixing device, a multi-joint mechanical arm and a telescopic probe, the multi-joint mechanical arm is formed by sequentially and rotatably connecting a plurality of sub-mechanical arms; one end of the multi-joint mechanical arm is connected with the ground fixing device, and the other end is connected with the telescopic probe. The ground fixing device ensures the stability of the device, and through the combination of the multi-joint mechanical arm and the telescopic probe, the measuring device can flexibly reach different measuring positions and can be flexibly operated in a complex geological environment, it is ensured that the probe can accurately make contact with a karst cave top plate, and the operability and flexibility of measurement are improved.

Description

Technical Field

[0001] The invention relates to the technical field of engineering survey, and in particular to a device for monitoring the dissolution rate of cave roof rocks. Background Art

[0002] Karst areas are common with cave geological structures, which may cause karst collapse under certain conditions, thus posing a serious threat to human living environment and infrastructure. Karst collapse is usually caused by the reduction of thickness and bearing capacity of the cave roof due to long-term dissolution, which eventually leads to its inability to support the overlying load. Therefore, accurate monitoring of the dissolution rate and thickness changes of the cave roof rock is crucial to prevent karst collapse.

[0003] Traditional monitoring methods mainly rely on observations of surface movement and deformation, but since there is often no obvious sign of surface movement before karst collapse, the effectiveness of this method is limited. In addition, although geophysical exploration methods can provide underground information, they are expensive and difficult to achieve continuous monitoring. In addition, since karst collapse is sudden and hidden, how to monitor the changes in the thickness of the cave roof in real time has become an urgent problem to be solved. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a device that can accurately measure the thickness of the rock in the cave roof and its changes.

[0005] Provide a device for monitoring the dissolution rate of cave roof rocks, including: a ground fixing device, a multi-jointed mechanical arm and a telescopic probe; The multi-joint robotic arm is composed of a plurality of sub-robotic arms that are connected and rotated in sequence; One end of the multi-joint mechanical arm is connected to the ground fixing device, and the other end is connected to the telescopic probe.

[0006] Further, the multi-joint robotic arm includes a first sub-robotic arm, a second sub-robotic arm, a third sub-robotic arm and a rotation drive device; The first sub-mechanical arm, the second sub-mechanical arm and the third sub-mechanical arm are connected in an end-to-end rotational manner in sequence; One end of the first sub-mechanical arm away from the second sub-mechanical arm is connected to the ground fixing device; One end of the third sub-mechanical arm away from the second sub-mechanical arm is connected to the telescopic probe; The rotation driving device is connected to the first sub-mechanical arm, the second sub-mechanical arm and the third sub-mechanical arm to control the rotation of the second sub-mechanical arm and the third sub-mechanical arm.

[0007] Furthermore, the lengths of the first sub-robotic arm, the second sub-robotic arm and the third sub-robotic arm decrease successively.

[0008] Furthermore, the rotation drive device drives the second sub-mechanical arm to rotate ninety degrees, so that the second sub-mechanical arm is perpendicular to the first sub-mechanical arm; The rotation driving device drives the third sub-mechanical arm to rotate ninety degrees, so that the third sub-mechanical arm is perpendicular to the second sub-mechanical arm and parallel to the first sub-mechanical arm.

[0009] Furthermore, the rotation drive device includes a pull wire, a pull wire extension and retraction control device, a pull wire fixing block and a limit block; The first sub-mechanical arm, the second sub-mechanical arm and the third sub-mechanical arm are all provided with the wire fixing block; The pull wire passes through the pull wire fixing block in sequence, one end of which is fixedly connected to the third sub-mechanical arm, and the other end of which is connected to the pull wire extension and retraction control device; The limit blocks are provided at the connection between the first sub-mechanical arm and the second sub-mechanical arm and at the connection between the second sub-mechanical arm and the third sub-mechanical arm, for limiting the rotation angles of the second sub-mechanical arm and the third sub-mechanical arm.

[0010] Furthermore, the telescopic probe includes a hydraulic cylinder, a telescopic pressure head, an oil pump and an oil tank; The bottom end of the hydraulic cylinder is fixedly connected to the other end of the multi-joint mechanical arm, and the top end is connected to the telescopic pressure head; The cylinder chamber of the hydraulic oil cylinder is connected to the oil tank through an oil pipe; the oil pump is arranged on the oil pipe.

[0011] Furthermore, the ground fixing device includes a support plate and a rotating shaft; The rotating shaft is rotatably connected to the supporting plate; One end of the multi-joint mechanical arm is fixedly connected to the rotating shaft.

[0012] Furthermore, it also includes a shaft controller; The rotating shaft controller is mounted on the supporting plate, and an output end is connected to the rotating shaft.

[0013] Further, it also includes a support frame and a level adjustment device; The horizontal adjustment device is installed on the support frame; The support plate is mounted on the level adjustment device.

[0014] Furthermore, it also includes a level bubble; the level bubble is arranged on the level adjustment device.

[0015] The embodiments of the present invention have the following advantages or beneficial effects: 1. The ground fixing device ensures the stability of the equipment. Through the combination of the multi-joint mechanical arm and the telescopic probe, the measuring device can flexibly reach different measuring positions and operate flexibly in complex geological environments, ensuring that the probe can accurately contact the cave roof, thereby improving the operability and flexibility of the measurement.

[0016] 2. The multi-joint robotic arm can freely adjust its posture in three-dimensional space, which enhances the spatial adaptability of the device and has higher flexibility. It can adapt to a variety of complex geological environments. At the same time, the rotation drive device can control the relative position between the sub-robotic arms and enhance the accuracy of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0018] Figure 1 is a schematic structural diagram of a device for monitoring the dissolution rate of cave roof rocks according to an exemplary embodiment; Figure 2 is a schematic diagram of the structure of a ground fixing device in a device for monitoring the dissolution rate of rock on the top of a cave according to an exemplary embodiment; Figure 3 It is a schematic diagram of the structure of a multi-joint mechanical arm and a telescopic probe in a device for monitoring the dissolution rate of rock in a cave roof according to an exemplary embodiment.

[0019] The reference numerals are described as follows: 1. Ground fixing device, 2. Multi-joint robotic arm, 3. Telescopic probe, 4. Connecting rod; 11. Support plate, 12. Rotating shaft, 13. Rotating shaft controller, 14. Support frame, 15. Level adjustment device; 16. Level bubble; 141, tripod legs, 142, platform; 151, adjusting bolt, 152, balancing plate; 21. a first sub-mechanical arm, 22. a second sub-mechanical arm, 23. a third sub-mechanical arm, 24. a rotation driving device; 241, pull wire, 242, pull wire extension and retraction control device, 243, pull wire fixing block, 244, limit block; 31. Hydraulic cylinder, 32. Telescopic pressure head, 33. Oil pipe. DETAILED DESCRIPTION

[0020] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0021] The terms "a", "an", "the", and "said" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.

[0022] Figure 1 is a schematic structural diagram of a device for monitoring the dissolution rate of cave roof rocks according to an exemplary embodiment; Figure 2 is a schematic diagram of the structure of a ground fixing device in a device for monitoring the dissolution rate of rock on the top of a cave according to an exemplary embodiment; Figure 3 The schematic diagram is a schematic diagram of a multi-jointed mechanical arm and a telescopic probe structure in a device for monitoring the dissolution rate of rock in a cave roof according to an exemplary embodiment. The above schematic diagram is only for indicating the structural relationship related to the invention point and is not an actual proportion of an actual product.

[0023] like Figures 1 to 3 As shown, the device for monitoring the dissolution rate of rock on the top of a cave comprises: a ground fixing device 1, a multi-joint mechanical arm 2 and a telescopic probe 3; the multi-joint mechanical arm 2 is composed of a plurality of sub-mechanical arms that are connected in rotation in sequence; one end of the multi-joint mechanical arm 2 is connected to the ground fixing device 1, and the other end is connected to the telescopic probe 3.

[0024] The specific working process is as follows: Site selection: Based on geological survey data and using geophysical exploration methods to detect underground caves, determine the drilling location.

[0025] Borehole sampling: Drill until the cave is exposed, lower the casing to protect the borehole wall, and reinforce and level the ground around the borehole with cement.

[0026] Installation and positioning: Set the ground fixture 1 at the drilling position and ensure that it is firmly and reliably fixed to the ground to prevent any displacement during the measurement process.

[0027] Adjust the robotic arm: Next, the operator controls the position and posture of the multi-joint robotic arm 2 so that the telescopic probe 3 connected to its end can reach the area to be tested. The multi-joint design allows the robotic arm to move flexibly in a complex space, so that it can adapt to positions at different depths or angles.

[0028] Expand the probe and measure: When the telescopic probe 3 reaches the specified position, it can be extended to the position of contacting the cave roof. At this time, the telescopic probe 3 reaches the height of the roof surface.

[0029] Data collection and transmission: After the telescopic probe 3 contacts the rock surface, it can obtain the height information of the telescopic probe 3 reaching the top plate surface in real time and transmit these data to the control system. The control system usually includes a data processing unit, which can analyze and process the collected data to obtain the change of rock thickness. Repeat the measurement multiple times.

[0030] Recording and analysis: Finally, the collected data will be recorded and further analyzed and processed as needed to understand the specific thickness distribution of the cave roof rock and its changing patterns.

[0031] In one embodiment, the ground fixing device 1 includes a support plate 11 and a rotating shaft 12 ; the rotating shaft 12 is rotatably connected to the support plate 11 ; and one end of the multi-joint mechanical arm 2 is fixedly connected to the rotating shaft 12 .

[0032] The support plate 11 serves as a base platform 142 for stabilizing the entire device to ensure that no shaking or displacement occurs during the measurement process.

[0033] The rotating shaft 12 is rotatably mounted on the supporting plate 11 , and its function is to rotate as a rotation center, so that the multi-joint robot arm 2 can rotate synchronously with the rotating shaft 12 .

[0034] One end of the multi-joint robotic arm 2 is fixedly connected to the rotating shaft 12 , and the other end is connected to the telescopic probe 3 , so that the multi-joint robotic arm 2 and the telescopic probe 3 rotate synchronously with the rotating shaft 12 .

[0035] Due to the existence of the rotating shaft 12, the multi-joint mechanical arm 2 and the telescopic probe 3 can make circular motion around the rotating shaft 12, thereby increasing the working radius of the telescopic probe 3. Accurate control of the measuring points can be achieved without frequent movement of the equipment, and multi-point measurement can be completed.

[0036] The rotation connection between the support plate 11 and the rotating shaft 12 is usually achieved through a bearing or a similar mechanical structure. For example, a hole suitable for the diameter of the rotating shaft 12 is machined on the support plate 11, and one or more bearings are embedded in the hole. The rotating shaft 12 passes through the bearing, the outer ring of the bearing is fastened in the hole on the support plate 11, and the inner ring of the bearing is tightly matched with the rotating shaft 12. In this way, the rotating shaft 12 can rotate freely with the support of the outer ring through the bearing, while maintaining good concentricity and stability.

[0037] In another embodiment, a shaft controller 13 is further included; the shaft controller 13 is installed on the support plate 11 , and an output end is connected to the shaft 12 .

[0038] In this embodiment, in addition to the ground fixing device 1 mentioned above (including the support plate 11 and the rotating shaft 12), a key component, the rotating shaft controller 13, is added. The function of the rotating shaft controller 13 is to control the rotating shaft 12 to rotate according to a preset angle, so that the multi-joint robot arm 2 and the telescopic probe 3 can automatically adjust to the next position to be measured. The following is a detailed description of the structure and its function: Structural Description The shaft controller 13 is mounted on the support plate 11, and its output end is connected to the shaft 12. The shaft controller 13 may be an integrated system composed of a motor, a reducer and other electronic control components, and is used to accurately control the rotation of the shaft 12.

[0039] The control system includes a preset program or instruction set for instructing the shaft controller 13 how and when to rotate the shaft 12 to a specific angle.

[0040] Function and effect Automatic measurement: Through the shaft controller 13, the position information of a series of measurement points can be pre-set, and then the device can automatically measure according to these settings without manual adjustment, which greatly improves the measurement efficiency.

[0041] Precise control: The shaft controller 13 can very accurately control the shaft 12 to rotate to a preset angle, which helps to improve the accuracy of the measurement results.

[0042] Repeatability: Once a specific measurement path is set, the spindle controller 13 can repeatedly perform the same action, which is very useful when the same area needs to be measured multiple times to ensure consistency of each measurement.

[0043] Reduce human errors: Automated control reduces errors caused by improper manual operation, making the measurement process more standardized and reliable.

[0044] Remote operation capability: If the shaft controller 13 has a remote control function, it can be operated from a long distance, which is particularly important for certain dangerous or inaccessible measurement environments.

[0045] By adding the shaft controller 13, the automation level of the device is improved, making the measurement process more efficient and accurate. In addition, it provides greater convenience for the operator and can perform better in complex or restricted environments.

[0046] In one embodiment, it further includes a support frame 14 and a horizontal adjustment device 15 ; the horizontal adjustment device 15 is installed on the support frame 14 ; and the support plate 11 is installed on the horizontal adjustment device 15 .

[0047] The support frame 14 includes a tripod leg 141 and a platform 142. A hole is left in the middle of the platform 142 for passing the multi-joint mechanical arm 2 and the telescopic probe 3. The support frame 14 is used to provide stability for the entire system to ensure that there is no deviation due to external forces during the measurement process.

[0048] The level adjustment device 15 includes an adjustment bolt 151 and a balance plate 152, and in some embodiments, also includes a level bubble 16. The lower surface of the balance plate 152 is fixedly connected with the adjustment bolt 151, and there is a screw hole on the platform 142, and the adjustment bolt 151 is screwed into the screw hole. By adjusting these bolts, the horizontality of the balance plate 152 can be adjusted. A support plate 11 is installed above the balance plate 152. The hole in the middle of the balance plate 152 is used to pass the multi-joint robot arm 2 and the telescopic probe 3. The level bubble 16 is used to indicate whether the balance plate 152 is horizontal.

[0049] The support plate 11 and the rotating shaft 12 can be kept in a horizontal state by adjusting the bolts 151. This is to ensure that the measuring device can perform accurate measurement work at different locations and avoid measurement errors caused by tilt.

[0050] The support frame 14 and the level adjustment device 15 together provide a stable foundation. Especially on uneven ground, the balance plate 152 can be leveled by adjusting the bolts 151, thereby ensuring the stability of the measuring device when in use. The level adjustment device 15 simplifies the on-site installation and commissioning process, and the equipment can be quickly calibrated without complex instruments, saving time and manpower. By ensuring the level of the entire equipment, the measurement accuracy is improved, making the measurement results more reliable. This structural design ensures that the ground fixing device 1 can still accurately perform measurement work under different terrain conditions, thereby improving the accuracy and reliability of the measurement.

[0051] In one embodiment, the multi-joint robotic arm 2 includes a first sub-robotic arm 21, a second sub-robotic arm 22, a third sub-robotic arm 23 and a rotation drive device 24; the first sub-robotic arm 21, the second sub-robotic arm 22 and the third sub-robotic arm 23 are connected in an end-to-end rotational manner in sequence; the end of the first sub-robotic arm 21 away from the second sub-robotic arm 22 is connected to the ground fixing device 1; the end of the third sub-robotic arm 23 away from the second sub-robotic arm 22 is connected to the telescopic probe 3; the rotation drive device 24 is connected to the first sub-robotic arm 21, the second sub-robotic arm 22 and the third sub-robotic arm 23 to control the rotation of the second sub-robotic arm 22 and the third sub-robotic arm 23.

[0052] One end of the first sub-mechanical arm 21 is connected to the ground fixing device 1, and the other end is rotatably connected to the second sub-mechanical arm 22. The second sub-mechanical arm 22 is located in the middle position, and its two ends are rotatably connected to the first sub-mechanical arm 21 and the third sub-mechanical arm 23. The end of the third sub-mechanical arm 23 is connected to a telescopic probe 3 for contacting the cave roof and measuring its thickness change.

[0053] The rotation driving device 24 controls the rotation of the second sub-robotic arm 22 and the third sub-robotic arm 23 to achieve posture adjustment of the entire robotic arm.

[0054] Specific exercise method Initialization of the robotic arm: In the initial state of the robotic arm, the first sub-robotic arm 21, the second sub-robotic arm 22 and the third sub-robotic arm 23 may be in a straight line or slightly bent, so as to enter the cave through the drilling hole.

[0055] Bending of the robotic arm: The rotation driving device 24 controls the rotation of the second sub-robotic arm 22 and the third sub-robotic arm 23 so that the second sub-robotic arm and the third sub-robotic arm 23 can be bent into a desired shape.

[0056] Positioning of the telescopic probe 3: By adjusting the bending angle of the mechanical arm, the telescopic probe 3 at the end of the third mechanical arm 23 can contact the cave roof. In this process, multiple adjustments may be required until the telescopic probe 3 is correctly positioned.

[0057] Actions during the measurement process: When the telescopic probe 3 contacts the cave roof, the control system controls the oil pump to inject hydraulic oil into the hydraulic cylinder 31 through the oil pipe 33, pushing the telescopic pressure head 32 to extend upward until it contacts the cave roof. When the oil pump output pressure increases, the extension of the telescopic pressure head 32 is stopped, and the volume of hydraulic oil required during this extension process is recorded.

[0058] Rotation of the horizontal shaft 12: The shaft controller 13 is controlled by the control system to rotate the horizontal shaft 12 clockwise by a set angle, repeat the above-mentioned extension and contraction measurement operation of the telescopic pressure head 32, and record the required hydraulic oil volume.

[0059] Repeat the measurement: Repeat the above rotation measurement steps until one rotation measurement is completed, and record the required hydraulic oil volume in detail. After one rotation measurement is completed, repeat the rotation measurement steps.

[0060] Among them, the lengths of the first sub-mechanical arm 21, the second sub-mechanical arm 22 and the third sub-mechanical arm 23 decrease in sequence. The first sub-mechanical arm 21 is relatively long, which means that it can go deeper into the cave, expand the working range of the measuring device, and enable the measuring device to reach a deeper measuring point. The third sub-mechanical arm 23 is the shortest. When the multi-joint mechanical arm 2 is in a U-shape as a whole, the shorter third sub-mechanical arm 23 can avoid direct contact with the cave roof, thereby leaving enough measuring space for the telescopic probe 3. This design can prevent the multi-joint mechanical arm 2 from colliding with the cave roof during the measurement process, protecting the equipment from damage. Since the third sub-mechanical arm 23 is relatively short, it can more accurately control the position of the telescopic probe 3, so that the probe can more accurately contact the cave roof, thereby improving the accuracy of the measurement. At the same time, this design also helps to reduce vibration during measurement, further ensuring the accuracy of the measurement data. The longer first sub-arm 21 can provide better support, while the shorter third sub-arm 23 can flexibly adjust the angle, so that the entire arm can remain stable during measurement and can flexibly respond to different measurement requirements.

[0061] The multi-joint robotic arm 2 is U-shaped as a whole through this stroke: the rotation drive device 24 drives the second sub-robotic arm 22 to rotate ninety degrees, so that the second sub-robotic arm 22 is perpendicular to the first sub-robotic arm 21; the rotation drive device 24 drives the third sub-robotic arm 23 to rotate ninety degrees, so that the third sub-robotic arm 23 is perpendicular to the second sub-robotic arm 22 and parallel to the first sub-robotic arm 21.

[0062] The rotation drive device 24 can drive the second sub-mechanical arm 22 to rotate 90 degrees around the connection point between the second sub-mechanical arm 22 and the first sub-mechanical arm 21, so that the second sub-mechanical arm 22 forms a perpendicular relationship with the first sub-mechanical arm 21. At the same time, the third sub-mechanical arm 23 is driven to rotate 90 degrees around the connection point between the second sub-mechanical arm 22, so that the third sub-mechanical arm 23 is perpendicular to the second sub-mechanical arm 22 and parallel to the first sub-mechanical arm 21. In this way, the third sub-mechanical arm 23 is parallel to the first sub-mechanical arm 21, forming a U-shaped structure.

[0063] Through these two steps, the multi-joint robot arm 2 is finally formed into a U-shaped structure as a whole. The advantages of this structure are: Ensure measurement space for the telescopic probe 3: Since the third sub-mechanical arm 23 is shorter and parallel to the first sub-mechanical arm 21, it can avoid direct contact with the cave roof, leaving enough measurement space for the telescopic probe 3.

[0064] Improve measurement accuracy: The U-shaped structure can better control the position of the telescopic probe 3, so that the telescopic probe 3 can contact the cave roof more accurately, thereby improving the measurement accuracy.

[0065] Prevent collision: The U-shaped structure enables the multi-joint robot arm 2 to avoid the cave roof during operation, avoiding collision with the roof and protecting the safety of the equipment.

[0066] In one embodiment, the rotation driving device 24 includes a pull wire 241, a pull wire extension and retraction control device 242, a pull wire fixing block 243 and a limit block 244; the first sub-mechanical arm 21, the second sub-mechanical arm 22 and the third sub-mechanical arm 23 are all provided with a pull wire fixing block 243; the pull wire 241 passes through the pull wire fixing block 243 in sequence, one end is fixedly connected to the third sub-mechanical arm 23, and the other end is connected to the pull wire extension and retraction control device 242; the connection between the first sub-mechanical arm 21 and the second sub-mechanical arm 22 and the connection between the second sub-mechanical arm 22 and the third sub-mechanical arm 23 are both provided with a limit block 244, which is used to limit the rotation angle of the second sub-mechanical arm 22 and the third sub-mechanical arm 23.

[0067] The pull wire 241 is used to transmit power, one end of which is fixed to the third sub-mechanical arm 23 , and the other end of which is connected to the pull wire extension and retraction control device 242 .

[0068] The wire extension and retraction control device 242 is used to control the extension and retraction of the wire 241, thereby controlling the rotation of each joint of the robot arm.

[0069] The wire fixing blocks 243 are respectively installed on the first sub-mechanical arm 21, the second sub-mechanical arm 22 and the third sub-mechanical arm 23, and are used to fix the position of the wire 241 to ensure that the wire 241 does not slide or move when transmitting power.

[0070] The limit block 244 is installed at the connection between the first sub-mechanical arm 21 and the second sub-mechanical arm 22, and at the connection between the second sub-mechanical arm 22 and the third sub-mechanical arm 23, and is used to limit the rotation angle to ensure that the mechanical arm rotates safely within a specific range.

[0071] The pulling wire 241 starts from the pulling wire extension and retraction control device 242 , passes through the pulling wire fixing block 243 installed on each sub-mechanical arm in turn, and is finally fixed on the third sub-mechanical arm 23 .

[0072] When the posture of the multi-joint robot arm 2 needs to be adjusted, the extension and retraction of the pull wire 241 is controlled by the pull wire extension control device 242. When the pull wire 241 is tightened, it will pull the third sub-robot arm 23, and then through the joint effect, the entire multi-joint robot arm 2 rotates in a predetermined manner.

[0073] The stopper 244 plays a role of limiting the rotation angle at the connection of the mechanical arm. When the mechanical arm rotates to a certain preset angle, the stopper 244 will prevent further rotation, so that the multi-joint mechanical arm 2 presents a U shape when in working state.

[0074] By controlling the extension and retraction of the pull wire 241, the second sub-mechanical arm 22 is rotated 90 degrees around the connection point with the first sub-mechanical arm 21, and is perpendicular to the first sub-mechanical arm 21. Similarly, by the pull wire extension and retraction control device 242, the third sub-mechanical arm 23 is rotated 90 degrees around the connection point with the second sub-mechanical arm 22, and is perpendicular to the second sub-mechanical arm 22 and parallel to the first sub-mechanical arm 21.

[0075] In one embodiment, the telescopic probe 3 includes a hydraulic cylinder 31, an oil pump and an oil tank; the bottom end of the hydraulic cylinder 31 is fixedly connected to the other end of the multi-joint robotic arm 2; the cylinder chamber of the hydraulic cylinder 31 is connected to the oil tank through an oil pipe 33; and an oil pump is provided on the oil pipe 33.

[0076] The hydraulic cylinder 31 is the core component of the telescopic probe 3, which is used to control the extension and retraction of the telescopic probe 3. The bottom end of the hydraulic cylinder 31 is fixedly connected to the end of the multi-joint mechanical arm 2, and a telescopic pressure head 32 is installed on the top. When the hydraulic oil enters the cylinder cavity of the hydraulic cylinder 31, it pushes the piston rod to move, driving the telescopic pressure head 32 to move upward or downward. The hydraulic oil in the oil tank is sent into the cylinder cavity of the hydraulic cylinder 31 by the oil pump, generating pressure to push the piston rod to move, thereby driving the telescopic pressure head 32 to extend or retract.

[0077] The oil pump is used to transport hydraulic oil and is the power source for driving the hydraulic cylinder 31. The oil pump is installed on the oil pipe 33 and can control the flow direction and flow rate of the hydraulic oil. The oil pump is started or stopped by the control system, and the oil pump sucks the hydraulic oil in the oil tank and sends it to the hydraulic cylinder 31 through the oil pipe 33.

[0078] The oil tank stores hydraulic oil and provides sufficient oil source for the oil pump. The oil tank is a closed container that stores hydraulic oil. The hydraulic oil in the oil tank is pumped out by the oil pump and transported to the hydraulic cylinder 31 through the oil pipe 33.

[0079] The working process is as follows: Initial state: The multi-joint robotic arm 2 has been connected to the ground fixture 1 via the connecting rod 4, and the multi-joint robotic arm 2 has been lowered into the underground cave, and the telescopic probe 3 is in the initial position, ready for measurement.

[0080] Prepare to measure: The oil pump is started by the control system, and the oil pump begins to draw hydraulic oil from the oil tank and delivers it to the cylinder chamber of the hydraulic cylinder 31 through the oil pipe 33.

[0081] Probe extension: As the hydraulic oil enters the cylinder cavity, a certain pressure is generated, which pushes the piston rod in the hydraulic cylinder 31 to move upward, driving the telescopic pressure head 32 to extend upward.

[0082] When the telescopic pressure head 32 contacts the cave roof, the oil pump output pressure increases, the control system detects the pressure change, stops the oil pump, and records the position information of the telescopic probe 3 at this time.

[0083] Probe retraction: The control system commands the oil pump to work in reverse, pumping the hydraulic oil in the hydraulic cylinder 31 back to the oil tank, so that a vacuum is formed in the hydraulic cylinder 31, thereby forcing the piston rod to return to the initial position and the telescopic pressure head 32 to retract to the original position.

[0084] Rotation measurement: The control system rotates the horizontal rotating shaft 12 to a set angle through the rotating shaft controller 13, repeats the above-mentioned extension and contraction measurement operation of the telescopic probe 3, and records the required hydraulic oil volume.

[0085] Repeat the above rotation measurement steps until one week of rotation measurement is completed, and record the corresponding required hydraulic oil volume in detail.

[0086] Data processing: According to the volume of hydraulic oil (V) required for the extension of the telescopic probe 3 divided by the cross-sectional area (S) of the telescopic pressure head 32, the displacement (H) of the telescopic pressure head 32 when extended is obtained, and a θ-H line graph of the rotation angle and the upward displacement of the telescopic pressure head 32 is drawn.

[0087] The displacement of the telescopic pressure head 32 at the same point at different times (Hi) is recorded, and the dissolution rate (η) of the rock on the top of the underground cave, that is, the dissolution thickness of the rock on the top of the underground cave per unit time, is obtained by dividing the displacement difference (ΔH) of the telescopic pressure head 32 at the same point at different times by the time interval (Δt).

[0088] In the embodiments of the present invention, the term "plurality" refers to two or more than two, unless otherwise clearly defined. The terms "installation", "connection", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection. 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.

[0089] In the description of the embodiments of the present invention, it needs to be understood that the directions or positional relationships indicated by the terms "upper" and "lower" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the embodiments of the present invention.

[0090] In the description of this specification, the description of the terms "one embodiment", "a preferred embodiment", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0091] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A device for monitoring the dissolution rate of cave roof rocks, characterized in that: include: A ground fixing device (1), a multi-joint mechanical arm (2) and a telescopic probe (3); The multi-joint mechanical arm (2) is composed of a plurality of sub-mechanical arms that are connected and rotated in sequence; One end of the multi-joint mechanical arm (2) is connected to the ground fixing device (1), and the other end is connected to the telescopic probe (3).

2. The device for monitoring the dissolution rate of cave roof rock according to claim 1, characterized in that: The multi-joint mechanical arm (2) comprises a first sub-mechanical arm (21), a second sub-mechanical arm (22), a third sub-mechanical arm (23) and a rotation driving device (24); The first sub-mechanical arm (21), the second sub-mechanical arm (22) and the third sub-mechanical arm (23) are connected in an end-to-end rotational manner in sequence; One end of the first sub-mechanical arm (21) away from the second sub-mechanical arm (22) is connected to the ground fixing device (1); One end of the third sub-mechanical arm (23) away from the second sub-mechanical arm (22) is connected to the telescopic probe (3); The rotation driving device (24) is connected to the first sub-mechanical arm (21), the second sub-mechanical arm (22) and the third sub-mechanical arm (23), and controls the rotation of the second sub-mechanical arm (22) and the third sub-mechanical arm (23).

3. The device for monitoring the dissolution rate of cave roof rock according to claim 2, characterized in that: The lengths of the first sub-mechanical arm (21), the second sub-mechanical arm (22) and the third sub-mechanical arm (23) decrease in sequence.

4. The device for monitoring the dissolution rate of cave roof rock according to claim 2 or 3, characterized in that: The rotation driving device (24) drives the second sub-mechanical arm (22) to rotate ninety degrees, so that the second sub-mechanical arm (22) is perpendicular to the first sub-mechanical arm (21); The rotation drive device (24) drives the third sub-mechanical arm (23) to rotate ninety degrees, so that the third sub-mechanical arm (23) is perpendicular to the second sub-mechanical arm (22) and parallel to the first sub-mechanical arm (21).

5. The device for monitoring the dissolution rate of cave roof rock according to claim 2, characterized in that: The rotation driving device (24) comprises a pull wire (241), a pull wire extension and retraction control device (242), a pull wire fixing block (243) and a limit block (244); The first sub-mechanical arm (21), the second sub-mechanical arm (22) and the third sub-mechanical arm (23) are all provided with the wire fixing block (243); The pulling wire (241) passes through the pulling wire fixing block (243) in sequence, one end of which is fixedly connected to the third sub-mechanical arm (23), and the other end of which is connected to the pulling wire extension and retraction control device (242); The limit blocks (244) are provided at the connection between the first sub-mechanical arm (21) and the second sub-mechanical arm (22) and at the connection between the second sub-mechanical arm (22) and the third sub-mechanical arm (23) for limiting the rotation angles of the second sub-mechanical arm (22) and the third sub-mechanical arm (23).

6. The device for monitoring the dissolution rate of cave roof rock according to claim 1, characterized in that: The telescopic probe (3) comprises a hydraulic cylinder (31), a telescopic pressure head (32), an oil pump and an oil tank; The bottom end of the hydraulic cylinder (31) is fixedly connected to the other end of the multi-joint mechanical arm (2), and the top end is connected to the telescopic pressure head (32); The cylinder chamber of the hydraulic oil cylinder (31) is connected to the oil tank via an oil pipe (33); the oil pump is arranged on the oil pipe (33).

7. The device for monitoring the dissolution rate of cave roof rock according to claim 1, characterized in that: The ground fixing device (1) comprises a support plate (11) and a rotating shaft (12); The rotating shaft (12) is rotatably connected to the supporting plate (11); One end of the multi-joint mechanical arm (2) is fixedly connected to the rotating shaft (12).

8. The device for monitoring the dissolution rate of cave roof rock according to claim 7, characterized in that: Also includes a shaft controller (13); The rotating shaft controller (13) is mounted on the supporting plate (11), and an output end is connected to the rotating shaft (12).

9. The device for monitoring the dissolution rate of cave roof rock according to claim 7 or 8, characterized in that: It also includes a support frame (14) and a level adjustment device (15); The horizontal adjustment device (15) is installed on the support frame (14); The support plate (11) is mounted on the level adjustment device (15).

10. The device for monitoring the dissolution rate of cave roof rock according to claim 9, characterized in that: It also includes a level bubble (16); the level bubble (16) is arranged on the level adjustment device (15).

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