Multi-layer goaf drilling detection equipment and method

Abstract

The invention discloses multi-layer goaf drilling detection equipment and method.The equipment comprises a vertical guide pile, a first winch and a clamping type power mechanism, one ends of two steel wire ropes are connected with the clamping type power mechanism, and the other ends of the two steel wire ropes pass through the vertical guide pile and then are wound on the first winch; the detection drill rod is provided with an external expansion type detection arm, the clamping type power mechanism is provided with a second winch, one end of the traction rope is connected with the external expansion type detection arm, the other end of the traction rope is wound on the second winch, and the turnover type clamping mechanism is connected with the vertical guide pile; according to the method, downward drilling is conducted on the mine through the equipment, and data of the longitudinal multi-layer goaf is detected. According to the method, the specific appearance of the multi-layer goaf formed in the longitudinal direction at intervals can be effectively detected, data support is provided for follow-up mining, the mining safety is improved, the goaf is effectively avoided, and collapse accidents are avoided. The method is suitable for the technical field of goaf detection.

Description

Technical Field

[0001] The invention belongs to the technical field of underground drilling exploration. Specifically, it relates to a multi-layer goaf drilling detection device and method. Background Art

[0002] Due to the differences in underground substrates, there are effects such as groundwater and geological movements underground, which cause the underground substrate to collapse, or due to human excavation and construction operations, etc., finally forming goafs. Due to the extremely unstable structural strength of the goafs, when carrying out production and living in this area, safety accidents are extremely likely to occur, causing personal safety and property losses. Especially in areas such as mines, the probability of goafs appearing is extremely high, and the goafs are not single. Generally, there are multiple goafs not only horizontally but also vertically underground. In this way, when directly using mechanical equipment for mining in the mine, collapse accidents will occur, endangering the lives of operating personnel, and the mechanical equipment will be buried deep in the mining area, causing damage to the mechanical equipment, and more seriously, causing the mechanical equipment to be scrapped, and the difficulty of subsequent cleaning work will also increase significantly. Therefore, there is an urgent need for a goaf detection device and method to detect the specific appearance of multi-layer goafs formed at intervals longitudinally, provide data support for subsequent mine mining, improve the safety of mining, effectively avoid goafs, and prevent collapse accidents. Summary of the Invention

[0003] The invention provides a multi-layer goaf drilling detection device and method to detect the specific appearance of multi-layer goafs formed at intervals longitudinally, provide data support for subsequent mine mining, improve the safety of mining, effectively avoid goafs, and prevent collapse accidents.

[0004] To achieve the above object, the technical solutions adopted by the invention are as follows: A multi-layer goaf drilling detection device includes a vertical guiding pile and a first winch installed on a frame. A clamping type power mechanism is slidably connected to the vertical guiding pile. A detection drill rod is clamped on the clamping type power mechanism. One ends of two steel wire ropes are respectively connected to the upper and lower ends of the clamping type power mechanism, and the other ends of the two steel wire ropes are respectively wound on the first winch after passing through the vertical guiding pile. An outward-expanding detection arm that can be accommodated on the outer peripheral wall of the detection drill rod is installed at the lower part of the detection drill rod. A second winch is installed on the clamping type power mechanism. One end of a pulling rope passes through the detection drill rod and is connected to the outward-expanding detection arm, and the other end of the pulling rope is wound on the second winch. An extended drill rod is detachably clamped on a flipping type clamping mechanism, and the flipping type clamping mechanism is connected to the vertical guiding pile.

[0005] Further, the vertical guide pile includes a vertical guide rail configured with a fixed seat. Connection seats are respectively configured at the upper and lower ends of the vertical guide rail. Guide wheel seats are detachably connected to each of the connection seats. A plurality of guide wheels are installed on the guide wheel seats. The wire rope is guided by the respective guide wheels on the corresponding guide wheel seats and is connected to the clamping type power mechanism and the first winch.

[0006] Further, the clamping type power mechanism includes a sliding assembly seat slidably connected to the vertical guide pile. The sliding assembly seat is connected to the wire rope. A rod clamping unit is rotatably connected to the sliding assembly seat. A driving unit is assembled between the sliding assembly seat and the rod clamping unit.

[0007] Further, the rod clamping unit includes a mounting shell rotatably installed at the lower end of the sliding assembly seat. An assembly cavity is configured in the mounting shell. A plurality of clamping members are evenly installed on the mounting shell along the circumferential direction of the mounting shell, and a clamping opening is formed between these clamping members.

[0008] Further, each of the clamping members includes a radial hydraulic cylinder. The cylinder body of the radial hydraulic cylinder is fixed to the mounting shell through an adapter plate. The cylinder rod of the radial hydraulic cylinder extends into the mounting shell along the radial direction of the detection drill pipe. An arc-shaped clamping block is installed at the end of the cylinder rod.

[0009] Further, a mutually independent first annular hydraulic cavity and a second annular hydraulic cavity are configured on the sliding assembly seat. An annular sealing cover is rotatably connected to the sliding assembly seat. The first annular hydraulic cavity and the second annular hydraulic cavity are closed by the annular sealing cover, and the axes of the first annular hydraulic cavity, the second annular hydraulic cavity, the annular sealing cover, the mounting shell, and the detection drill pipe coincide. The first hydraulic pipe and the second hydraulic pipe on each of the radial hydraulic cylinders are respectively communicated with the first annular hydraulic cavity and the second annular hydraulic cavity through the annular sealing cover.

[0010] Further, the driving unit includes a driving motor installed on the sliding assembly seat. A transmission gear is coaxially assembled on the output shaft of the driving motor. An external gear ring coinciding with the axis of the detection drill pipe is installed on the rod clamping unit. The transmission gear meshes with the external gear ring.

[0011] Furthermore, the flip-type clamping mechanism includes two first transverse hydraulic cylinders connected to the vertical guide piles, and each of the first transverse hydraulic cylinders is connected to a rod-shaped clamping seat at one end away from the vertical guide pile, and a pivot ear is installed at the output end of each first transverse hydraulic cylinder, and the pivot ear is pivoted to the side wall corresponding to the rod-shaped clamping seat via a pivot axis, and a first limiting hole and a second limiting hole are respectively opened on the side wall and the pivot ear of the rod-shaped clamping seat. When the first limiting hole and the second limiting hole are aligned with each other and the limiting pins are inserted, the rod-shaped clamping seat is in a vertical state, and the lower end of the rod-shaped clamping seat is hinged to the output end of the flip driving cylinder.

[0012] Furthermore, the rod-shaped clamping seat includes a strip-shaped clamping seat body, a rod body placement groove is constructed at one end of the strip-shaped clamping seat body, the lower part of the extended drill rod is assembled in the rod body placement groove, and a plurality of U-shaped tightening hoops are connected to the strip-shaped clamping seat body at intervals along its length direction, each of the U-shaped tightening hoops movably passes through the strip-shaped clamping seat body and is connected to a movable seat, and the movable seat is connected to the strip-shaped clamping seat body via a second transverse hydraulic cylinder.

[0013] The present invention also discloses a method for using the above-mentioned multi-layer goaf drilling detection device, comprising the following steps: Step 1. Install the drilling head on the lower end of the detection drill rod, and assemble the upper part of the detection drill rod into the clamping power mechanism; Step 2. Control the clamping power mechanism to clamp the detection drill rod, and control the clamping power mechanism to drive the detection drill rod to rotate, and at the same time control the first winch to drive the clamping power mechanism to move vertically downward; Step 3. When the lower part of the detection drill rod is excavated to the goaf, the second winch is controlled to unwind the pulling rope and the outward-type detection arm is gradually opened outward; Step 4. Control the outward-extended detection arm to scan the goaf area and record the scanned data; Step 5. Before the outward-extended detection arm leaves the goaf, the second winch is controlled to reel in the pulling rope, and the outward-extended detection arm gradually adheres to the outer peripheral wall of the detection drill pipe under the action of the pulling rope; Step 6. When the upper end of the detection drill rod is close to the ground, the extended drill rod is assembled on the flip-type clamping mechanism, and the flip-type clamping mechanism is controlled to move so that the extended drill rod is aligned with the detection drill rod, and then the two are connected; Step 7. Control the flip-type clamping mechanism to release the extended drill rod, and continue to control the clamping power mechanism and the first winch to allow the drilling head to continue to dig downward.

[0014] Due to the adoption of the above structure, the technical progress achieved by the present invention compared with the prior art lies in: by controlling the operation of the first winch, the clamping type power mechanism is pulled downward along the vertical guiding pile through two steel wire ropes. Since the clamping type power mechanism clamps the exploration drill pipe and drives the exploration drill pipe to rotate, the drilling head installed at the front end of the exploration drill pipe gradually drills downward. When drilling into the goaf, control the second winch to unwind the pulling rope, so that the outward expanding type exploration arm gradually expands; then, drive the exploration drill pipe to rotate, so that the exploration probe (graphic detector) installed on the outward expanding type exploration arm detects and scans the goaf. Along with the descent of the exploration drill pipe, the goaf in this area is completely scanned. When the length of the exploration drill pipe is insufficient, use the flipping type clamping mechanism to supply the extension drill pipe above the exploration drill pipe, and then connect the extension drill pipe with the exploration drill pipe. Control the clamping type power mechanism to clamp the upper part of the extension drill pipe, and then drive the extension drill pipe to rotate downward to achieve the purpose of sequentially detecting multiple layers of goafs. The pulling ropes of the present invention are divided into pulling rope A and pulling rope B. One end of pulling rope A is connected to the outward expanding type exploration arm, and the other end of pulling rope A extends out of the upper end of the exploration drill pipe through the exploration drill pipe. Both ends of pulling rope B penetrate through both ends of the extension drill pipe; when only the exploration drill pipe is used, the upper end of pulling rope A is connected to the second winch. When one or more extension drill pipes are used, the mutually approaching ends of the two pulling ropes B on adjacent extension drill pipes are connected through a quick connector, and the corresponding end of pulling rope A and the pulling rope B it approaches are also connected through a quick connector, and the upper end of the pulling rope B located at the top is connected to the second winch. The present invention can control the length of the pulling rope unwinding to change the opening angle and bending form of the outward expanding type exploration arm, thereby ensuring the comprehensiveness of the goaf detection. To sum up, the present invention can effectively detect the specific appearance of multiple layers of goafs formed at intervals longitudinally, provide reliable data support for the subsequent mining of the mine, improve the safety of mining, effectively avoid the goaf, and prevent the occurrence of collapse accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention.

[0016] In the drawings: Figure 1 is a schematic structural view of an embodiment of the present invention; Figure 2 is a side view of the structure of an embodiment of the present invention; Figure 3 is a schematic structural view of the vertical guiding pile of an embodiment of the present invention; Figure 4 is a schematic structural view of the connection of the clamping type power mechanism, the exploration drill pipe, the drilling head and the second winch of an embodiment of the present invention; Figure 5 Schematic structural diagram of the connection between the detection drill pipe and the drilling head in the embodiment of the present invention; Figure 6 Axial structural sectional view of the detection drill pipe in the embodiment of the present invention; Figure 7 Schematic structural diagram of the clamping type power mechanism in the embodiment of the present invention; Figure 8 Axial structural sectional view of the clamping type power mechanism in the embodiment of the present invention; Figure 9 is Figure 8 Enlarged structural view of part A in Figure 10 Schematic structural diagram of the sliding type assembly seat in the clamping type power mechanism in the embodiment of the present invention; Figure 11 Schematic structural diagram of the rod clamping unit in the clamping type power mechanism in the embodiment of the present invention; Figure 12 Exploded view of the structure of the rod clamping unit in the clamping type power mechanism in the embodiment of the present invention; Figure 13 Schematic structural diagram of the driving unit in the clamping type power mechanism in the embodiment of the present invention; Figure 14 Schematic structural diagram of the flip type clamping mechanism for clamping the extension drill pipe in the embodiment of the present invention; Figure 15 Schematic structural diagram of the rod-shaped clamping seat in the flip type clamping mechanism in the embodiment of the present invention.

[0017] Labeled components: 100 - vertical guide pile, 101 - vertical guide rail, 102 - fixed seat, 103 - fixed ear, 104 - connecting seat, 105 - guide wheel seat, 106 - guide wheel, 200 - clamping type power mechanism, 201 - sliding type assembly seat, 2011 - first seat body, 2012 - second seat body, 2013 - third seat body, 2014 - guide rod channel, 2015 - first annular hydraulic cavity, 2016 - second annular hydraulic cavity, 2017 - annular sealing cover, 2018 - first hydraulic pipe, 2019 - second hydraulic pipe, 202 - rod clamping unit, 2021 - mounting shell, 2022 - assembly cavity, 2023 - assembly groove, 2024 - fitting seat, 2025 - cylinder body, 2026 - cylinder rod, 2027 - adapter plate, 2028 - arc-shaped clamping block, 2029 - clamping opening, 203 - drive unit, 2031 - drive motor, 2032 - transmission gear, 2033 - external gear ring, 2034 - assembly hole, 300 - first winch, 400 - steel wire rope, 500 - exploration drill rod, 501 - first rod-shaped body, 502 - connecting flange, 503 - first connection joint, 504 - outward-expanding exploration arm, 505 - hinge shaft, 506 - pulling rope A, 600 - drilling head, 700 - flipping type clamping mechanism, 701 - rod-shaped clamping seat, 702 - rod placement groove, 703 - U-shaped tightening hoop, 704 - movable seat, 705 - second transverse hydraulic cylinder, 706 - first limiting hole, 707 - assembly block, 708 - first transverse hydraulic cylinder, 709 - pivoting ear, 710 - pivoting shaft, 711 - second limiting hole, 712 - flipping drive cylinder, 800 - extension drill rod, 801 - second rod-shaped body, 802 - second connection joint, 803 - pulling rope B, 900 - second winch. Detailed implementation mode

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not used to limit the present invention.

[0019] The present invention discloses a multi-layer goaf drilling detection device, as Figures 1 - 15As shown in the figure, it includes a vertical guiding pile 100, a first winch 300, a clamping type power mechanism 200, a detection drill rod 500, an extended drill rod 800, a second winch 900, an outwardly expanding detection arm 504 and a flipping type clamping mechanism 700. Among them, the vertical guiding pile 100 and the first winch 300 are both installed on the frame. The clamping type power mechanism 200 is slidably connected to the vertical guiding pile 100. The detection drill rod 500 is clamped on the clamping type power mechanism 200. One ends of two steel wire ropes 400 are respectively connected to the upper and lower ends of the clamping type power mechanism 200, and the other ends of these two steel wire ropes 400 are respectively wound on the first winch 300 after being guided by the vertical guiding pile 100. The lower part of the detection drill rod 500 of the present invention is connected to the outwardly expanding detection arm 504, and the outwardly expanding detection arm 504 can be accommodated on the outer peripheral wall of the detection drill rod 500. The second winch 900 is installed on the clamping type power mechanism 200. One end of the pulling rope passes through the detection drill rod 500 and is connected to the outwardly expanding detection arm 504, and the other end of the pulling rope is wound on the second winch 900. The extended drill rod 800 of the present invention can be detachably clamped on the flipping type clamping mechanism 700, and the flipping type clamping mechanism 700 is connected to the vertical guiding pile 100. The working principle and advantages of the present invention are as follows: By controlling the operation of the first winch 300, it drives the clamping type power mechanism 200 to slide downward on the vertical guiding pile 100 through the two steel wire ropes 400. Since the clamping type power mechanism 200 clamps the detection drill rod 500 and drives the detection drill rod 500 to rotate, the drilling head 600 installed at the front end of the detection drill rod 500 gradually drills downward. When drilling to the goaf area, control the second winch 900 to unwind the pulling rope, so that the outwardly expanding detection arm 504 gradually expands; then, drive the detection drill rod 500 to rotate, so that the detection probe (graphic detector) installed on the outwardly expanding detection arm 504 detects and scans the goaf area. Along with the descent of the detection drill rod 500, the goaf area in this area is completely scanned. When the length of the detection drill rod 500 is not enough, use the flipping type clamping mechanism 700 to supply the extended drill rod 800 above the detection drill rod 500. Then, connect the extended drill rod 800 to the detection drill rod 500, control the clamping type power mechanism 200 to clamp the upper part of the extended drill rod 800, and then drive the extended drill rod 800 to rotate downward to achieve the purpose of sequentially detecting multiple goaf areas.The pulling ropes of the present invention are divided into pulling rope A506 and pulling rope B803. One end of pulling rope A506 is connected to the outward-opening detection arm 504, and the other end of pulling rope A506 extends out of the upper end of the detection drill pipe 500 through the detection drill pipe 500. Both ends of pulling rope B803 penetrate through both ends of the extended drill pipe 800; when only the detection drill pipe 500 is used, the upper end of pulling rope A506 is connected to the second winch 900. When one or more extended drill pipes 800 are used, the mutually approaching ends of two pulling ropes B803 on adjacent extended drill pipes 800 are connected through a quick connector, and the corresponding end of pulling rope A506 and the pulling rope B803 it approaches are also connected through a quick connector, and the upper end of the pulling rope B803 at the uppermost position is connected to the second winch 900. The present invention can control the length of the released pulling rope to change the opening angle and bending shape of the outward-opening detection arm 504, thereby ensuring the comprehensiveness of the detection of the mined-out area. In summary, the present invention can effectively detect the specific appearance of multiple mined-out areas formed at longitudinal intervals, provide reliable data support for subsequent mining of the mine, improve the safety of mining, effectively avoid the mined-out area, and prevent the occurrence of collapse accidents.

[0020] As a preferred embodiment of the present invention, as Figure 3 shown, the vertical guide pile 100 includes a vertical guide rail 101, and the clamping power mechanism 200 is slidably assembled on the vertical guide rail 101. A fixed seat 102 is constructed on the vertical guide rail 101, and the fixed seat 102 is detachably connected to the frame. Connection seats 104 are respectively constructed at the upper and lower ends of the vertical guide rail 101. A guide wheel seat 105 is detachably connected to each connection seat 104. A plurality of guide wheels 106 are installed on the guide wheel seat 105. The steel wire rope 400 passes through the corresponding guide wheel seat 105 and is in transmission connection with each guide wheel 106 on the guide wheel seat 105. These guide wheels 106 play a guiding role for the steel wire rope 400, so that both ends of the steel wire rope 400 are respectively smoothly connected to the clamping power mechanism 200 and the first winch 300.

[0021] As a preferred embodiment of the present invention, as Figures 4 - 6As shown, the detection drill pipe 500 includes a first rod-shaped body 501. A connecting flange 502 is constructed at the lower end of the first rod-shaped body 501, and the connecting flange 502 is detachably connected to the upper end of the drilling head 600. A first conduction channel is opened in the first rod-shaped body 501, and the pulling rope A 506 passes through the first rod-shaped body 501 through the first conduction channel. A first connection joint 503 is constructed at the upper end of the first rod-shaped body 501. In this embodiment, a vertical installation groove is opened on the outer peripheral wall of the lower part of the first rod-shaped body 501. The number of the outward-expanding detection arms 504 is multiple. These outward-expanding detection arms 504 are arranged at intervals in the vertical direction and are all assembled in the vertical installation groove. The adjacent outward-expanding detection arms 504 are hinged by a hinge shaft 505. The upper end of the uppermost outward-expanding detection arm 504 is hinged to the first rod-shaped body 501 by another hinge shaft 505. And a torsion spring is assembled on each hinge shaft 505. Moreover, each outward-expanding detection arm 504 can rotate outward along the axis of the hinge shaft 505 by at least 90°. When the outward-expanding detection arm 504 rotates inward to the limit position, the angle between the outward-expanding detection arm 504 and the adjacent outward-expanding detection arm 504 is 180°, that is, these two outward-expanding detection arms 504 are on the same straight line, so that the outward-expanding detection arm 504 can be pulled by the pulling rope and stored in the vertical installation groove. In this embodiment, after gradually paying out the pulling rope, under the action of the torsion spring, the outward-expanding detection arms 504 gradually open outward. When the pulling rope is paid out until all the outward-expanding detection arms 504 are fully opened, these outward-expanding detection arms 504 form a complete curved arm body. Since detection probes are respectively installed on each outward-expanding detection arm 504, these detection probes can fully and comprehensively detect and scan the corresponding parts of the mined-out area where they are located. Moreover, even if one or more outward-expanding detection arms 504 located in the upper part are restricted by the hole wall of the drill hole, the outward-expanding detection arms 504 located in the lower part and extending into the mined-out area can effectively open and perform real-time detection on the mined-out area. As Figure 14 As shown, the extension rod body includes a second rod-shaped body 801. Second connection joints 802 and internal thread grooves are respectively constructed at the upper and lower ends of the second rod-shaped body 801. The second connection joints 802 of adjacent two second rod-shaped bodies 801 are threadedly connected in the internal thread grooves. The first rod-shaped body 501 and the adjacent second rod-shaped body 801 are fixed by the threaded connection of the first connection joint 503 and the internal thread groove. A second conduction channel is opened in the second rod-shaped body 801, and the pulling rope B 803 passes through the second rod-shaped body 801 through the second conduction channel.

[0022] As a preferred embodiment of the present invention, as Figures 7 - 13As shown in the figure, the clamping power mechanism 200 includes a sliding mounting base 201, a rod clamping unit 202, and a driving unit 203. Among them, the sliding mounting base 201 includes a first base body 2011, a second base body 2012, and a third base body 2013 that are constructed together. The second base body 2012 is slidably assembled with the vertical guide rail 101. A guide rod channel 2014 is provided at the center of the third base body 2013, and the detection drill rod 500 or the extension drill rod 800 passes through the guide rod channel 2014. The upper and lower ends of the first base body 2011 in the sliding mounting base 201 are respectively connected and fixed to the ends of two steel wire ropes 400. The rod clamping unit 202 is rotatably connected to the sliding mounting base 201, and the driving unit 203 is assembled between the sliding mounting base 201 and the rod clamping unit 202. In this embodiment, the rod clamping unit 202 tightly clamps the detection drill rod 500 or the extension drill rod 800 with different radial lengths, and then the driving unit 203 drives the rod clamping unit 202 to rotate, so that the rod clamping unit 202 drives the clamped detection drill rod 500 or extension drill rod 800 to rotate, achieving the purpose of the rotary drilling of the drilling head 600. The second winch 900 of this embodiment can be installed on the sliding mounting base 201 or the rod clamping unit 202. When the second winch 900 is installed on the sliding mounting base 201, the second winch 900 does not rotate with the rod clamping unit 202; when the second winch 900 is installed on the rod clamping unit 202, the second winch 900 rotates with the rod clamping unit 202. Among the two methods, the second connection method is better. When the second winch 900 rotates with the rod clamping unit 202, the situation of the pulling rope getting knotted can be fully avoided. The specific structure of the rod clamping unit 202 in this embodiment is that the rod clamping unit 202 includes a mounting shell 2021 and a plurality of clamping members. The mounting shell 2021 is rotatably installed at the lower end of the sliding mounting base 201. An assembly cavity 2022 is constructed in the mounting shell 2021. The plurality of clamping members are evenly installed on the mounting shell 2021 along the circumferential direction of the mounting shell 2021, and a clamping opening 2029 is formed between these clamping members. By controlling the movement of the clamping members, the clamping opening 2029 gradually shrinks, and then the part of the detection drill rod 500 or the extension drill rod 800 located at the clamping opening 2029 is clamped and fixed by these clamping members. Among them, each clamping member includes a radial hydraulic cylinder. A transfer plate 2027 is fixed on the cylinder body 2025 of the radial hydraulic cylinder. A plurality of assembly grooves 2023 are evenly opened on the lower end surface of the mounting shell 2021 along its circumferential direction. The transfer plate 2027 is assembled in the corresponding assembly groove 2023, and the transfer plate 2027 is fixed to the mounting shell 2021 by a plurality of connecting bolts. In this embodiment, a plurality of fitting sleeves 2024 are constructed at the lower end of the mounting shell 2021, and these fitting sleeves 2024 are evenly arranged along the circumferential direction of the mounting shell 2021.The cylinder rod 2026 of the radial hydraulic cylinder extends radially into the mounting housing 2021 along the detection drill pipe 500, and an arc-shaped clamping block 2028 is installed at the end of the cylinder rod 2026. In this embodiment, the hydraulic oil is used to drive the radial movement of the cylinder rod 2026 along the mounting housing 2021, so that it drives the arc-shaped clamping block 2028 to clamp or release the detection drill pipe 500 or the extension drill pipe 800. In this embodiment, a first annular hydraulic chamber 2015 and a second annular hydraulic chamber 2016 are constructed on the sliding mounting seat 201. The first annular hydraulic chamber 2015 and the second annular hydraulic chamber 2016 are independent and do not communicate with each other. A ring-shaped sealing cover 2017 is rotatably connected to the sliding mounting seat 201. The first annular hydraulic chamber 2015 and the second annular hydraulic chamber 2016 are closed by the ring-shaped sealing cover 2017, and the axes of the first annular hydraulic chamber 2015, the second annular hydraulic chamber 2016, the ring-shaped sealing cover 2017, the mounting housing 2021 and the detection drill pipe 500 coincide. In this embodiment, the first hydraulic pipe 2018 and the second hydraulic pipe 2019 on each radial hydraulic cylinder are respectively fixedly connected to the ring-shaped sealing cover 2017, and the first hydraulic pipe 2018 and the second hydraulic pipe 2019 are respectively communicated with the first annular hydraulic chamber 2015 and the second annular hydraulic chamber 2016. By changing the hydraulic oil amounts in the first annular hydraulic chamber 2015 and the second annular hydraulic chamber 2016, the hydraulic oil synchronously drives the actions of each radial hydraulic cylinder, and further drives all the arc-shaped clamping blocks 2028 to act synchronously. The driving unit 203 of this embodiment includes a driving motor 2031, a transmission gear 2032 and an external gear ring 2033. The driving motor 2031 is installed on the first seat body 2011 of the sliding mounting seat 201. The transmission gear 2032 is coaxially assembled on the output shaft of the driving motor 2031. The external gear ring 2033 is installed at the lower end of the mounting housing 2021, and the axis of the external gear ring 2033 coincides with the axis of the detection drill pipe 500. The transmission gear 2032 meshes with the external gear ring 2033. A plurality of assembly holes 2034 are evenly formed in the circumferential direction on the upper end surface of the external gear ring 2033. The fitting sleeve 2024 at the lower end of the mounting housing 2021 is assembled in the corresponding assembly hole 2034. The locking bolt extends into the fitting sleeve 2024 and is threadedly connected to the fitting sleeve 2024. The bolt head of the locking bolt is tightened on the lower end surface of the external gear ring 2033. In this embodiment, the driving motor 2031 is used to drive the external gear ring 2033 to rotate, so that the external gear ring 2033 drives the mounting housing 2021 and each clamping member to rotate together, and thus the purpose of driving the detection drill pipe 500 or the extension drill pipe 800 to rotate is achieved.

[0023] As a preferred embodiment of the present invention, as Figure 14 , 15As shown, the flipping clamping mechanism 700 includes a rod-shaped clamping seat 701, a flipping driving oil cylinder 712, and two first lateral hydraulic cylinders 708. Among them, two fixed ears 103 are constructed on the vertical guide rail 101. The two first lateral hydraulic cylinders 708 are arranged side by side. One end of each first lateral hydraulic cylinder 708 is connected to the corresponding fixed ear 103, and the end of the first lateral hydraulic cylinder 708 far from the vertical guide rail 101 is connected to the rod-shaped clamping seat 701. Assembly blocks 707 are respectively constructed on both sides of the rod-shaped clamping seat 701. A pivot ear 709 is installed at the output end of each first lateral hydraulic cylinder 708. The pivot ear 709 is pivotally connected to the corresponding assembly block 707 on the rod-shaped clamping seat 701 through a pivot shaft 710. In this embodiment, a first limit hole 706 is opened on the side wall of the rod-shaped clamping seat 701, and a second limit hole 711 is opened on the pivot ear 709. When the first limit hole 706 and the second limit hole 711 are aligned with each other, a limit pin is inserted into the first limit hole 706 and the second limit hole 711 to lock the rod-shaped clamping seat 701 in the vertical state. The lower end of the rod-shaped clamping seat 701 is hinged to the output end of the flipping driving oil cylinder 712. After pulling out the limit pin, by controlling the action of the flipping driving oil cylinder 712 in this embodiment, it drives the rod-shaped clamping seat 701 to flip along the axis of the pivot shaft 710, thereby facilitating the disassembly and assembly of the extension drill pipe 800. Moreover, when the rod-shaped clamping seat 701 is flipped to the vertical state, the flipping driving oil cylinder 712 is in the lateral state. At this time, the flipping driving oil cylinder 712 and each first lateral hydraulic cylinder 708 are driven to act synchronously. The flipping driving oil cylinder 712 pushes the rod-shaped clamping seat 701, and the two first lateral hydraulic cylinders 708 pull the rod-shaped clamping seat 701, so that the rod-shaped clamping seat 701 carries the extension drill pipe 800 fixed thereon and moves towards the vertical guiding pile 100 until the extension drill pipe 800 is aligned with the detection drill pipe 500. Then, control the first winch 300 to pull the clamping power mechanism 200 upward by a certain distance, so that the extension drill pipe 800 is docked with the detection drill pipe 500. Then, control the clamping power mechanism 200 to drive the detection drill pipe 500 to rotate and move upward, so that the extension drill pipe 800 is threadedly connected with the detection drill pipe 500 to achieve the purpose of lengthening the detection drill pipe 500. The rod-shaped clamping seat 701 of this embodiment includes a strip-shaped clamping seat body. A rod body placement groove 702 is constructed at one end of the strip-shaped clamping seat body. The lower part of the extension drill pipe 800 is assembled in the rod body placement groove 702. A plurality of U-shaped tightening hoops 703 are connected at intervals along the length direction of the strip-shaped clamping seat body. Each U-shaped tightening hoop 703 passes through the strip-shaped clamping seat body movably, and these U-shaped tightening hoops 703 are all connected to the movable seat 704. The movable seat 704 is connected to the strip-shaped clamping seat body through a second lateral hydraulic cylinder 705.In this embodiment, by controlling the operation of the second horizontal hydraulic cylinder 705, it drives all the U-shaped tightening hoops 703 to move synchronously through the movable seat 704, thereby realizing tightening the extension drill pipe 800 on the strip-shaped clamping seat body or releasing the restraint of the U-shaped tightening hoop 703 on the extension drill pipe 800.

[0024] The present invention also discloses a method of using the above-mentioned multi-layer goaf drilling detection equipment, including the following steps: Step 1. Install the drilling head 600 at the lower end of the detection drill pipe 500, and assemble the upper part of the detection drill pipe 500 into the clamping power mechanism 200; Step 2. Control the clamping power mechanism 200 to clamp the detection drill pipe 500, control the clamping power mechanism 200 to drive the detection drill pipe 500 to rotate, and at the same time control the first winch 300 to work, so that it drives the clamping power mechanism 200 to move downward vertically; Step 3. When the lower part of the detection drill pipe 500 tunnels into the goaf, control the second winch 900 to act, so that the pulling rope is unreeled, and the outward-expanding detection arm 504 gradually expands outward; Step 4. Control the outward-expanding detection arm 504 to scan the goaf where it is located, and record the scanned data; Step 5. Before the outward-expanding detection arm 504 leaves the goaf, control the second winch 900 to wind up the pulling rope, and the outward-expanding detection arm 504 gradually adheres to the outer peripheral wall of the detection drill pipe 500 under the action of the pulling rope; Step 6. When the upper end of the detection drill pipe 500 is close to the ground, assemble the extension drill pipe 800 on the flipping clamping mechanism 700, then control the flipping clamping mechanism 700 to act, so that the extension drill pipe 800 is aligned with the detection drill pipe 500, and then connect the two; Step 7. Control the flipping clamping mechanism 700 to release the extension drill pipe 800, and continue to control the clamping power mechanism 200 and the first winch 300 to act, so that the drilling head 600 continues to tunnel downward.

[0025] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A multi-layer goaf drilling detection device, characterized in that: It includes a vertical guide pile and a first winch installed on a frame, a clamping power mechanism is slidably connected to the vertical guide pile, the detection drill rod is clamped on the clamping power mechanism, one end of the two steel wire ropes are respectively connected to the upper and lower ends of the clamping power mechanism, and the other ends of the two steel wire ropes are respectively wound up on the first winch after passing through the vertical guide pile, an outward-stretched detection arm that can be received on the outer peripheral wall of the detection drill rod is installed at the lower part of the detection drill rod, a second winch is installed on the clamping power mechanism, one end of the pulling rope passes through the detection drill rod and is connected to the outward-stretched detection arm, and the other end of the pulling rope is wound up on the second winch, the extended drill rod is detachably clamped on the flip-type clamping mechanism, and the flip-type clamping mechanism is connected to the vertical guide pile.

2. The multi-layer goaf drilling detection equipment according to claim 1 is characterized in that: The vertical guide pile includes a vertical guide rail with a fixed seat, and connecting seats are respectively constructed at the upper and lower ends of the vertical guide rail. A guide wheel seat is detachably connected to each connecting seat, and multiple guide wheels are installed on the guide wheel seat. The wire rope is guided by each guide wheel on the corresponding guide wheel seat and connected to the clamping power mechanism and the first winch.

3. The multi-layer goaf drilling detection equipment according to claim 1 is characterized in that: The clamping power mechanism comprises a sliding assembly seat slidably connected to the vertical guide pile, the sliding assembly seat is connected to the wire rope, a rod clamping unit is rotatably connected to the sliding assembly seat, and a driving unit is installed between the sliding assembly seat and the rod clamping unit.

4. The multi-layer goaf drilling detection equipment according to claim 3 is characterized in that: The rod clamping unit comprises a mounting shell rotatably mounted on the lower end of a sliding mounting seat, an mounting cavity is constructed in the mounting shell, a plurality of clamping members are evenly mounted on the mounting shell along the circumference of the mounting shell, and clamping openings are formed between the clamping members.

5. The multi-layer goaf drilling detection equipment according to claim 4 is characterized in that: Each of the clamping parts includes a radial hydraulic cylinder, the cylinder body of the radial hydraulic cylinder is fixed to the mounting shell through an adapter plate, the cylinder rod of the radial hydraulic cylinder moves along the radial direction of the detection drill rod and extends into the mounting shell, and an arc-shaped clamping block is installed at the end of the cylinder rod.

6. The multi-layer goaf drilling detection equipment according to claim 5, characterized in that: A first annular hydraulic chamber and a second annular hydraulic chamber are independently constructed on the sliding assembly seat, and an annular sealing cover is rotatably connected to the sliding assembly seat. The first annular hydraulic chamber and the second annular hydraulic chamber are closed by the annular sealing cover, and the axes of the first annular hydraulic chamber, the second annular hydraulic chamber, the annular sealing cover, the mounting shell and the detection drill rod coincide. The first hydraulic pipe and the second hydraulic pipe on each radial hydraulic cylinder are respectively connected to the first annular hydraulic chamber and the second annular hydraulic chamber through the annular sealing cover.

7. The multi-layer goaf drilling detection equipment according to claim 3 is characterized by: The driving unit comprises a driving motor mounted on a sliding mounting seat, a transmission gear is coaxially mounted on the output shaft of the driving motor, an outer gear ring coinciding with the axis of the detection drill rod is mounted on the rod body clamping unit, and the transmission gear and the outer gear ring are meshed with each other.

8. The multi-layer goaf drilling detection equipment according to claim 1 is characterized by: The flip-type clamping mechanism includes two first transverse hydraulic cylinders connected to the vertical guide piles, and one end of each of the first transverse hydraulic cylinders away from the vertical guide piles is connected to a rod-shaped clamping seat, and a pivot ear is installed at the output end of each first transverse hydraulic cylinder. The pivot ear is pivotally connected to the side wall corresponding to the rod-shaped clamping seat via a pivot axis, and a first limiting hole and a second limiting hole are respectively opened on the side wall and the pivot ear of the rod-shaped clamping seat. When the first limiting hole and the second limiting hole are aligned with each other and the limiting pins are inserted, the rod-shaped clamping seat is in a vertical state, and the lower end of the rod-shaped clamping seat is hinged to the output end of the flip driving cylinder.

9. The multi-layer goaf drilling detection equipment according to claim 8, characterized in that: The rod-shaped clamping seat includes a strip-shaped clamping seat body, a rod body placement groove is constructed at one end of the strip-shaped clamping seat body, the lower part of the extended drill rod is assembled in the rod body placement groove, and a plurality of U-shaped tightening hoops are connected to the strip-shaped clamping seat body at intervals along its length direction, each of the U-shaped tightening hoops movably passes through the strip-shaped clamping seat body and is connected to a movable seat, and the movable seat is connected to the strip-shaped clamping seat body via a second transverse hydraulic cylinder.

10. A method for using the multi-layer goaf drilling detection device according to any one of claims 1 to 9, characterized in that: The steps include: Step 1. Install the drilling head on the lower end of the detection drill rod, and assemble the upper part of the detection drill rod into the clamping power mechanism; Step 2. Control the clamping power mechanism to clamp the detection drill rod, and control the clamping power mechanism to drive the detection drill rod to rotate, and at the same time control the first winch to drive the clamping power mechanism to move vertically downward; Step 3. When the lower part of the detection drill rod is excavated to the goaf, the second winch is controlled to unwind the pulling rope and the outward-type detection arm is gradually opened outward; Step 4. Control the outward-extended detection arm to scan the goaf area and record the scanned data; Step 5. Before the outward-extended detection arm leaves the goaf, the second winch is controlled to reel in the pulling rope, and the outward-extended detection arm gradually adheres to the outer peripheral wall of the detection drill pipe under the action of the pulling rope; Step 6. When the upper end of the detection drill rod is close to the ground, the extended drill rod is assembled on the flip-type clamping mechanism, and the flip-type clamping mechanism is controlled to move so that the extended drill rod is aligned with the detection drill rod, and then the two are connected; Step 7. Control the flip-type clamping mechanism to release the extended drill rod, and continue to control the clamping power mechanism and the first winch to allow the drilling head to continue to dig downward.

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