Mine shaft monitoring robot

Abstract

The invention relates to the field of shaft robots, and particularly discloses a mine shaft monitoring robot which comprises symmetrically arranged mounting blocks, lifting rings connected with lifting steel wire ropes are arranged on the mounting blocks, a plurality of supporting assemblies making contact with the inner wall of a shaft are arranged on the mounting blocks, and material spraying assemblies are arranged on the mounting blocks. An inflation assembly for providing gas is arranged on the mounting block. According to the invention, the abnormal state of the inner wall of the shaft can be monitored, the information of the inner wall of the shaft can be acquired and analyzed, and the information can be marked, so that workers can conveniently search and maintain the inner wall of the shaft; according to the invention, sealing performance detection can be carried out on the inner wall of the shaft, so that the position of a crack can be quickly found out, the confirmation capability of a robot on the sealing performance of the shaft is improved, the flood risk is reduced, analysis and maintenance operations of workers are facilitated, leakage of inflammable gas is reduced, potential threats to the workers monitoring the shaft are reduced, and the explosion risk is reduced. And the safety of the shaft is improved.

Description

Technical Field

[0001] The invention relates to the technical field of shaft robots, and in particular to a mine shaft monitoring robot. Background Art

[0002] A mine shaft is a vertical or inclined passage connecting the ground and underground mining layers. The shaft is not only used to transport miners, equipment and materials in and out of the mine, but also for ventilation, drainage and evacuation in emergency situations. Mine shaft monitoring is an important link to ensure the safety and efficiency of underground mine operations, involving the monitoring and management of the internal structure of the mine, environmental conditions, operating status of mechanical equipment and other aspects. With the development of technology, modern mine shafts are increasingly integrating advanced technologies such as automated control systems and intelligent monitoring systems, such as robot-assisted operations, to improve management efficiency and ensure operational safety.

[0003] In the existing patent CN218434438U, a mine shaft inspection robot is disclosed, including a lifting body, a lifting device is arranged on the side of the lifting body, the lifting device is connected to a wire rope, the lower side of the lifting body is rotatably connected to a rotating seat, the lifting body is connected to a first motor by bolts, and inspection devices are installed on the left and right sides below the rotating seat, the inspection device includes a support seat, a screw rod, a second motor, a mounting seat, a screw rod nut and a camera, the side wall of the mounting seat is connected to a slide rail by bolts, the slide rail is slidably connected to a slider, the outer wall of the slider is connected to the mounting seat by bolts, the rotating seat is driven to rotate by the first motor, and the rotating seat drives the inspection device to rotate, so that the camera rotates, and the data of the mine shaft is comprehensively collected, so that the mine shaft can be quickly inspected, the accuracy of the inspection results can be improved, and manual inspection can be avoided.

[0004] In the above structure, inspection of the opposite wellbore can be achieved, but in the process of monitoring the wellbore, it is difficult to detect the sealing of the wellbore, and it is impossible to confirm that the sealing of the wellbore is good, which may easily lead to groundwater entering the wellbore, increasing the risk of flooding, and easily causing a poor wellbore environment, which is not conducive to the monitoring work of the staff, and when flammable gas leaks, it is easy to leak the gas into the wellbore, posing a potential threat to the staff monitoring the wellbore, increasing the risk of explosion, and reducing the safety of the wellbore.

[0005] Therefore, how to provide a mine shaft monitoring robot is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0006] One object of the present invention is to provide a mine shaft monitoring robot. The mine shaft monitoring robot of the present invention comprises a symmetrically arranged mounting block, wherein the mounting block is provided with a lifting ring connected to a lifting wire rope, the mounting block is provided with a plurality of supporting components in contact with the inner wall of the shaft, the mounting block is provided with a spraying component, the mounting block is provided with an inflating component for providing gas, and the mounting block is provided with a connecting component connected with the inflating component, the supporting component and the spraying component; the mounting block is provided with a bearing plate, the outer ring of the bearing plate is provided with a sealing component connected with the inflating component, one of the bearing plates is provided with a rotating component, the output end of the rotating component is provided with an adjusting component connected with the inflating component, the inflating component is provided with an exhaust component, the adjusting component is provided with a monitoring component for monitoring the inner wall of the shaft, and the output end of the adjusting component is connected to another bearing plate; wherein, when the sealing component contacts the shaft, the shaft, the bearing plate and the sealing component form a closed environment, and the exhaust component performs a sealing test on the shaft.

[0007] Preferably, the support assembly includes a support cylinder arranged on the mounting block, a support piston is arranged on the support cylinder, a support rod penetrating the support cylinder is arranged on the support piston, a U-shaped block is arranged on the support rod, a roller is connected to the bearing on the U-shaped block, and a support spring is arranged between the support cylinder and the U-shaped block and is sleeved on the outer ring of the support rod.

[0008] Preferably, the spray assembly includes a storage barrel arranged on the mounting block, the storage barrel is filled with marking liquid, a spray piston is arranged inside the storage barrel, a connecting spring is arranged between the inner wall of the storage barrel and the spray piston, and a spray nozzle aligned with the wellbore is installed on the storage barrel.

[0009] Preferably, the inflation component includes an inflation pump installed on the mounting block, an inflation pipe is provided at the output end of the inflation pump, a main pipe is provided at the output end of the inflation pipe, an air distribution pipe connected to the regulating component is provided on the main pipe, an electromagnetic valve 1 is provided on the air distribution pipe, an electromagnetic valve 2 is provided on the main pipe, an end of the main pipe is connected to another connecting component, and the exhaust component is provided on the main pipe.

[0010] Preferably, the connecting component includes a connecting tube 1 arranged on the inflation tube, the connecting tube 1 is connected to the supporting cylinder, a solenoid valve 3 is installed on the connecting tube 1, a connecting tube 2 connected to the storage barrel is arranged on the connecting tube 1, and a solenoid valve 4 and a safety valve are installed on the connecting tube 2.

[0011] Preferably, the sealing assembly includes a sealing airbag arranged on the outer ring of the supporting plate, the sealing airbag is provided with a conduit connected to the inflation tube, and the conduit is installed with an electromagnetic valve five.

[0012] Preferably, the rotating assembly includes a rotating motor mounted on the supporting plate, the output shaft of the rotating motor is connected to a driving gear, the bearing on the supporting plate is connected to a rotating rod, a fixed sleeve on the rotating rod is provided with a driven gear meshing with the driving gear, the inflation tube passes through the rotating rod, and the adjusting assembly is arranged on the rotating rod.

[0013] Preferably, the adjusting assembly includes an adjusting cylinder arranged on the rotating rod, the adjusting cylinder is connected to the air distribution pipe, an adjusting piston is arranged inside the adjusting cylinder, an adjusting rod passing through the adjusting cylinder is arranged on the adjusting piston, the adjusting rod bearing is connected to the other supporting plate, a baffle is arranged on the adjusting rod, and an adjusting spring is arranged between the adjusting cylinder and the baffle and is sleeved on the outer ring of the adjusting rod.

[0014] Preferably, the exhaust assembly includes an exhaust pipe arranged on the main pipe, the exhaust pipe is connected to the main pipe, an exhaust nozzle is arranged on the exhaust pipe, and the solenoid valve six is ​​installed on the exhaust pipe.

[0015] Preferably, the monitoring component includes a shaft connected to the adjusting cylinder by a bearing, a camera is fixedly sleeved on the shaft, a driving motor is installed on the adjusting cylinder, and the shaft is connected to an output shaft of the driving motor.

[0016] The beneficial effects of the present invention are as follows:

[0017] When monitoring the wellbore, the present invention uses a steel wire rope of the hoisting equipment to connect with the lifting ring, and uses the inflation component to inflate the support components on both sides respectively until the support components collide with the inner wall of the wellbore, and then slowly place the device in the wellbore, and use the hoisting equipment to lower the device so that the support component moves down along the inner wall of the wellbore. When the wellbore is tilted or the inner wall protrudes, the support component suddenly changes, so that the support component drives the spraying component to spray the marking liquid for marking, and at the same time starts the rotating component, the rotating component rotates to drive the adjusting component to rotate, and the adjusting component rotates to drive the monitoring component The monitoring component rotates, and under the action of the angle adjustment of the monitoring component itself, the monitoring component takes a picture of the inner wall of the wellbore to obtain abnormal information of the inner wall of the wellbore; when the abnormal position is sealed, the device is moved down, forcing the two bearing plates to be located at the two ends of the abnormal position respectively, and the adjustment component is inflated and adjusted by the inflation component, so as to adjust the distance between the two bearing plates to a reasonable state, and the gas is filled into the sealing component by the inflation component, so that the sealing component expands until the sealing component expands to be in close contact with the inner wall of the wellbore, so that a closed loop is formed between the wellbore, the bearing plate and the sealing component. environment; when testing a closed environment, open the exhaust component, and the inflation component introduces gas into the closed environment through the exhaust component, thereby increasing the air pressure in the closed environment and maintaining the air pressure in the closed environment at a certain pressure value. A pressure detection gauge is used to detect the pressure value of the closed environment for a period of time. When the pressure value decreases slowly or does not change, it means that the pressure is normal, that is, the sealing of the wellbore is good. When the pressure value decreases quickly, it proves that the sealing of the wellbore is poor and needs maintenance. At the same time, the rotating component and the monitoring component are used to take pictures of the state of the inner wall of the wellbore, and the location of cracks and other information is obtained, which is convenient for the staff to Analysis and maintenance operations; In summary, the mine shaft monitoring robot of the present application can monitor the abnormal state of the inner wall of the shaft, can obtain and analyze the information of the inner wall of the shaft, and can mark it to facilitate the staff to find and repair it; it can perform sealing detection on the inner wall of the shaft, so as to quickly find the location of the cracks, improve the robot's ability to confirm the sealing of the shaft, reduce the risk of flooding, facilitate the staff's analysis and maintenance operations, reduce the leakage of flammable gases, reduce the potential threat to the staff monitoring the shaft, reduce the risk of explosion, and improve the safety of the shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 It is a three-dimensional structure entity diagram of the present invention;

[0020] Figure 2 It is a physical diagram of the internal structure of the present invention;

[0021] Figure 3 A front view of a communication component of the present invention;

[0022] Figure 4 A structural entity diagram of the support assembly of the present invention;

[0023] Figure 5 It is a structural entity diagram of the spraying assembly of the present invention;

[0024] Figure 6 A front view of an inflatable component of the present invention;

[0025] Figure 7 A structural entity diagram of the sealing assembly of the present invention;

[0026] Figure 8 It is a structural entity diagram of the rotating assembly of the present invention;

[0027] Fig. 9 A structural entity diagram of the regulating assembly of the present invention;

[0028] Fig.10 It is a structural entity diagram of the monitoring component of the present invention.

[0029] In the figure: 1. Mounting block; 2. Lifting ring; 3. Support assembly; 301. Support cylinder; 302. Support piston; 303. Support rod; 304. U-shaped block; 305. Roller; 306. Support spring; 4. Spray assembly; 401. Storage barrel; 402. Spray piston; 403. Connecting spring; 404. Spray nozzle; 5. Inflating assembly; 501. Inflating pump; 502. Inflating pipe; 503. Main pipe; 504. Air distribution pipe; 505. Solenoid valve 1; 506. Solenoid valve 2; 6. Connecting assembly; 601. Connecting pipe 1; 602. Solenoid valve 3; 603. Connecting pipe 2; 604. Solenoid valve 4; 605. Solenoid valve 5; 606. Solenoid valve 6; 607. Solenoid valve 7; 608. Solenoid valve 8; 609. Solenoid valve 9; 610. Solenoid valve 10; 611. Solenoid valve 11; 612. Solenoid valve 12; 613. Solenoid valve 13; 614. Solenoid valve 14; 615. Solenoid valve 15; 616. Solenoid valve 16; 617. Solenoid valve 17; 618. Solenoid valve 18; 619. Solenoid valve 19; 620. Solenoid valve 11; 621. Solenoid valve 12; 622. Solenoid valve 13; 623. Solenoid valve 14; 624. Solenoid valve 15; 625. Solenoid valve 16; 626 05. Safety valve; 7. Load-bearing plate; 8. Sealing assembly; 801. Sealing airbag; 802. Catheter; 803. Solenoid valve five; 9. Rotating assembly; 901. Rotating motor; 902. Driving gear; 903. Rotating rod; 904. Driven gear; 10. Adjusting assembly; 1001. Adjusting cylinder; 1002. Adjusting piston; 1003. Adjusting rod; 1004. Baffle; 1005. Adjusting spring; 11. Exhaust assembly; 1101. Exhaust pipe; 1102. Exhaust nozzle; 1103. Solenoid valve six; 12. Monitoring assembly; 1201. Shaft; 1202. Camera; 1203. Driving motor. DETAILED DESCRIPTION

[0030] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0031] Embodiment 1:

[0032] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the mine shaft monitoring robot of the present invention comprises a symmetrically arranged mounting block 1, a lifting ring 2 connected to a lifting wire rope is arranged on the mounting block 1, a plurality of supporting components 3 in contact with the inner wall of the shaft are arranged on the mounting block 1, a spraying component 4 is arranged on the mounting block 1, an inflating component 5 for providing gas is arranged on the mounting block 1, and a connecting component 6 in communication with the inflating component 5, the supporting component 3 and the spraying component 4 is arranged on the mounting block 1; a bearing plate 7 is arranged on the mounting block 1, a sealing component 8 in communication with the inflating component 5 is arranged on the outer ring of the bearing plate 7, a rotating component 9 is arranged on one of the bearing plates 7, an adjusting component 10 in communication with the inflating component 5 is arranged at the output end of the rotating component 9, an exhaust component 11 is arranged on the inflating component 5, a monitoring component 12 for monitoring the inner wall of the shaft is arranged on the adjusting component 10, and the output end of the adjusting component 10 is connected to another bearing plate 7; wherein, when the sealing component 8 contacts with the shaft, the shaft, the bearing plate 7 and the sealing component 8 form a closed environment, and the exhaust component 11 performs a sealing test on the shaft.

[0033] Working principle: When monitoring the wellbore, use the wire rope of the lifting equipment to connect with the lifting ring 2, use the inflation component 5 to inflate the support components 3 on both sides respectively, until the support components 3 collide with the inner wall of the wellbore, slowly place the device in the wellbore, and use the lifting equipment to lower the device so that the support component 3 moves down along the inner wall of the wellbore. When the wellbore is tilted or the inner wall protrudes, the support component 3 changes suddenly, so that the support component 3 drives the spraying component 4 to spray the marking liquid for marking, and at the same time starts the rotating component 9, the rotating component 9 rotates to drive the adjusting component 10 to rotate, and the adjusting component 10 rotates. The monitoring component 12 is driven to rotate. Under the effect of the angle adjustment of the monitoring component 12 itself, the monitoring component 12 takes a picture of the inner wall of the wellbore to obtain abnormal information of the inner wall of the wellbore; when the abnormal position is sealed, the device is moved down to force the two bearing plates 7 to be located at the two ends of the abnormal position respectively, and the inflation component 5 is used to inflate and adjust the adjustment component 10, so as to adjust the distance between the two bearing plates 7 to a reasonable state, and the inflation component 5 is used to fill the gas into the sealing component 8, so that the sealing component 8 expands until the sealing component 8 expands to be in close contact with the inner wall of the wellbore, so that the wellbore and the bearing plates 7 are in a closed state. A closed environment is formed between the gas-filled component 5 and the sealing component 8; when the closed environment is detected, the exhaust component 11 is opened, and the inflatable component 5 introduces gas into the closed environment through the exhaust component 11, thereby increasing the air pressure in the closed environment and maintaining the air pressure in the closed environment at a certain pressure value. The pressure value of the closed environment is detected by a pressure detection gauge for a period of time. When the pressure value decreases slowly or does not change, it means that the pressure is normal, that is, the sealing of the wellbore is good. When the pressure value decreases quickly, it proves that the sealing of the wellbore is poor and needs maintenance. At the same time, the rotating component 9 and the monitoring component 12 are used to photograph the state of the inner wall of the wellbore to obtain information such as cracks. position, which is convenient for staff to analyze and repair operations; in summary, the mine shaft monitoring robot of the present application can monitor the abnormal state of the inner wall of the shaft, can obtain and analyze the information of the inner wall of the shaft, and can mark it, which is convenient for staff to find and repair; it can perform sealing detection on the inner wall of the shaft, so as to quickly find the location of the cracks, improve the robot's ability to confirm the sealing of the shaft, reduce the risk of flooding, facilitate staff's analysis and maintenance operations, reduce the leakage of flammable gases, reduce the potential threat to staff monitoring the shaft, reduce the risk of explosion, and improve the safety of the shaft.

[0034] Embodiment 2:

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9and Fig.10 As shown, the mine shaft monitoring robot of the present invention, the support assembly 3 includes a support cylinder 301 arranged on the mounting block 1, a support piston 302 is arranged on the support cylinder 301, a support rod 303 penetrating the support cylinder 301 is arranged on the support piston 302, a U-shaped block 304 is arranged on the support rod 303, a roller 305 is connected to the bearing on the U-shaped block 304, and a support spring 306 mounted on the outer ring of the support rod 303 is arranged between the support cylinder 301 and the U-shaped block 304.

[0036] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the mine shaft monitoring robot of the present invention, the spraying assembly 4 includes a storage barrel 401 arranged on the mounting block 1, the storage barrel 401 is filled with marking liquid, a spraying piston 402 is arranged inside the storage barrel 401, a connecting spring 403 is arranged between the inner wall of the storage barrel 401 and the spraying piston 402, and a spraying nozzle 404 aimed at the shaft is installed on the storage barrel 401.

[0037] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the mine shaft monitoring robot of the present invention, the inflation component 5 includes an inflation pump 501 installed on the mounting block 1, the output end of the inflation pump 501 is provided with an inflation pipe 502, the output end of the inflation pipe 502 is provided with a main pipe 503, the main pipe 503 is provided with an air distribution pipe 504 connected with the adjustment component 10, the air distribution pipe 504 is provided with an electromagnetic valve 1 505, the main pipe 503 is provided with an electromagnetic valve 2 506, the end of the main pipe 503 is connected with another connecting component 6, and the exhaust component 11 is provided on the main pipe 503.

[0038] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, the mine shaft monitoring robot of the present invention, the connecting component 6 includes a connecting pipe 601 arranged on the inflation pipe 502, the connecting pipe 601 is connected to the supporting cylinder 301, the connecting pipe 601 is installed with a solenoid valve 3 602, the connecting pipe 601 is provided with a connecting pipe 2 603 connected to the storage barrel 401, and the connecting pipe 2 603 is installed with a solenoid valve 4 604 and a safety valve 605.

[0039] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the mine shaft monitoring robot of the present invention, the sealing assembly 8 includes a sealing airbag 801 arranged on the outer ring of the supporting plate 7, the sealing airbag 801 is provided with a conduit 802 connected to the inflation tube 502, and the conduit 802 is installed with an electromagnetic valve 5 803.

[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the mine shaft monitoring robot of the present invention, the rotating component 9 includes a rotating motor 901 installed on the supporting plate 7, the output shaft of the rotating motor 901 is connected to the driving gear 902, the bearing on the supporting plate 7 is connected to the rotating rod 903, the rotating rod 903 is fixedly sleeved with a driven gear 904 meshing with the driving gear 902, the inflation tube 502 passes through the rotating rod 903, and the adjusting component 10 is arranged on the rotating rod 903.

[0041] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, the mine shaft monitoring robot of the present invention, the adjustment component 10 includes an adjustment cylinder 1001 arranged on the rotating rod 903, the adjustment cylinder 1001 is connected to the air distribution pipe 504, an adjustment piston 1002 is arranged inside the adjustment cylinder 1001, an adjustment rod 1003 penetrating the adjustment cylinder 1001 is arranged on the adjustment piston 1002, the adjustment rod 1003 bearing is connected to another supporting plate 7, a baffle 1004 is arranged on the adjustment rod 1003, and an adjustment spring 1005 sleeved on the outer ring of the adjustment rod 1003 is arranged between the adjustment cylinder 1001 and the baffle 1004.

[0042] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the mine shaft monitoring robot of the present invention, the exhaust component 11 includes an exhaust pipe 1101 arranged on the main pipe 503, the exhaust pipe 1101 is connected to the main pipe 503, the exhaust pipe 1101 is provided with an exhaust nozzle 1102, and the exhaust pipe 1101 is installed with a solenoid valve 1103.

[0043] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the mine shaft monitoring robot of the present invention, the monitoring component 12 includes a shaft rod 1201 connected to the adjusting cylinder 1001 by a bearing, a camera 1202 is fixedly sleeved on the shaft rod 1201, a driving motor 1203 is installed on the adjusting cylinder 1001, and the shaft rod 1201 is connected to the output shaft of the driving motor 1203.

[0044] Working principle: When monitoring the wellbore, use the steel wire rope of the lifting equipment to connect with the lifting ring 2, slowly place the device in the wellbore, start the air pump 501, and fill the gas into the support cylinder 301 through the air filling pipe 502, the main pipe 503 and the connecting pipe 601, so that the gas in the support cylinder 301 increases, the pressure increases, and the support piston 302 drives the support rod 303 to move, so that the support rod 303 drives the U-shaped block 304 and the roller 305 to move, and the support spring 306 stretches until the roller 305 moves to contact the inner wall of the wellbore, until the rollers 305 on both sides completely contact the wellbore respectively;

[0045] The device is lowered by using a lifting device, so that the roller 305 moves down along the inner wall of the wellbore. When the wellbore is tilted or the inner wall protrudes, the inner wall of the wellbore will produce a sudden force on the roller 305, so that one or more rollers 305 retreat, and the roller 305 drives the U-shaped block 304 to retreat. The U-shaped block 304 drives the support rod 303 to slide back on the support cylinder 301, so that the support rod 303 drives the support piston 302 to retreat, forcing the air in the support cylinder 301 to The body is compressed. Under the action of the safety valve 605, the pressure of the gas suddenly changes and opens the safety valve 605. Through the action of the connecting pipe 603, the gas in the supporting cylinder 301 enters the storage barrel 401. The pressure in the storage barrel 401 increases, causing the spraying piston 402 to move. At this time, the connecting spring 403 is stretched to a reasonable position, and the spraying piston 402 drives the marking liquid in the storage barrel 401 to be sprayed onto the inner wall of the wellbore through the spraying nozzle 404, forming a mark on the abnormal position of the inner wall of the wellbore;

[0046] The rotating motor 901 is started, and the output shaft of the rotating motor 901 rotates to drive the driving gear 902 to rotate, and the driving gear 902 rotates to drive the driven gear 904 to rotate, and the driven gear 904 rotates to drive the rotating rod 903 to rotate, and the rotating rod 903 rotates to drive the adjusting cylinder 1001 to rotate, and the adjusting rod 1003 bearing is connected to the bearing plate 7, so that the adjusting rod 1003 rotates accordingly. After rotating one circle, the rotating motor 901 is started in the reverse direction to avoid serious entanglement of the dry pipe 503 and the inflation pipe 502; at the same time, the driving motor 1203 is started, and the output shaft of the driving motor 1203 rotates to drive the shaft 1201 to rotate, and the shaft 1201 drives the camera 1202 to rotate, so that the shaft 1201 adjusts the angle of the camera 1202, so that the camera 1202 expands the shooting range of the inner wall of the wellbore and obtains abnormal information of the inner wall of the wellbore;

[0047] When the abnormal position is to be sealed, the device is moved downward by means of a lifting device, forcing the two bearing plates 7 to be located at the two ends of the abnormal position respectively, and the air pump 501 is started. Through the action of the air filling pipe 502 and the main pipe 503, the air pump 501 passes the gas into the gas distribution pipe 504, and the solenoid valve 505 is opened to force the gas into the regulating cylinder 1001. As the gas in the regulating cylinder 1001 increases, the regulating piston 1002 drives the regulating rod 1003 to move, and the regulating rod 1003 drives the baffle 1004 and the bearing plate 7 to move. At this time, the regulating spring 1005 is stretched, thereby adjusting the distance between the two bearing plates 7 to a reasonable position, and at the same time, the distance between the mounting blocks 1 is adjusted accordingly;

[0048] Close the electromagnetic valve 1 505, open the electromagnetic valve 5 803 and the electromagnetic valve 2 506, start the air pump 501, so that the gas is introduced into the sealing airbag 801 through the inflation pipe 502, the main pipe 503 and the conduit 802, so that the sealing airbag 801 expands until the sealing airbag 801 expands to a reasonable state and is in close contact with the inner wall of the wellbore, so that a closed environment is formed between the wellbore, the bearing plate 7 and the sealing airbag 801;

[0049] When testing a closed environment, open the solenoid valve 1103, start the air pump 501, and let the gas be introduced into the exhaust pipe 1101 through the air filling pipe 502 and the main pipe 503. The gas is continuously introduced into the closed environment through the exhaust nozzle 1102, so that the air pressure in the closed environment increases and the air pressure in the closed environment is kept at a certain pressure value. After a period of time, the pressure value of the closed environment is tested using a pressure test gauge. When the pressure value decreases slowly or does not change, it indicates that the pressure is normal, that is, the sealing of the wellbore is good. When the pressure value decreases quickly, it indicates that the sealing of the wellbore is poor and needs maintenance.

[0050] The rotating motor 901 is started, and the output shaft of the rotating motor 901 rotates to drive the driving gear 902 to rotate, and the driving gear 902 rotates to drive the driven gear 904 to rotate, and the driven gear 904 rotates to drive the rotating rod 903 to rotate, and the rotating rod 903 rotates to drive the adjusting cylinder 1001 to rotate, and the adjusting rod 1003 bearing is connected to the bearing plate 7, so that the adjusting rod 1003 rotates accordingly. After rotating one circle, the rotating motor 901 is started in the reverse direction to avoid serious entanglement of the dry pipe 503 and the inflation pipe 502; at the same time, the driving motor 1203 is started, and the output shaft of the driving motor 1203 rotates to drive the shaft rod 1201 to rotate, and the shaft rod 1201 drives the camera 1202 to rotate, so that the shaft rod 1201 adjusts the angle of the camera 1202, so that the camera 1202 expands the shooting range of the inner wall of the wellbore and obtains the location of information such as cracks, which is convenient for the staff's analysis and maintenance operations.

[0051] The setting of the support component 3 can achieve the supporting effect of the device, avoid shaking during operation, improve the stability of the device, and at the same time, can use gas for adjustment, so that the device can adapt to wellbores of different sizes, and improve the adaptability of the device; the setting of the spraying component 4 can realize the timely marking of abnormal positions of the wellbore, which is conducive to the timely search of the staff and the maintenance of abnormal positions of the wellbore by the staff; the setting of the inflation component 5 can provide gas, so that the gas has different effects, can realize the adjustment of the support component 3, realize the inflation of the sealing component 8, realize the increase of the air pressure in the closed environment, realize the adjustment of the adjustment component 10, so that the device uses the same power source, improves the integration of the device, and improves the practicality of the device; the setting of the connecting component 6 can realize the introduction of gas into the support component 3, and when the support component 3 retreats, the gas is introduced into the spraying component 4, so that the spraying component 4 sprays the liquid to the inner wall of the wellbore, and the setting of the safety valve 605 facilitates the introduction of gas into the storage barrel 401 when the support component 3 undergoes a sudden change, thereby improving rationality; the setting of the sealing component 8 can realize the isolation of the wellbore The setting of the rotating component 9 can realize the rotation of the device, so that the monitoring component 12 rotates, so that the monitoring component 12 can shoot different positions and expand the shooting range of the monitoring component 12; the setting of the adjusting component 10 can realize the position adjustment of the supporting plate 7, so that the distance between the two supporting plates 7 is adjusted to produce sealed environments of different lengths, which is conducive to the detection of wellbores of different lengths, improves the flexibility of the device, and provides a supporting effect at the same time; the setting of the exhaust component 11 can realize the introduction of gas into the closed environment, so as to increase the air pressure in the closed environment, thereby realizing the detection of the sealing of the wellbore. When the pressure value decreases slowly or does not change, it means that the pressure is normal, that is, the sealing of the wellbore is good. When the pressure value decreases quickly, it proves that the sealing of the wellbore is poor; the setting of the monitoring component 12 can realize the acquisition of abnormal information on the inner wall of the wellbore, cooperate with the rotating component 9 to expand the shooting range, and facilitate the staff to obtain information, thereby predicting risks in advance and improving the auxiliary ability of the device.

[0052] The present solution uses the inflatable component 5 to adjust the support component 3, so that the support component 3 can adapt to a variety of different sizes of the inner diameter of the wellbore, and can replenish the gas of the support component 3; the inflatable component 5 is used to inflate the sealing airbag 801 to create a sealed environment of the wellbore, which is conducive to the detection of the sealing of the wellbore, and at the same time, the exhaust component 11 is used to inflate the closed environment to increase the air pressure in the closed environment, and realize the real-time detection of the closed environment; the inflatable component 5 is used to adjust the position of the adjustment component 10, so as to adjust the size of the closed environment and realize the detection of closed environments of different lengths; on the one hand, it can realize the monitoring of the abnormal state of the inner wall of the wellbore, can realize the acquisition and analysis of the information of the inner wall of the wellbore, and can mark it, which is convenient for the staff to find and repair; on the other hand, it can detect the sealing of the inner wall of the wellbore, so as to quickly find the location of the crack, improve the robot's ability to confirm the sealing of the wellbore, reduce the risk of flooding, facilitate the analysis and maintenance operations of the staff, reduce the leakage of flammable gas, reduce the potential threat to the staff monitoring the wellbore, reduce the risk of explosion, and improve the safety of the wellbore.

[0053] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A mine shaft monitoring robot, characterized in that: The invention comprises a symmetrically arranged mounting block (1), wherein the mounting block (1) is provided with a lifting ring (2) connected to a lifting wire rope, wherein the mounting block (1) is provided with a plurality of supporting components (3) in contact with the inner wall of the wellbore, wherein the mounting block (1) is provided with a spraying component (4), wherein the mounting block (1) is provided with an inflation component (5) for providing gas, wherein the mounting block (1) is provided with a connecting component (6) connected to the inflation component (5), the supporting component (3) and the spraying component (4); wherein the mounting block (1) is provided with a bearing plate (7), wherein the outer ring of the bearing plate (7) is provided with a sealing component (6) connected to the inflation component (5). 8), wherein a rotating component (9) is arranged on one of the supporting plates (7), an adjusting component (10) which is in communication with the inflation component (5) is arranged on the output end of the rotating component (9), an exhaust component (11) is arranged on the inflation component (5), a monitoring component (12) for monitoring the inner wall of the wellbore is arranged on the adjusting component (10), and the output end of the adjusting component (10) is connected to the other supporting plate (7); wherein, when the sealing component (8) contacts the wellbore, the wellbore, the supporting plate (7) and the sealing component (8) form a closed environment, and the exhaust component (11) performs a sealing test on the wellbore.

2. The mine shaft monitoring robot according to claim 1, characterized in that: The support assembly (3) comprises a support cylinder (301) arranged on the mounting block (1), a support piston (302) being arranged on the support cylinder (301), a support rod (303) penetrating the support cylinder (301) being arranged on the support piston (302), a U-shaped block (304) being arranged on the support rod (303), a roller (305) being connected to a bearing on the U-shaped block (304), and a support spring (306) being sleeved on the outer ring of the support rod (303) being arranged between the support cylinder (301) and the U-shaped block (304).

3. The mine shaft monitoring robot according to claim 2, characterized in that: The spray assembly (4) comprises a material storage barrel (401) arranged on the mounting block (1), wherein the material storage barrel (401) is filled with a marking liquid, a spray piston (402) is arranged inside the material storage barrel (401), a connecting spring (403) is arranged between the inner wall of the material storage barrel (401) and the spray piston (402), and a spray nozzle (404) aligned with the wellbore is installed on the material storage barrel (401).

4. The mine shaft monitoring robot according to claim 3, characterized in that: The inflation component (5) comprises an inflation pump (501) mounted on the mounting block (1); an inflation pipe (502) is arranged at the output end of the inflation pump (501); a main pipe (503) is arranged at the output end of the inflation pipe (502); an air distribution pipe (504) connected to the regulating component (10) is arranged on the main pipe (503); an electromagnetic valve 1 (505) is arranged on the air distribution pipe (504); an electromagnetic valve 2 (506) is arranged on the main pipe (503); an end of the main pipe (503) is connected to another connecting component (6); and the exhaust component (11) is arranged on the main pipe (503).

5. The mine shaft monitoring robot according to claim 4, characterized in that: The connecting component (6) comprises a connecting pipe 1 (601) arranged on the inflation pipe (502), the connecting pipe 1 (601) being connected to the supporting cylinder (301), the connecting pipe 1 (601) being provided with a solenoid valve 3 (602), the connecting pipe 1 (601) being provided with a connecting pipe 2 (603) connected to the material storage barrel (401), the connecting pipe 2 (603) being provided with a solenoid valve 4 (604) and a safety valve (605).

6. The mine shaft monitoring robot according to claim 5, characterized in that: The sealing assembly (8) comprises a sealing airbag (801) arranged on the outer ring of the bearing plate (7), the sealing airbag (801) is provided with a conduit (802) connected to the inflation tube (502), and the conduit (802) is installed with an electromagnetic valve five (803).

7. The mine shaft monitoring robot according to claim 6, characterized in that: The rotating assembly (9) comprises a rotating motor (901) mounted on the supporting plate (7); the output shaft of the rotating motor (901) is connected to a driving gear (902); a rotating rod (903) is connected to a bearing on the supporting plate (7); a driven gear (904) meshing with the driving gear (902) is fixedly sleeved on the rotating rod (903); the inflation tube (502) passes through the rotating rod (903); and the adjusting assembly (10) is arranged on the rotating rod (903).

8. The mine shaft monitoring robot according to claim 7, characterized in that: The regulating assembly (10) comprises a regulating cylinder (1001) arranged on the rotating rod (903), the regulating cylinder (1001) being connected to the gas distribution pipe (504), an regulating piston (1002) being arranged inside the regulating cylinder (1001), an regulating rod (1003) penetrating the regulating cylinder (1001) being arranged on the regulating piston (1002), the regulating rod (1003) being connected to another bearing plate (7) by a bearing, a baffle (1004) being arranged on the regulating rod (1003), and an regulating spring (1005) being sleeved on the outer ring of the regulating rod (1003) being arranged between the regulating cylinder (1001) and the baffle (1004).

9. The mine shaft monitoring robot according to claim 8, characterized in that: The exhaust assembly (11) comprises an exhaust pipe (1101) arranged on the main pipe (503), the exhaust pipe (1101) being in communication with the main pipe (503), an exhaust nozzle (1102) being arranged on the exhaust pipe (1101), and the solenoid valve six (1103) being installed on the exhaust pipe (1101).

10. The mine shaft monitoring robot according to claim 9, characterized in that: The monitoring component (12) comprises a shaft (1201) connected to the regulating cylinder (1001) by a bearing, a camera (1202) is fixedly sleeved on the shaft (1201), a driving motor (1203) is installed on the regulating cylinder (1001), and the shaft (1201) is connected to the output shaft of the driving motor (1203).

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