Underground coal mine directional measurement device

Abstract

The invention discloses an underground coal mine directional measurement device, and belongs to the technical field of mine measurement. Comprising a conical block capable of being lowered into a mine, a moving frame, a loading box, an adjusting assembly and a grabbing assembly. The movable frame is located at the bottom of the mine, and the movable frame adjusts the positions of the loading box in the movable frame in the X-axis direction and the Y-axis direction through the adjusting assembly, so that the conical block enters the loading box and is immersed in the waste engine oil; a support is arranged at the top end of the loading box, a plurality of connecting arms are installed at the bottom end of the support at equal intervals, a plastic bag is opened at the bottom ends of the connecting arms, and a grabbing assembly is installed at the top end of the support. When the conical block falls, the conical block can be sleeved with the plastic bag, and when the conical block is lifted, the grabbing assembly can take down the plastic bag from the conical block; according to the device, the influence of wind power at the bottom of a mine on the conical block is effectively reduced, and meanwhile engine oil is effectively prevented from dripping in the lifting process of the conical block.

Description

Technical Field

[0001] The invention belongs to the technical field of mine measurement, and in particular relates to a directional measurement device for underground coal mines. Background Art

[0002] When conducting directional measurement in coal mines, traditional measurement devices usually rely on a conical block with a wire rope for precise positioning and measurement. The working principle of this device is to lower the conical block to the target position inside the mine through the wire rope, and then use a total station or other measurement equipment to locate and measure the conical block. However, in practical applications, this traditional measurement device faces a series of challenges: First, since the wind is often strong at the bottom of the mine, this will cause the wire rope and the cone block to shake during the measurement process, thus affecting the accuracy of the measurement. To solve this problem, a common practice is to place a box filled with waste oil at the bottom of the cone block. The density and viscosity of the waste oil can reduce the shaking of the cone block caused by wind to a certain extent, thereby improving the stability of the measurement. However, the implementation of this method faces new challenges. On the one hand, due to the complex environment of coal mines, there is a risk of slag falling. If workers try to move the box containing waste oil, they may face danger due to the sudden fall of slag. This risk not only threatens the life safety of workers, but also may affect the accuracy and efficiency of measurement. Therefore, the existing measurement devices often need to place the box in a relatively fixed and safe position during design and use, but this limits the flexibility and accuracy of measurement. On the other hand, after the conical block comes into contact with waste oil, a layer of oil will adhere to its surface, which will not only affect the cleanliness of the conical block, but also cause oil dripping during the subsequent lifting process; the dripping of oil will not only pollute the mine environment, but may also cause safety hazards to mine equipment and personnel.

[0003] Therefore, it is necessary to provide a new directional measurement device for underground coal mines to solve the above technical problems. Summary of the invention

[0004] The present invention overcomes the shortcomings of the prior art and proposes a directional measurement device for underground coal mines; the present invention is achieved through the following technical solutions: A directional measurement device for underground coal mines, comprising a mobile trolley, the mobile trolley is located at the edge of the mine on the ground, and the mobile trolley is equipped with a wire-laying assembly, the end of the wire-laying assembly is equipped with a conical block, and the conical block is placed in the mine through the wire-laying assembly; the mobile frame, a loading box, an adjustment assembly and a grabbing assembly are also included; the mobile frame is located at the bottom of the mine, the inside of the mobile frame is equipped with an adjustment assembly, the loading box is installed on the adjustment assembly, and the position of the loading box in the mobile frame along the X-axis direction and the Y-axis direction is adjusted by the adjustment assembly, so that the conical block falls vertically into the loading box, and the loading box is loaded with waste oil; A bracket is fixedly connected to the top of the loading box, and a plurality of connecting arms are equidistantly installed at the bottom end of the bracket, and the bracket is rotatably connected to the top end of the connecting arm; a plastic bag is stretched out together at the bottom ends of the plurality of connecting arms, and the connecting arm is a telescopic arm, and its bottom end is a J-shaped structure, and an elastic line is provided on the upper part of the plastic bag; a grabbing assembly is installed at the top of the bracket; the grabbing assembly comprises: a sector gear, a fixing ring, a limiting slide groove, a rack, a turntable, a matching groove, a worm gear and a worm; the top ends of the plurality of connecting arms are fixedly connected to the sector gear, and the top ends of the bracket are fixedly connected to the fixing ring, and the inner wall of the fixing ring is provided with limiting slide grooves equidistantly, and the inner wall of the limiting slide groove is slidably connected with a rack, and the rack is meshingly connected with the sector gear, and the inner wall of the fixing ring is rotatably connected with a turntable, and the outer wall of the turntable is provided with matching grooves equidistantly, and the top end of the rack is slidably connected with the matching groove, and the top end of the turntable is fixedly connected with a worm gear, and the inside of the fixing ring is rotatably connected with a worm, and the worm gear is meshingly connected with the worm.

[0005] Further, the adjustment assembly includes an X-connecting rod, a Y-connecting rod, a connecting seat, an X-threaded rod and a Y-threaded rod. The X-connecting rod is connected to the interior of the mobile frame for transverse sliding, and the Y-connecting rod is connected to the interior of the mobile frame for longitudinal sliding, and the middle of the X-connecting rod and the Y-connecting rod are provided with a sliding groove that passes through from top to bottom; an L-shaped sliding leg is provided at the bottom of the connecting seat, and the sliding leg passes through the intersection of the sliding groove of the X-connecting rod and the sliding groove of the Y-connecting rod, and is slidingly connected with the sliding groove of the X-connecting rod and the sliding groove of the Y-connecting rod; the top of the connecting seat is fixedly connected to the loading box; the X-threaded rod is connected to the interior of the mobile frame for transverse rotation, and the Y-threaded rod is connected to the interior of the mobile frame for longitudinal rotation, the X-threaded rod is threadedly connected to the X-connecting rod, and the Y-threaded rod is threadedly connected to the Y-connecting rod.

[0006] Furthermore, one end of the X-threaded rod close to the Y-threaded rod is fixedly connected to a driven friction wheel, a push rod is slidably connected inside the Y-threaded rod, one end of the push rod extends out of the Y-threaded rod and is fixedly connected to the active friction wheel, one end of the push rod is fixedly connected to a gear, a tooth groove is provided at one end of the Y-threaded rod close to the push rod, the gear is meshed with the tooth groove, an end of the push rod away from the active friction wheel is rotatably connected to a connecting ring, an avoidance groove is provided inside the Y-threaded rod, a spring is sleeved on the outer wall of the push rod, one end of the spring is fixedly connected to the connecting ring, and the other end of the spring is fixedly connected to the inner wall of the avoidance groove.

[0007] Furthermore, the pay-off assembly includes a steel wire rope, a winding roller and a motor; one end of the winding roller is fixedly connected to the motor, the steel wire rope is wound on the winding roller, and a conical block is installed at the end of the steel wire rope.

[0008] Furthermore, a controller is installed on the mobile vehicle, and the controller is electrically connected to the motor.

[0009] Furthermore, universal wheels are fixedly connected to the bottom end of the movable frame at equal distances.

[0010] The beneficial effects of the present invention compared with the prior art are as follows: 1. Reduce wind impact and improve measurement accuracy: By introducing a loading box and a plastic bag filled with used engine oil during the descent of the conical block, the impact of wind at the bottom of the mine on the conical block was effectively reduced, the stability and accuracy of the measurement were significantly improved, and the error problem caused by shaking in traditional measurement was overcome.

[0011] 2. Ensure the safety of workers and avoid the risk of slag falling: The design of the device fully considers the complex and potentially dangerous environment inside the mine. Through remote control operation, it avoids workers' direct exposure to high-risk areas such as falling ore slag, ensures the safety of workers' lives, and solves the safety risks of workers moving loading boxes mentioned in the background technology.

[0012] 3. Flexibly adjust the position of the loading box to meet different measurement needs: The innovative design of the adjustment components, including the bidirectional adjustment function in the X-axis and Y-axis directions, and the ingenious combination of the ejector rod, gear and threaded rod, enable the loading box to be flexibly adjusted according to measurement needs, solving the problem of fixed position and lack of flexibility of traditional devices.

[0013] 4. Simplify the operation process and improve work efficiency: The device integrates automatic control functions, which can realize the lifting and lowering of the conical block, the adjustment of the loading box, and the automatic opening and removal of the plastic bag through the remote control, which greatly simplifies the operation process, shortens the measurement cycle, and improves work efficiency.

[0014] 5. Reduce environmental pollution and achieve green measurement: The use of plastic bags effectively prevents the oil from dripping during the lifting of the cone block, avoiding pollution of the mine environment. At the same time, the recycling of the oil reduces the waste of resources and is in line with the development concept of green mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the overall structure of the coal mine underground directional measurement device provided by the present invention; Figure 2 for Figure 1The enlarged view of point A in the middle; Figure 3 It is a schematic diagram of the structure of the mobile rack and the loading box; Figure 4 It is a structural schematic diagram of a partial cross-section of a mobile frame; Figure 5 It is a schematic diagram of the exploded structure of the Y threaded rod; Figure 6 for Figure 5 A schematic diagram of the enlarged structure at B in the middle; Figure 7 is a schematic diagram of the structure of the fixed ring; Figure 8 It is a schematic diagram of the structure of the bottom of the turntable; Fig. 9 It is a structural schematic diagram of the matching groove on the turntable; Fig.10 Schematic diagram of the structure of the bracket and the connecting arm.

[0016] Numbers in the figure: 1. moving trolley; 2. conical block; 3. moving frame; 4. loading box; 5. bracket; 6. connecting arm; 7. plastic bag; 21. X connecting rod; 22. Y connecting rod; 23. connecting seat; 24. X threaded rod; 25. Y threaded rod; 26. sliding leg; 31. sector gear; 32. fixing ring; 33. limiting slide groove; 34. rack; 35. turntable; 36. matching groove; 37. worm gear; 38. worm; 41. driven friction wheel; 42. push rod; 43. active friction wheel; 44. gear; 45. tooth groove; 46. connecting ring; 47. spring. DETAILED DESCRIPTION

[0017] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention is further described in detail in conjunction with the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The technical solutions of the present invention are described in detail below in conjunction with the embodiments and the accompanying drawings, but the scope of protection is not limited thereto.

[0018] See also Figures 1 to 10The present embodiment proposes a directional measurement device for underground coal mines, comprising: a mobile trolley 1, a mobile frame 3, a loading box 4, an adjustment component and a grabbing component. The mobile trolley 1 is located at the edge of the mine on the ground, and the mobile trolley 1 is equipped with a wire-laying component, and the wire-laying component comprises a wire rope, a winding roller and a motor; one end of the winding roller is fixedly connected to the motor, and a wire rope is wound on the winding roller, and a conical block 2 is installed at the end of the wire rope. A controller is installed on the mobile trolley 1, and the controller is electrically connected to the motor; the function of the mobile trolley 1 is to smoothly lower the conical block 2 along the mine; the mobile frame 3 is located at the bottom of the mine, and the bottom end of the mobile frame 3 is equidistantly fixedly connected with a universal wheel; an adjustment component is installed inside the mobile frame 3, and the loading box 4 is installed on the adjustment component. The position of the loading box 4 can be fine-tuned by the adjustment component so that the loading box 4 can be aligned with the conical block 2, so that the conical block 2 can fall vertically into the loading box 4, and the loading box 4 is loaded with waste oil.

[0019] The adjusting assembly comprises: an X-connecting rod 21, a Y-connecting rod 22, a connecting seat 23, an X-threaded rod 24 and a Y-threaded rod 25. The X-connecting rod 21 is slidably connected to the interior of the mobile frame 3 in a transverse direction, and the Y-connecting rod 22 is slidably connected to the interior of the mobile frame 3 in a longitudinal direction, and the middle of the X-connecting rod 21 and the Y-connecting rod 22 are provided with a sliding groove that passes through from top to bottom; an L-shaped sliding leg 26 is arranged at the bottom of the connecting seat 23, and the sliding leg 26 passes through the intersection of the sliding groove of the X-connecting rod 21 and the sliding groove of the Y-connecting rod 22, and is slidably connected with the sliding groove of the X-connecting rod 21 and the sliding groove of the Y-connecting rod 22; the top of the connecting seat 23 is fixedly connected to the loading box 4; the X-threaded rod 24 is rotatably connected to the interior of the mobile frame 3 in a transverse direction, and the Y-threaded rod 25 is rotatably connected to the interior of the mobile frame 3 in a longitudinal direction, the X-threaded rod 24 is threadedly connected to the X-connecting rod 21, and the Y-threaded rod 25 is threadedly connected to the Y-connecting rod 22. When the loading box 4 needs to be moved in the X-axis direction or the Y-axis direction, the corresponding X-threaded rod 24 or the Y-threaded rod 25 is rotated respectively; the position of the loading box 4 can be adjusted to be located directly below the conical block 2.

[0020] The end of the X-threaded rod 24 close to the Y-threaded rod 25 is fixedly connected to a driven friction wheel 41, and a push rod 42 is slidably connected inside the Y-threaded rod 25. One end of the push rod 42 extends out of the Y-threaded rod 25 and is fixedly connected to the active friction wheel 43. One end of the push rod 42 is fixedly connected to a gear 44. The end of the Y-threaded rod 25 close to the push rod 42 is provided with a tooth groove 45, and the gear 44 is meshed with the tooth groove 45. The end of the push rod 42 away from the active friction wheel 43 is rotatably connected to a connecting ring 46. An avoidance groove is provided inside the Y-threaded rod 25. A spring 47 is sleeved on the outer wall of the push rod 42. One end of the spring 47 is fixedly connected to the connecting ring 46, and the other end of the spring 47 is fixedly connected to the inner wall of the avoidance groove. The spring 47 makes the gear 44 on the push rod 42 mesh with the tooth groove 45 of the Y-threaded rod 25; when the push rod 42 is rotated, the Y-threaded rod 25 rotates accordingly, driving the loading box 4 to move along the X-axis direction; If the position in the Y-axis direction needs to be adjusted, the push rod 42 must be pushed to compress the spring 47 to disengage the gear 44 from the tooth groove 45, and then the X-threaded rod 24 is rotated through the transmission connection of the active friction wheel 43 and the driven friction wheel 41 to drive the loading box 4 to move along the Y-axis.

[0021] In order to prevent the oil from dripping during the lifting and lowering of the conical block 2, the device is also designed with a plastic bag 7 and a grabbing assembly for grabbing the plastic bag 7. Specifically, a bracket 5 is fixedly connected to the top of the loading box 4, and four connecting arms 6 are equidistantly installed at the bottom of the bracket 5. The bracket 5 is rotatably connected to the top of the connecting arm 6; the bottom ends of the four connecting arms 6 are together supported by a plastic bag 7, and the connecting arm 6 is a telescopic arm with a J-shaped structure at the bottom. The upper part of the plastic bag 7 is provided with an elastic line; the top of the bracket 5 is installed with a grabbing assembly, and the grabbing assembly is installed in coordination with the connecting arm 6.

[0022] Specifically, the grabbing assembly includes: a sector gear 31, a fixed ring 32, a limiting slide groove 33, a rack 34, a turntable 35, a matching groove 36, a worm wheel 37 and a worm 38; the top ends of the four connecting arms 6 are fixedly connected to the sector gear 31, the top end of the bracket 5 is fixedly connected to the fixed ring 32, the inner wall of the fixed ring 32 is provided with limiting slide grooves 33 at equal intervals, the inner wall of the limiting slide groove 33 is slidably connected to the rack 34, the rack 34 is meshingly connected to the sector gear 31, the inner wall of the fixed ring 32 is rotatably connected to the turntable 35, the outer wall of the turntable 35 is provided with matching grooves 36 at equal intervals, the top end of the rack 34 is slidably connected to the matching groove 36, the top end of the turntable 35 is fixedly connected to the worm wheel 37, the inside of the fixed ring 32 is rotatably connected to the worm 38, and the worm wheel 37 is meshingly connected to the worm 38. When the conical block 2 rises to a suitable height, the worm gear 37 is driven to rotate by rotating the worm 38; the worm gear 37 drives the turntable 35 and the matching groove 36 to rotate, so that the rack 34 moves along the intersection of the limiting slide groove 33 and the matching groove 36; the movement of the rack 34 drives the four connecting arms 6 to approach each other until the elastic rope on the top of the plastic bag 7 outside the conical block 2 is hooked; then the worm gear 38 is rotated in the opposite direction to make the four connecting arms 6 move away from each other, and the opening above the plastic bag 7 is fully opened, so that the conical block 2 can be removed from the plastic bag 7.

[0023] The working principle of the underground coal mine directional measurement device provided by the present invention is as follows: Step 1: Initial preparation; Move the mobile trolley 1 to the edge of the mine and ensure that the winding rollers and wire ropes inside it are in good condition; The mobile frame 3 is moved to the bottom of the mine shaft, and its position is adjusted to meet the measurement requirements.

[0024] Step 2: Cone block 2 descends; The remote controller sends a signal to the controller, and the controller drives the motor to start after receiving the signal; The motor drives the winding roller to rotate, releasing the wire rope, so that the conical block 2 slowly descends along the inner wall of the mine; When the conical block 2 descends to a position close to the plastic bag 7, the motor stops working and the conical block 2 is suspended in the air.

[0025] Step 3: Adjust the position of the loading box 4; According to the relative positions of the conical block 2 and the plastic bag 7, the position of the loading box 4 inside the mobile rack 3 needs to be adjusted; In the initial state, the spring 47 makes the gear 44 on the push rod 42 mesh with the tooth groove 45 of the Y threaded rod 25; when the push rod 42 is rotated, the Y threaded rod 25 rotates accordingly, driving the loading box 4 to move along the X-axis direction; When the position in the Y-axis direction needs to be adjusted, push the push rod 42 to compress the spring 47, so that the gear 44 disengages from the tooth groove 45, and then through the transmission connection between the active friction wheel 43 and the driven friction wheel 41, the X-threaded rod 24 rotates accordingly, driving the loading box 4 to move along the Y-axis direction.

[0026] Step 4: Soak the cone block 2 in engine oil; When the loading box 4 is adjusted to a suitable position, the motor is started again to make the conical block 2 continue to descend until it reaches the center of the loading box 4; The conical block 2 continues to descend to open the elastic line on the top of the plastic bag 7, so that the plastic bag 7 is separated from the connecting arm 6, and drives the plastic bag 7 to be immersed in the waste oil in the loading box 4, and then the conventional measurement work is carried out; After the measurement is completed, the motor reverses and, due to the presence of the elastic line, the conical block 2 rises with the plastic bag 7.

[0027] Step 5: Grab component operation; When the conical block 2 rises to a suitable height, the worm gear 37 is driven to rotate by rotating the worm 38; The worm gear 37 drives the rotating disk 35 and the matching groove 36 to rotate, so that the rack 34 moves along the intersection of the limiting sliding groove 33 and the matching groove 36; The movement of the rack 34 drives the four connecting arms 6 to approach each other until the elastic rope on the top of the plastic bag 7 outside the conical block 2 is hooked; Then the worm 38 is rotated in the opposite direction to move the four connecting arms 6 away from each other, and the upper opening of the plastic bag 7 is fully opened.

[0028] Step 6: The conical block 2 is removed; After the plastic bag 7 is fully opened, the conical block 2 can be easily removed from the plastic bag 7; Finally, the steel wire rope is retracted by the motor, and the conical block 2 and the steel wire rope are moved out of the mine together.

[0029] The above content is a further detailed description of the present invention in combination with a specific preferred embodiment. It cannot be determined that the specific embodiments of the present invention are limited to this. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the present invention, which should be regarded as belonging to the present invention and the scope of patent protection determined by the submitted claims.

Claims

1. A directional measurement device for underground coal mines, comprising a mobile trolley (1), the mobile trolley (1) being located at the edge of the mine on the ground, and the mobile trolley (1) being equipped with a wire-laying assembly, the end of which is equipped with a conical block (2), and the conical block (2) is placed into the mine through the wire-laying assembly; characterized in that: It also includes a moving frame (3), a loading box (4), an adjustment component and a grabbing component; the moving frame (3) is located at the bottom of the mine, the moving frame (3) is internally installed with an adjustment component, the loading box (4) is installed on the adjustment component, and the position of the loading box (4) in the moving frame (3) along the X-axis direction and the Y-axis direction is adjusted by the adjustment component, so that the conical block (2) falls vertically into the loading box (4), and the loading box (4) is loaded with waste engine oil; A bracket (5) is fixedly connected to the top of the loading box (4), and a plurality of connecting arms (6) are equidistantly installed at the bottom of the bracket (5), and the bracket (5) is rotatably connected to the top of the connecting arms (6); a plastic bag (7) is stretched out at the bottom of the plurality of connecting arms (6), and the connecting arm (6) is a telescopic arm, and its bottom end is in a J-shaped structure, and an elastic line is provided on the top of the plastic bag (7); a grabbing assembly is installed at the top of the bracket (5); the grabbing assembly comprises: a sector gear (31), a fixing ring (32), a limiting sliding groove (33), a rack (34), a rotating disk (35), a matching groove (36), a worm wheel (37) and a worm (38); the tops of the plurality of connecting arms (6) are fixedly connected to the top of the bracket (5), and the plurality of connecting arms (6) are equidistantly installed at the bottom of the bracket (5), and the plurality of connecting arms (6) are rotatably connected to the top of the bracket (5). A sector gear (31) is fixedly connected, a fixing ring (32) is fixedly connected to the top of the bracket (5), a limiting slide groove (33) is equidistantly provided on the inner wall of the fixing ring (32), a rack (34) is slidably connected to the inner wall of the limiting slide groove (33), the rack (34) is meshingly connected to the sector gear (31), a rotating disk (35) is rotatably connected to the inner wall of the fixing ring (32), matching grooves (36) are equidistantly provided on the outer wall of the rotating disk (35), the top of the rack (34) is slidably connected to the matching groove (36), a worm gear (37) is fixedly connected to the top of the rotating disk (35), a worm (38) is rotatably connected to the inside of the fixing ring (32), and the worm gear (37) is meshingly connected to the worm gear (38).

2. A coal mine underground directional measurement device according to claim 1, characterized in that: The adjustment assembly comprises an X-connecting rod (21), a Y-connecting rod (22), a connecting seat (23), an X-threaded rod (24) and a Y-threaded rod (25); the X-connecting rod (21) is slidably connected inside the moving frame (3) in a transverse manner; the Y-connecting rod (22) is slidably connected inside the moving frame (3) in a longitudinal manner; and the middle of the X-connecting rod (21) and the Y-connecting rod (22) are both provided with a sliding groove that passes through from top to bottom; an L-shaped sliding leg (26) is provided at the bottom of the connecting seat (23), and the sliding leg (26) passes through the X-connecting rod The connecting rod (21) is connected to the connecting rod (22) at the intersection of the sliding groove and the Y connecting rod (22), and is slidably connected to the sliding groove of the X connecting rod (21) and the sliding groove of the Y connecting rod (22); the top of the connecting seat (23) is fixedly connected to the loading box (4); the interior of the mobile frame (3) is connected to an X threaded rod (24) for horizontal rotation, and the interior of the mobile frame (3) is connected to a Y threaded rod (25) for longitudinal rotation; the X threaded rod (24) is threadedly connected to the X connecting rod (21), and the Y threaded rod (25) is threadedly connected to the Y connecting rod (22).

3. A coal mine underground directional measurement device according to claim 2, characterized in that: One end of the X-threaded rod (24) close to the Y-threaded rod (25) is fixedly connected to a driven friction wheel (41), the Y-threaded rod (25) is slidably connected to a push rod (42), one end of the push rod (42) extends out of the Y-threaded rod (25) and is fixedly connected to an active friction wheel (43), one end of the push rod (42) is fixedly connected to a gear (44), one end of the Y-threaded rod (25) close to the push rod (42) is provided with a tooth groove (45), the gear (44) is meshedly connected with the tooth groove (45), one end of the push rod (42) away from the active friction wheel (43) is rotatably connected to a connecting ring (46), an avoidance groove is provided inside the Y-threaded rod (25), and a spring (47) is sleeved on the outer wall of the push rod (42), one end of the spring (47) is fixedly connected to the connecting ring (46), and the other end of the spring (47) is fixedly connected to the inner wall of the avoidance groove.

4. The directional measurement device for underground coal mines according to claim 1, characterized in that: The wire-releasing assembly comprises a steel wire rope, a winding roller and a motor; one end of the winding roller is fixedly connected to the motor, the steel wire rope is wound around the winding roller, and a conical block (2) is installed at the end of the steel wire rope.

5. A coal mine underground directional measurement device according to claim 4, characterized in that: A controller is installed on the mobile vehicle (1), and the controller is electrically connected to the motor.

6. The directional measurement device for underground coal mines according to claim 1, characterized in that: Universal wheels are fixedly connected to the bottom end of the mobile frame (3) at equal distances.

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