Metal mine underground goaf detection device and method

Abstract

The invention provides a metal mine underground goaf detection device and method, and relates to the technical field of goaf detection. Comprising a mounting frame, detection equipment is mounted on the mounting frame, a detection head is detachably arranged at the output end of the detection equipment, a walking mechanism for walking is arranged on the mounting frame, an adjusting frame body is slidably arranged in the mounting frame, and a first driving assembly for driving the adjusting frame body to reciprocate is arranged on the mounting frame; a mounting frame is arranged on the adjusting frame body in a sliding mode, a main support is arranged on the mounting frame, two detection cylinders are arranged on the main support in pairs, drill rods are arranged in the detection cylinders in a penetrating mode, drill bits are arranged at the free ends of the drill rods, second driving assemblies for driving the drill rods to move in the axial direction of the drill rods are arranged in the detection cylinders, and the detection heads are arranged in the drill rods. An adjusting mechanism for adjusting the deflection angle of the detection head is arranged in the drill rod; the drill rod can smoothly penetrate through the earth surface with severe geological conditions, the detection angle of the detection end of the detection head can be changed, and the detection range of the structure is widened.

Description

Technical Field

[0001] The present invention relates to the technical field of goaf detection, and in particular to a device and method for detecting goaf in an underground metal mine. Background Art

[0002] A goaf is a "hole" created by mining mineral resources beneath the surface. Due to the large number of mining sites, chambers and tunnels that remain after timely processing, the goaf is highly hidden, has poor regularity in its spatial distribution characteristics, and it is difficult to predict the collapse of the goaf roof. These pose a great threat to the safety of new projects that will pass through or through the goaf.

[0003] At present, the commonly used method for detecting goaf is to drill a detection hole at the location to be detected, and then insert a space scanner into the detection hole to scan the goaf space, so as to detect the goaf. In the existing goaf detection devices, most of them use a drill to open the detection hole and then remove the drill bit before extending the space scanner to detect the goaf. The operation process is relatively cumbersome, which affects the efficiency of detecting the goaf; and the detection part of the space scanner can only detect straight up and down in the detection hole, resulting in a small detection area of ​​the detection part, and the detection accuracy of the sounding area in the local area of ​​the formation cannot be guaranteed. Summary of the invention

[0004] The object of the present invention is to provide a device and method for detecting underground goaf areas in metal mines, which can solve the problems raised by the above-mentioned background technology in view of the deficiencies of the prior art.

[0005] The technical solution of the present invention is achieved in this way:

[0006] The present invention provides a detection device for underground goaf areas of metal mines, comprising a mounting frame, a detection device is mounted on the mounting frame, a detection head is detachably provided on the output end of the detection device, a walking mechanism for walking is provided on the mounting frame, an adjustment frame is slidably provided in the mounting frame, a first driving component for driving the adjustment frame to reciprocate is provided on the mounting frame, a mounting frame is slidably provided on the adjustment frame, a main bracket is provided on the mounting frame, two detection cylinders are provided in pairs on the main bracket, a drill rod is passed through the detection cylinder, a drill bit is provided on the free end of the drill rod, a second driving component for driving the drill rod to move along its axial direction is provided in the detection cylinder, the detection head is arranged in the drill rod, and an adjustment mechanism for adjusting the deflection angle of the detection head is provided in the drill rod.

[0007] In some technical schemes of the present invention, the second driving assembly includes a second rack, which is slidably arranged in the detection cylinder along the axial direction of the detection cylinder, a rotating body is rotatably provided at the end of the second rack, a spiral channel in a spiral shape is opened on the outer wall of the rotating body, a limit block embedded in the spiral channel is provided on the inner wall of the detection cylinder, a third gear meshing with the second rack is rotatably provided in the detection cylinder, and the rotating body is connected to the drill rod.

[0008] In some technical schemes of the present invention, a plurality of mounting openings are provided on the outer wall of the drill rod, and a drilling tool is rotatably installed in each of the mounting openings. An adjusting spring is provided in the detection cylinder, one end of the adjusting spring is abutted against the rotating body, and the other end of the adjusting spring is connected to the inner wall of the detection cylinder. A guide groove is provided on the outer wall of the drill rod along its axial direction, and a connecting plate is slidably provided in the guide groove, the connecting plate is connected to the adjusting spring, a push rod is provided on the connecting plate, a mounting seat is provided on the push rod, and a plurality of push rods connected to the drilling tool are hinged on the mounting seat.

[0009] In some technical schemes of the present invention, the adjustment mechanism includes a lifting seat, which is slidably arranged in the drill rod along the axial direction of the drill rod, and a mounting groove is opened on the side wall of the lifting seat along its extension direction, and two adjusting disks are rotatably arranged in the mounting groove, and a first slideway and a second slideway respectively connected to the mounting groove are opened on the side wall of the lifting seat, and lifting rods are slidably arranged in the first slideway and the second slideway, and the two lifting rods are respectively hinged to their corresponding expansion drilling tools, and a disc-shaped spring sheet is wound on the rotating axis of the adjusting disk, and a bending portion is provided on the free end of the disc-shaped spring sheet.

[0010] In some technical schemes of the present invention, the walking mechanism includes two groups of auxiliary brackets, which are respectively installed on both sides of the installation frame. Support frames are installed on the side walls of the auxiliary brackets. Two groups of support roller groups are rotatably arranged in the support frames, and tracks are mounted on the support roller groups.

[0011] In some technical solutions of the present invention, the first drive assembly includes two first drive motors respectively installed on the mounting frame, the mounting frame is provided with two first auxiliary wheels respectively corresponding to the first drive motors, the output end of the first drive motor is connected to the first auxiliary wheel through a belt drive, and two sliding frames are slidably provided on the mounting frame, and the sliding frames are connected to the adjustment frame.

[0012] In some technical solutions of the present invention, a fourth drive motor is installed at one end of the adjusting frame, and a second auxiliary wheel is rotatably provided at the other end of the adjusting frame. The output end of the fourth drive motor is connected to the second auxiliary wheel through a transmission belt, and the mounting frame is fixedly connected to the transmission belt.

[0013] In some technical solutions of the present invention, an installation chamber is opened in the main bracket, a first gear is rotatably provided in the installation chamber, two second gears are respectively meshed with the first gear are provided in the installation chamber, a third drive motor transmission-connected to the first gear is provided on the mounting frame, two first racks are respectively meshed with the second gears are passed through the main bracket, and an electric push rod connected to the first gear is provided on the output end of the third drive motor.

[0014] In some technical solutions of the present invention, a second driving motor drivingly connected to the supporting roller group is provided on the auxiliary bracket.

[0015] Compared with the prior art, the present invention has at least the following advantages or beneficial effects:

[0016] The second rack will push the rotating body to move out of the detection cylinder, and push the drill rod connected to it out of the detection cylinder, and then drive the drill rod into the ground to make preliminary preparations for detection; and, under the restriction of the limit block and the spiral channel, the rotating body performs a quasi-circular reciprocating motion in the detection cylinder, so that the drill rod connected to the rotating body drives the drill bit to perform a circular motion at a certain angle, so that the drill rod can smoothly penetrate the surface with relatively poor geological conditions, smoothly enter the ground, and speed up the opening of the detection hole; ensure the detection effect of the detection head on the underground cavity, reduce the interference of other external environments, and improve the detection effect; set The drill reaming tool will pull the lifting seat through the lifting rod to make an upward movement along the axial direction of the drill rod. When the lifting seat moves to the limit position and the drill reaming tool continues to be pushed out of the drill rod by the push rod, the drill reaming tool will pull the two lifting rods to slide in the first slideway and the second slideway respectively, and the sliding ends of the two lifting rods move away from each other until the sliding ends of the lifting rods move into the installation grooves; the lifting rods will then abut against the bent portion of the disc-shaped spring sheet, and then the lifting rods will pull the adjusting plate through the disc-shaped spring sheet to make a circular movement in the installation groove, that is, change the detection angle of the detection end of the detection head, thereby improving the detection range of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a three-dimensional structural schematic diagram of the installation frame in the present invention;

[0020] Figure 3It is a schematic diagram of the combination of the main support and the detection cylinder in the present invention;

[0021] Figure 4 It is a schematic diagram of the internal structure of the detection cylinder in the present invention;

[0022] Figure 5 It is a schematic diagram of the cross-sectional structure of the detection cylinder in the present invention;

[0023] Figure 6 It is a schematic diagram of the overall cross-sectional structure of the detection cylinder and the drill rod in the present invention;

[0024] Figure 7 It is a schematic diagram of the installation structure of the lifting seat in the invention from a top view;

[0025] Figure 8 It is a schematic cross-sectional structural diagram of the lifting seat in the present invention.

[0026] Icons: 1. Mounting frame; 2. Auxiliary bracket; 3. First drive motor; 4. Adjustment frame; 5. Mounting frame; 6. Second drive motor; 7. Support frame; 8. Crawler; 9. Support roller; 10. Drill rod; 11. Detection cylinder; 12. Main bracket; 13. Sliding frame; 14. First rack; 15. First gear; 16. Second gear; 17. Rotating body; 18. Third gear; 19. Second rack; 20. Spiral channel; 21. Limit block; 22. Adjustment spring; 23. Drilling tool; 24. Connecting plate; 25. Push rod; 26. Mounting seat; 27. Push rod; 28. Lifting rod; 29. ​​Lifting seat; 30. Detection head; 31. First slide; 32. Second slide; 33. Adjustment disk; 34. Limiting piece; 35. Disc spring sheet. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Example

[0030] Please refer to Figure 1-Figure 8 shown.

[0031] The present invention provides a metal mine underground goaf detection device, such as Figure 1 , Figure 2 As shown, the mounting frame 1 includes a mounting frame 1, which is a rectangular frame structure spliced ​​by aluminum profiles and snaps, so that it is convenient for later assembly and disassembly for maintenance. A detection device is installed on the mounting frame 1, and the detection device is a ground penetrating radar GPR or a drilling type three-dimensional laser scanner. The output end of the detection device is detachably provided with a detection head 30 through a signal transmission harness and a quick-release connector, which is convenient for installation in the drill rod 10. The detection head 30 can enter the ground with the drill rod 10 to improve the detection accuracy of the mechanism. A walking mechanism for walking is provided on the mounting frame 1, which is used to support the structure The structure and the detection equipment can move on the complex ground in the wild without the need for the operator to carry the structure, which improves the convenience of the operator to operate the structure; an adjustment frame 4 is slidably provided in the installation frame 1, and a first driving component that drives the adjustment frame 4 to reciprocate is provided on the installation frame 1; a mounting frame 5 is slidably provided on the adjustment frame 4, and a main bracket 12 is provided on the mounting frame 5, and two detection cylinders 11 are provided in pairs on the main bracket 12, and a drill rod 10 is passed through the detection cylinder 11, and a drill bit is connected to the free end of the drill rod 10 by a threaded connection, and a driving drill rod is provided in the detection cylinder 11 10 is a second driving component that moves along its axial direction, and the detection head 30 is arranged in the drill rod 10; through the above structure, a detection hole of a certain depth can be opened by using the drill bit arranged on the drill rod 10, and the drill rod 10 is brought into the detection hole. In this way, the detection head 30 located in the drill rod 10 also enters a certain depth underground with the drill rod 10, thereby ensuring the detection effect of the detection head 30 on the underground cavity, avoiding interference with its detection by other external environments, and improving the detection effect. An adjustment mechanism for adjusting the deflection angle of the detection head 30 is provided in the drill rod 10, which is convenient for changing the detection angle of the detection head 30. The detection wave emitted by the detection head 30 is deflected about the rotation center of the detection head 30, the detection orientation of the detection head 30 is changed, and the detection range of the structure is improved; the first driving component can drive the drill rod 10 installed on the adjustment frame 4 and the detection head 30 built into the drill rod 10 to move along the X-axis or Y-axis in the spatial plane, ensuring that after the measurement of the previous measurement point is completed, it moves to the next measurement point, so that the distance between the two measurement points remains relatively constant, thereby improving the measurement accuracy, and facilitating the establishment of a three-dimensional measurement data graph with the collected data in the later stage, which is conducive to analysis.

[0032] In some technical schemes of the present invention, the second driving assembly includes a second rack 19, which is slidably arranged in the detection cylinder 11 along the axial direction of the detection cylinder 11, and a wedge-shaped groove is opened on the inner side wall of the detection cylinder 11, and the groove is arranged along the axial direction of the detection cylinder 11. The second rack 19 is partially embedded in the groove, and the cross-section of the groove is wedge-shaped. A rotating body 17 is rotatably provided at the end of the second rack 19. The rotating body 17 is cylindrical, and an annular wedge-shaped groove is opened on its end face. A slider connected to the second rack 19 is slidably provided in the wedge-shaped groove, and a spiral channel 20 in a spiral shape is opened on the outer side wall of the rotating body 17. A limit block 21 embedded in the spiral channel 20 is provided on the inner wall of the detection cylinder 11, and the limit block 21 is fixedly connected to the detection cylinder 11. A third gear 18 meshing with the second rack 19 is rotatably provided in the detection cylinder 11 through a pin shaft, and the rotating body 17 is connected to the drill rod 10. In this way, when the rotating third gear 18 drives the second rack 19 to make a linear reciprocating motion in the detection cylinder 11, the second rack 19 will push the rotating body 17 to move out of the detection cylinder 11, and push the drill rod 10 connected thereto out of the detection cylinder 11, and then drive the drill rod 10 into the ground to make preliminary preparations for detection; and, under the restriction of the limit block 21 and the spiral channel 20, the rotating body 17 makes a circular reciprocating motion in the detection cylinder 11, and the drill rod 10 connected to the rotating body 17 drives the drill bit to make a circular motion at a certain angle, so that the drill rod 10 can smoothly penetrate the surface with relatively poor geological conditions, smoothly enter the ground, and speed up the opening of the detection hole; ensure the detection effect of the detection head 30 on the underground cavity, reduce the interference of other external environments, and improve the detection effect.

[0033] Preferably, a servo motor drivingly connected to the shaft of the third gear 18 can be fixed on the outer wall of the detection cylinder 11 by bolts to ensure that the third gear 18 can rotate at a high speed to speed up the opening efficiency of the detection hole.

[0034] In some technical schemes of the present invention, a plurality of mounting openings are provided on the outer wall of the drill rod 10, the cross section of the mounting openings is rectangular, and a drill expansion tool 23 is provided in the mounting openings through a pin shaft, and a tool made of a high-strength alloy is embedded on the outer side of the drill expansion tool 23 to increase the service life of the drill expansion tool 23; an adjusting spring 22 is provided in the detection cylinder 11, and the adjusting spring 22 is located in a compression space formed between the opposite side walls of the detection cylinder 11 and the drill rod 10; the outer diameter of the drill rod 10 is smaller than the inner diameter of the detection cylinder 11, and the outer diameter of the rotating body 17 is approximately equal to the inner diameter of the detection cylinder 11; one end of the adjusting spring 22 is in contact with the rotating body 17 The other end of the adjusting spring 22 is connected to the inner wall of the detection cylinder 11; the adjusting spring 22 is set so that when the rotating body 17 is not subjected to downward pressure during the subsequent movement, the adjusting spring 22 can make the rotating body 17 return to its original position, thereby retracting the drill rod 10 from the detection hole; a guide groove is opened on the outer wall of the drill rod 10 along its axial direction, and the guide groove is connected to the internal space of the drill rod 10, and a connecting plate 24 is slidably provided in the guide groove, and the connecting plate 24 is connected to the adjusting spring 22, and a push rod 25 is provided on the connecting plate 24, and a mounting seat 26 is provided on the push rod 25, and a plurality of push rods 27 connected to the expansion drilling tool 23 are hinged on the mounting seat 26. When the top end of the adjusting spring 22 is subjected to the pressure applied by the rotating body 17, the connecting plate 24 connected to the top end of the adjusting spring 22 will move along the axial direction of the drill rod 10 as the adjusting spring 22 is compressed, and a thrust is applied to the push rod 27 hinged on the mounting seat 25 through the push rod 25, thereby pushing the expansion drilling tool 23 rotatably arranged on the drill rod 10 out of the drill rod 10. The number of the expansion drilling tools 23 is 2, thereby expanding the opened detection hole, so that the drill rod 10 can maintain relative stability in the detection hole, thereby improving the detection effect of the present structure on the sounding area.

[0035] In some technical schemes of the present invention, the adjustment mechanism includes a lifting seat 29, which is slidably arranged in the drill rod 10 along the axial direction of the drill rod 10, and a guide groove arranged along the axial direction is opened on the inner wall of the drill rod 10, and a rectangular block adapted to the guide groove is provided on the side wall of the lifting seat 29 to prevent the lifting seat 29 from deflecting when performing linear reciprocating motion in the drill rod 10, and a mounting groove is opened on the side wall of the lifting seat 29 along its extension direction, and two adjustment disks 33 are arranged in the mounting groove through the rotation of the pin shaft, and a through groove is opened at the bottom of the mounting groove, and parts of the two adjustment disks 33 protrude from the through groove and extend outward, and the number of detection ends of the detection head 30 is set There are two detection ends, which are respectively mounted on two adjusting disks 33. A first slide and a second slide respectively connected to the mounting grooves are provided on the side walls of the lifting seat 29. The connection between the first slide and the second slide and the mounting groove is in a smooth transition. A lifting rod 28 is slidably provided in the first slide and the second slide. The lifting rod 28 is slidably set in the first slide or the second slide through a rectangular block, and the lifting rod 28 is hinged to the rectangular block. The two lifting rods 28 are respectively hinged to their corresponding reaming tools 23. A disc-shaped spring sheet 35 is wound on the rotating shaft of the adjusting disk 33, and a bending portion is provided on the free end of the disc-shaped spring sheet 35. When the expansion drill tool 23 rotatably arranged on the drill rod 10 is pushed out of the drill rod 10 by the push rod 27; the expansion drill tool 23 set will pull the lifting seat 29 to make an upward movement along the axial direction of the drill rod through the lifting rod 28. When the lifting seat 29 moves to the limit position, the expansion drill tool 23 continues to be pushed out of the drill rod 10 by the push rod 27, and the expansion drill tool 23 will pull the two lifting rods 28 to slide in the first slideway and the second slideway respectively, and the sliding ends of the two lifting rods 28 move away from each other until the sliding ends of the lifting rods 28 move into the installation groove; the lifting rod 28 will then abut against the bent portion of the disc-shaped spring sheet 35, and then the lifting rod 28 will pull the adjusting disk 33 to make a circular motion in the installation groove through the disc-shaped spring sheet 35, that is, change the detection angle of the detection end of the detection head 30, thereby improving the detection range of the structure.

[0036] In some technical schemes of the present invention, the walking mechanism includes two groups of auxiliary brackets 2, which are respectively fixed on both sides of the mounting frame 1 by bolts, and the two groups of auxiliary brackets 2 are staggered. Support frames 7 are installed on the side walls of the auxiliary brackets 2 by bolts. The length of the support frame 7 is approximately equal to the length of the mounting frame 1. Two groups of support roller groups 9 are rotatably provided in the support frame 7. The support roller group 9 includes two support rollers. Both support rollers are rotatably set in the support frame 7, and the track 8 is mounted on two support rollers in the same group of support roller groups 9, thereby improving the passing capacity and load-bearing capacity of the structure.

[0037] In some technical solutions of the present invention, the secondary support 2 is provided with a second drive motor 6 which is drivingly connected to one of the support rollers in one of the support roller groups 9, and the other support group 9 is passively walked to improve the support surface of the entire structure, so that the structure has the ability to walk by itself.

[0038] In some technical solutions of the present invention, the first drive assembly includes two first drive motors 3 respectively mounted on the mounting frame 1, the mounting frame 1 is provided with two first auxiliary wheels respectively corresponding to the first drive motors 3, the output end of the first drive motor 3 is connected to the first auxiliary wheel through a belt drive, and two sliding frames 13 are slidably provided on the mounting frame 1, and the sliding frames 13 are connected to the adjustment frame 4. The above structure can drive the drill rod 10 mounted on the adjustment frame 4 and the detection head 30 built into the drill rod 10 to move along the X-axis or Y-axis in the space plane formed in the mounting frame 1. The two first drive motors 3 can ensure that the two sides of the adjustment frame 4 can move synchronously, ensure that the measurement point position remains relatively constant, improve the measurement accuracy, and facilitate data collection and analysis in the later stage.

[0039] In some technical solutions of the present invention, a fourth drive motor is installed at one end of the adjusting frame 4, and a second auxiliary wheel is rotatably provided at the other end of the adjusting frame 4. In fact, the fourth drive motor and the second auxiliary wheel are respectively installed on two sliding frames 13 located on both sides of the adjusting frame 4, and the output end of the fourth drive motor is connected to the second auxiliary wheel through a transmission belt transmission, and the mounting frame 5 is fixedly connected to the transmission belt. The above structure can drive the drill rod 10 installed on the adjusting frame 4 and the detection head 30 built into the drill rod 10 to reciprocate along the extension direction of the adjusting frame 4 in the space plane formed in the mounting frame 1, so as to measure specific points in the space plane, ensure the authenticity of the measurement point data, improve the measurement accuracy, and facilitate data collection and analysis in the later stage.

[0040] In some technical solutions of the present invention, a mounting chamber is provided in the main bracket 12, a first gear 15 is rotatably provided in the mounting chamber, two second gears 16 are respectively meshed with the first gear 15 are provided in the mounting chamber, a third driving motor connected to the first gear 15 is provided on the mounting frame 5, two first racks 14 are respectively meshed with the second gears 16 are pierced through the main bracket 12, the two first racks 14 are respectively fixedly connected to the detection cylinder 11, an electric push rod connected to the first gear 15 is provided on the output end of the third driving motor, the electric push rod can control the first gear to withdraw from between the two second gears 16, so that the two first racks 14 can slide freely on the main bracket 12, which is convenient for later adjustment and also has a certain self-locking effect. The height of the two detection cylinders 11 installed on the main bracket 12 relative to the ground to be detected can be adjusted by the above mechanism, so as to adapt to the ground with different height differences for detection, thereby improving the adaptation range of the present structure.

[0041] A method for detecting an underground goaf in a metal mine: a mounting frame 1 is moved to the ground of an area to be detected by a walking mechanism;

[0042] The first driving assembly drives the adjusting frame 4 to move along the X-axis or the Y-axis in the spatial plane, so that the drill rod 10 installed on the adjusting frame 4 and the detection head 30 built into the drill rod 10 reach the measuring point;

[0043] Driving the third driving motor in the main bracket 12 to adjust the horizontal distance of the detection cylinder 11 relative to the ground to be detected;

[0044] Subsequently, the drill rod 10 and the drill bit are driven by the second driving assembly to open a detection hole of a certain depth in the ground to be detected;

[0045] Driven by the expansion drill tool 23, the adjustment mechanism causes the detection end installed on the adjustment disk 33 to perform a circular motion in the installation groove; then the hollow area in the surface is detected.

[0046] 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 variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device for detecting underground goaf in a metal mine, characterized in that: The invention comprises a mounting frame (1), on which a detection device is mounted, a detection head (30) is detachably mounted on the output end of the detection device, a walking mechanism for walking is mounted on the mounting frame (1), an adjustment frame (4) is slidably mounted in the mounting frame (1), a first driving component for driving the adjustment frame (4) to reciprocate is mounted on the mounting frame (1), a mounting frame (5) is slidably mounted on the adjustment frame (4), a main support (12) is mounted on the mounting frame (5), two detection cylinders (11) are mounted in pairs on the main support (12), a drill rod (10) is inserted into the detection cylinder (11), a drill bit is mounted on the free end of the drill rod (10), a second driving component for driving the drill rod (10) to move along its axial direction is mounted in the detection cylinder (11), the detection head (30) is arranged in the drill rod (10), and an adjusting mechanism for adjusting the deflection angle of the detection head (30) is mounted in the drill rod (10).

2. A metal mine underground goaf detection device according to claim 1, characterized in that: The second driving assembly comprises a second rack (19), the second rack (19) is slidably arranged in the detection cylinder (11) along the axial direction of the detection cylinder (11), a rotating body (17) is rotatably arranged at the end of the second rack (19), a spiral channel (20) in a spiral shape is opened on the outer wall of the rotating body (17), a limit block (21) embedded in the spiral channel (20) is provided on the inner wall of the detection cylinder (11), a third gear (18) meshing with the second rack (19) is rotatably arranged in the detection cylinder (11), and the rotating body (17) is connected to the drill rod (10).

3. A metal mine underground goaf detection device according to claim 1 or 2, characterized in that: The outer wall of the drill rod (10) is provided with a plurality of mounting openings, and a drill expansion tool (23) is rotatably mounted in each of the mounting openings. An adjusting spring (22) is arranged in the detection cylinder (11), one end of the adjusting spring (22) is in contact with the rotating body (17), and the other end of the adjusting spring (22) is connected to the inner wall of the detection cylinder (11). A guide groove is arranged on the outer wall of the drill rod (10) along its axial direction, and a connecting plate (24) is slidably arranged in the guide groove, and the connecting plate (24) is connected to the adjusting spring (22). A push rod (25) is arranged on the connecting plate (24), and a mounting seat (26) is arranged on the push rod (25). A plurality of push rods (27) connected to the drill expansion tool (23) are hinged on the mounting seat (26).

4. A metal mine underground goaf detection device according to claim 3, characterized in that: The adjustment mechanism comprises a lifting seat (29), the lifting seat (29) is slidably arranged in the drill rod (10) along the axial direction of the drill rod (10), a mounting groove is provided on the side wall of the lifting seat (29) along its extension direction, two adjustment disks (33) are rotatably arranged in the mounting groove, two detection ends of the detection head (30) are respectively arranged on the two adjustment disks (33), a first slideway and a second slideway respectively connected to the mounting groove are provided on the side wall of the lifting seat (29), lifting rods (28) are slidably arranged in the first slideway and the second slideway, the two lifting rods (28) are respectively hinged to their corresponding expansion drilling tools (23), and a disc-shaped spring sheet (35) is wound on the rotating shaft of the adjustment disk (33), and a bending portion is provided on the free end of the disc-shaped spring sheet (35).

5. The device for detecting underground goaf in a metal mine according to claim 1, characterized in that: The walking mechanism comprises two groups of auxiliary supports (2), the two groups of auxiliary supports (2) are respectively installed on both sides of the installation frame (1), and a support frame (7) is installed on the side wall of the auxiliary support (2). Two groups of support roller groups (9) are rotatably arranged in the support frame (7), and the support roller groups (9) are each provided with a crawler track (8).

6. The device for detecting underground goaf in a metal mine according to claim 1, characterized in that: The first driving assembly comprises two first driving motors (3) respectively mounted on a mounting frame (1); the mounting frame (1) is provided with two first auxiliary wheels respectively corresponding to the first driving motors (3); the output end of the first driving motor (3) is connected to the first auxiliary wheel via a belt transmission; two sliding frames (13) are slidably mounted on the mounting frame (1); the sliding frames (13) are connected to the adjustment frame (4).

7. The device for detecting underground goaf in a metal mine according to claim 1, characterized in that: A fourth drive motor is mounted on one end of the adjustment frame (4), and a second auxiliary wheel is rotatably mounted on the other end of the adjustment frame (4). The output end of the fourth drive motor is connected to the second auxiliary wheel via a transmission belt, and the mounting frame is fixedly connected to the transmission belt.

8. The device for detecting underground goaf in a metal mine according to claim 1, characterized in that: The main support (12) is provided with an installation chamber, a first gear (15) is rotatably provided in the installation chamber, two second gears (16) respectively meshing with the first gear (15) are provided in the installation chamber, a third drive motor drivingly connected to the first gear (15) is provided on the installation frame (5), two first racks (14) respectively meshing with the second gears (16) are passed through the main support (12), and an electric push rod connected to the first gear (15) is provided on the output end of the third drive motor.

9. The device for detecting underground goaf in a metal mine according to claim 5, characterized in that: The auxiliary bracket (2) is provided with a second driving motor (6) which is transmission-connected to the supporting roller group (9).

10. A method for detecting underground goaf in a metal mine, characterized in that: According to the detection device according to any one of claims 1 to 9, the detection step is: moving the mounting frame (1) to the ground of the area to be sounded by means of a walking mechanism; The first driving component drives the adjusting frame (4) to move along the X-axis or the Y-axis in a spatial plane, so that the drill rod (10) installed on the adjusting frame (4) and the detection head (30) built into the drill rod (10) reach the measurement point; Driving a third driving motor in the main bracket (12) to adjust the horizontal distance of the detection cylinder (11) relative to the ground to be detected; Subsequently, the drill rod (10) and the drill bit are driven by the second driving assembly to open a detection hole of a certain depth in the ground to be detected; The adjusting mechanism, driven by the expansion drill tool (23), causes the detection end installed on the adjusting disk (33) to perform circular motion in the installation groove; and then detects the hollow area in the ground surface.

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