Multi-layer goaf drilling detection equipment and method

Abstract

The present invention discloses a multi-layer goaf drilling detection device and method. The device includes a vertical guide pile, a first hoist and a clamping power mechanism. One end of two steel wire ropes are respectively connected to the clamping power mechanism, and the other ends of the two steel wire ropes are respectively wound onto the first hoist after passing through the vertical guide pile. The detection drill rod is equipped with an outward-extending detection arm, and the clamping power mechanism is equipped with a second hoist. One end of the pulling rope is connected to the outward-extending detection arm, and the other end of the pulling rope is wound onto the second hoist. The flip-type clamping mechanism is connected to the vertical guide pile. The method is to drill downward into the mine through the above-mentioned device and detect data of the longitudinal multi-layer goaf. The present invention can effectively detect the specific appearance of the multi-layer goaf formed along the longitudinal interval, provide data support for subsequent mining, improve the safety of mining, effectively avoid the goaf, and avoid collapse accidents. The present invention is applicable to the technical field of goaf detection.

Description

Technical Field

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

[0002] Due to differences in the underground matrix, the presence of groundwater and geological movements can cause the underground matrix to collapse, or human mining and construction operations can ultimately form goafs. Because the structural strength of goafs is extremely unstable, safety accidents are very likely to occur during production and daily life within these areas, resulting in personal injury and property loss. The probability of goafs forming is particularly high in areas such as mines, and goafs are not singular. Typically, there are multiple goafs in the underground, not only horizontally but also vertically. Consequently, using mechanical equipment directly for mining can lead to collapse accidents, endangering the lives of workers. Furthermore, mechanical equipment can be buried deep within the mining area, causing damage and, in more serious cases, even scrapping it. This significantly increases the difficulty of subsequent cleanup. Therefore, there is an urgent need for goaf detection equipment and methods to detect the specific appearance of multiple goafs formed along the vertical intervals, providing data support for subsequent mining operations, improving mining safety, and effectively avoiding goafs and preventing collapse accidents. Summary of the Invention

[0003] The present invention provides a multi-layer goaf drilling detection device and method for detecting the specific appearance of the multi-layer goaf formed along the longitudinal interval, providing data support for subsequent mining, improving the safety of mining, effectively avoiding the goaf, and preventing collapse accidents.

[0004] To achieve the above object, the technical solutions adopted by the present invention are as follows:

[0005] A multi-layer goaf drilling detection equipment 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 is 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 onto the first winch after passing through the vertical guide pile, the lower part of the detection drill rod is installed with an outward-stretched detection arm that can be received on the outer peripheral wall of the detection drill rod, and 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 onto 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.

[0006] Furthermore, 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.

[0007] Furthermore, the clamping power mechanism includes a sliding assembly seat that is slidingly 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.

[0008] Furthermore, the rod clamping unit includes a mounting shell rotatably mounted on the lower end of the sliding assembly seat, an assembly cavity is constructed in the mounting shell, and multiple clamping parts are evenly mounted on the mounting shell along the circumference of the mounting shell, and clamping openings are formed between these clamping parts.

[0009] Furthermore, 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 radially along 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.

[0010] Furthermore, a first annular hydraulic chamber and a second annular hydraulic chamber are constructed independently of each other 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, and the first hydraulic pipe and the second hydraulic pipe on each of the radial hydraulic cylinders are connected to the first annular hydraulic chamber and the second annular hydraulic chamber respectively through the annular sealing cover.

[0011] Furthermore, the driving unit includes a driving motor installed on a sliding assembly seat, a transmission gear is coaxially installed on the output shaft of the driving motor, and an outer gear ring that coincides with the axis of the detection drill rod is installed on the rod body clamping unit, and the transmission gear and the outer gear ring are engaged with each other.

[0012] 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 pin is 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.

[0013] 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 is movable through the strip-shaped clamping seat body and connected to a movable seat, and the movable seat is connected to the strip-shaped clamping seat body via a second transverse hydraulic cylinder.

[0014] The present invention also discloses a method for using the above-mentioned multi-layer goaf drilling detection device, comprising the following steps:

[0015] 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;

[0016] Step 2. Control the clamping power mechanism to clamp the detection drill rod, control the clamping power mechanism to drive the detection drill rod to rotate, and simultaneously control the first winch to drive the clamping power mechanism to move vertically downward;

[0017] Step 3. When the lower portion of the detection drill rod reaches the goaf, the second winch is controlled to unwind the pulling rope, and the outward-extending detection arm gradually expands outward;

[0018] Step 4. Control the outward-extending detection arm to scan the goaf and record the scanned data;

[0019] Step 5. Before the extended detection arm leaves the goaf, control the second winch to reel in the pulling rope, so that the extended detection arm gradually adheres to the outer wall of the detection drill pipe under the action of the pulling rope;

[0020] 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 clamping mechanism. The flip clamping mechanism is then controlled to align the extended drill rod with the detection drill rod, and the two are then connected.

[0021] 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 move so that the drilling head continues to dig downward.

[0022] Due to the aforementioned structure, the present invention achieves a significant technical improvement over the prior art in that: by controlling the operation of the first hoist, it pulls a clamping power mechanism via two steel wire ropes, sliding downward on a vertical guide pile. The clamping power mechanism clamps the detection drill rod and drives it to rotate, thereby gradually advancing the drilling head mounted on the front end of the detection drill rod. When drilling reaches a goaf, the second hoist is controlled to unwind the pull rope, gradually expanding the extended detection arm. The detection drill rod is then driven to rotate, allowing the detection probe (pattern detector) mounted on the extended detection arm to detect and scan the goaf. As the detection drill rod descends, the goaf in that area is completely scanned. If the detection drill rod is insufficient, a flip-type clamping mechanism is used to extend an extension rod above the detection drill rod. The extension rod is then connected to the detection drill rod, and the clamping power mechanism is controlled to clamp the extension rod above it, driving the extension rod downward, thereby achieving the goal of sequentially detecting multiple layers of goaf. The pulling rope of the present invention is divided into a pulling rope A and a pulling rope B. One end of the pulling rope A is connected to the outward-extending detection arm, and the other end of the pulling rope A extends through the detection drill rod to the upper end of the detection drill rod. The two ends of the pulling rope B pass through the ends of the extended drill rod. When only the detection drill rod is used, the upper end of the pulling rope A is connected to the second hoist. When one or more extended drill rods are used, the ends of the two pulling ropes B on adjacent extended drill rods that are close to each other are connected by a quick connector. The corresponding ends of the pulling rope A and the adjacent pulling ropes B are also connected by a quick connector, and the upper end of the uppermost pulling rope B is connected to the second hoist. The present invention can achieve changes in the opening angle and bending shape of the outward-extending detection arm by controlling the unwinding length of the pulling rope, thereby ensuring comprehensive detection of the goaf. In summary, the present invention can effectively detect the specific appearance of multi-layer goaf areas formed along the longitudinal intervals, provide reliable data support for subsequent mining, improve the safety of mining, effectively avoid goaf areas, and avoid collapse accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0024] In the attached figure:

[0025] Figure 1 Schematic diagram of the structure of an embodiment of the present invention;

[0026] Figure 2 A side view of the structure of an embodiment of the present invention;

[0027] Figure 3 Schematic diagram of the structure of a vertical guide pile according to an embodiment of the present invention;

[0028] Figure 4 This is a structural diagram of the connection between the clamping power mechanism, the detection drill rod, the drilling head and the second hoist according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic structural diagram of the connection between the detection drill rod and the drilling head according to an embodiment of the present invention;

[0030] Figure 6 This is a cross-sectional view of the axial structure of a detection drill rod according to an embodiment of the present invention;

[0031] Figure 7 This is a schematic structural diagram of a clamping power mechanism according to an embodiment of the present invention;

[0032] Figure 8 This is an axial structural cross-sectional view of a clamping-type power mechanism according to an embodiment of the present invention;

[0033] Figure 9 for Figure 8 A magnified view of the structure of part A in the middle;

[0034] Figure 10 This is a schematic structural diagram of a sliding assembly seat in a clamping power mechanism according to an embodiment of the present invention;

[0035] Figure 11 Schematic diagram of the structure of the rod clamping unit in the clamping power mechanism according to an embodiment of the present invention;

[0036] Figure 12 This is an exploded view of the structure of the rod clamping unit in the clamping power mechanism according to an embodiment of the present invention;

[0037] Figure 13 Schematic diagram of the structure of the driving unit in the clamping power mechanism according to an embodiment of the present invention;

[0038] Figure 14 This is a structural schematic diagram of a flip-type clamping mechanism clamping an extended drill rod according to an embodiment of the present invention;

[0039] Figure 15 Schematic diagram of the structure of the rod-shaped clamping seat in the flip-type clamping mechanism according to an embodiment of the present invention.

[0040] Labeled parts: 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 power mechanism, 201-sliding assembly seat, 2011-first seat body, 2012-second seat body, 2013-third seat body, 2014-guide rod channel, 2015-first annular hydraulic chamber, 2016-second annular hydraulic chamber Pressure chamber, 2017-annular sealing cover, 2018-first hydraulic pipe, 2019-second hydraulic pipe, 202-rod clamping unit, 2021-mounting shell, 2022-assembly chamber, 2023-assembly groove, 2024-assembly set, 2025-cylinder body, 2026-cylinder rod, 2027-adapter plate, 2028-arc clamping block, 2029-clamping port, 203-drive unit, 2031-drive motor, 20 32-transmission gear, 2033-external gear ring, 2034-assembly hole, 300-first hoist, 400-wire rope, 500-detection drill rod, 501-first rod-shaped body, 502-connecting flange, 503-first connecting joint, 504-outward-extending detection arm, 505-articulated shaft, 506-pulling rope A, 600-drilling head, 700-flip clamping mechanism, 701-rod-shaped clamping seat, 702-rod body 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-pivot ear, 710-pivot shaft, 711-second limiting hole, 712-flip drive cylinder, 800-extended drill pipe, 801-second rod-shaped body, 802-second connecting joint, 803-pulling rope B, 900-second winch. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0042] The present invention discloses a multi-layer goaf drilling detection device, such as Figure 1-15As shown, the vertical guide pile 100, the first hoist 300, the clamping power mechanism 200, the detection drill rod 500, the extended drill rod 800, the second hoist 900, the outward-extending detection arm 504, and the flip-type clamping mechanism 700 are included. The vertical guide pile 100 and the first hoist 300 are both mounted on a frame, the clamping power mechanism 200 is slidably connected to the vertical guide pile 100, the detection drill rod 500 is clamped on the clamping power mechanism 200, and one end of two steel wire ropes 400 are respectively connected to the upper and lower ends of the clamping power mechanism 200. The other ends of the two steel wire ropes 400 are respectively guided by the vertical guide pile 100 and then reeled on the first hoist 300. The lower portion of the detection drill rod 500 of the present invention is connected to the outward-extending detection arm 504, which can be stored on the outer peripheral wall of the detection drill rod 500. The second hoist 900 is installed on the clamping power mechanism 200. One end of the pulling rope passes through the detection drill rod 500 and is connected to the outward-extending detection arm 504. The other end of the pulling rope is wound on the second hoist 900. The extended drill rod 800 of the present invention can be detachably clamped on the flip-type clamping mechanism 700, and the flip-type clamping mechanism 700 is connected to the vertical guide pile 100. The working principle and advantages of the present invention are as follows: the present invention controls the action of the first hoist 300 so that it pulls the clamping power mechanism 200 to slide downward on the vertical guide pile 100 through two steel wire ropes 400. Since the clamping 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 into a goaf, the second hoist 900 is controlled to unwind the traction rope, causing the outward-extending detection arm 504 to gradually expand. The detection drill rod 500 is then driven to rotate, causing the detection probe (graphic detector) mounted on the outward-extending detection arm 504 to detect and scan the goaf. The detection drill rod 500 then descends, completely scanning the goaf in that area. If the detection drill rod 500 is insufficiently long, the flip-type clamping mechanism 700 is used to move the extended drill rod 800 above the detection drill rod 500. The extended drill rod 800 is then connected to the detection drill rod 500, and the clamping power mechanism 200 is controlled to clamp the upper portion of the extended drill rod 800. The extended drill rod 800 is then driven downward to rotate, achieving the purpose of sequentially detecting multiple layers of goaf.The pulling rope of the present invention is divided into a pulling rope A506 and a pulling rope B803. One end of the pulling rope A506 is connected to the outward-extending detection arm 504, and the other end of the pulling rope A506 extends out of the upper end of the detection drill rod 500 through the detection drill rod 500. The two ends of the pulling rope B803 pass through the two ends of the extended drill rod 800; when only the detection drill rod 500 is used, the upper end of the pulling rope A506 is connected to the second winch 900. When one or more extended drill rods 800 are used, the ends of the two pulling ropes B803 on adjacent extended drill rods 800 that are close to each other are connected by a quick connector, and the pulling rope A506 and the corresponding end of the close pulling rope B803 are also connected by a quick connector, and the upper end of the pulling rope B803 located at the top is connected to the second winch 900. The present invention can control the length of the unwinding of the pulling rope to change the opening angle and bending shape of the outward-extending detection arm 504, thereby ensuring comprehensive detection of the goaf. In summary, the present invention can effectively detect the specific appearance of multi-layer goafs formed along the longitudinal interval, providing reliable data support for subsequent mining, improving mining safety, effectively avoiding goafs, and preventing collapse accidents.

[0043] As a preferred embodiment of the present invention, Figure 3 As 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. A connecting seat 104 is constructed at the upper and lower ends of the vertical guide rail 101, and each connecting seat 104 is detachably connected to a guide wheel seat 105. A plurality of guide wheels 106 are mounted on the guide wheel seat 105. The wire rope 400 passes through the corresponding guide wheel seat 105 and is transmission-connected to each guide wheel 106 on the guide wheel seat 105. These guide wheels 106 guide the wire rope 400, so that the two ends of the wire rope 400 are smoothly connected to the clamping power mechanism 200 and the first hoist 300 respectively.

[0044] As a preferred embodiment of the present invention, Figure 4-6As shown, the exploration drill rod 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. The connecting flange 502 is detachably connected to the upper end of the drilling head 600. A first conductive channel is defined within the first rod-shaped body 501. A pulling rope A506 passes through the first conductive channel and through the first rod-shaped body 501. A first connecting joint 503 is constructed at the upper end of the first rod-shaped body 501. In this embodiment, a vertical mounting groove is provided on the lower outer peripheral wall of the first rod-shaped body 501, and there are multiple outward-extending detection arms 504. These outward-extending detection arms 504 are arranged at intervals along the vertical direction and are all assembled in the vertical mounting grooves. Adjacent outward-extending detection arms 504 are hinged by a hinge shaft 505. The upper end of the outward-extending detection arm 504 located at the top 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-extending detection arm 504 can be rotated outward by at least 90° along the axis of the hinge shaft 505. When the outward-extending detection arm 504 is rotated inwardly to the extreme position, the angle between the outward-extending detection arm 504 and the adjacent outward-extending detection arm 504 is 180°, that is, the two outward-extending detection arms 504 are on the same straight line, so that the outward-extending detection arm 504 can be pulled by the pulling rope and stored in the vertical mounting groove. In this embodiment, after the pulling rope is gradually unwound, the outward-extending detection arms 504 are gradually opened outward under the action of the torsion spring. When the pulling rope is unwound until all the outward-extending detection arms 504 are fully opened, these outward-extending detection arms 504 form a complete curved arm body. Since each outward-extending detection arm 504 is respectively equipped with a detection probe, these detection probes can fully and comprehensively detect and scan the corresponding parts of the goaf. Moreover, even if one or more outward-extending detection arms 504 at the top are restricted by the wall of the borehole, the outward-extending detection arms 504 at the bottom and extending into the goaf can be effectively opened and the goaf can be detected in real time. Figure 14 As shown, the extended rod body includes a second rod-shaped body 801. Second connecting joints 802 and internal thread grooves are respectively constructed at the upper and lower ends of the second rod-shaped body 801. The second connecting joints 802 of two adjacent second rod-shaped bodies 801 that are adjacent to each other are threadedly connected within the internal thread groove. The first rod-shaped body 501 and the adjacent second rod-shaped bodies 801 are fixed together by the threaded connection between the first connecting joint 503 and the internal thread groove. A second conductive channel is defined within the second rod-shaped body 801, through which the pull rope B 803 passes through the second rod-shaped body 801.

[0045] As a preferred embodiment of the present invention, Figure 7-13As shown, the clamping type power mechanism 200 comprises a sliding assembly seat 201, a rod clamping unit 202 and a drive unit 203. Wherein, the sliding assembly seat 201 comprises a first base 2011, a second base 2012 and a third base 2013 that are mutually constructed, and the second base 2012 is slidably assembled with the vertical guide rail 101. A guide rod passage 2014 is offered at the center of the third base 2013, and the detection drill rod 500 or the lengthened drill rod 800 passes this guide rod passage 2014. The upper and lower ends of the first base 2011 are connected and fixed with the end of two steel ropes 400 respectively in the sliding assembly seat 201, the rod clamping unit 202 is rotationally connected on the sliding assembly seat 201, and the drive unit 203 is assembled between the sliding assembly seat 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 of different radial lengths. The driving unit 203 then drives the rod clamping unit 202 to rotate, causing the rod clamping unit 202 to rotate the clamped detection drill rod 500 or the extension drill rod 800, thereby achieving the purpose of rotating the drilling head 600. The second hoist 900 of this embodiment can be mounted on the sliding assembly base 201 or the rod clamping unit 202. When the second hoist 900 is mounted on the sliding assembly base 201, the second hoist 900 does not rotate with the rod clamping unit 202. When the second hoist 900 is mounted on the rod clamping unit 202, the second hoist 900 rotates with the rod clamping unit 202. Of the two connection methods, the second connection method is more preferred. When the second hoist 900 rotates with the rod clamping unit 202, it can effectively prevent the pulling rope from tangling. The rod clamping unit 202 of this embodiment specifically comprises a mounting housing 2021 and a plurality of clamping members. The mounting housing 2021 is rotatably mounted on the lower end of the sliding assembly base 201. An assembly cavity 2022 is formed within the mounting housing 2021. The plurality of clamping members are evenly mounted on the mounting housing 2021 along its circumference, and a clamping opening 2029 is formed between the clamping members. By controlling the movement of the clamping members, the clamping opening 2029 is gradually reduced, thereby securing the portion of the detection drill rod 500 or the extended drill rod 800 located at the clamping opening 2029. Each clamping member comprises a radial hydraulic cylinder, with an adapter plate 2027 fixed to the cylinder body 2025 of the radial hydraulic cylinder. Multiple mounting grooves 2023 are uniformly defined along the circumference of the mounting shell 2021 on the lower end surface. The adapter plates 2027 fit within corresponding mounting grooves 2023 and are secured to the mounting shell 2021 via multiple connecting bolts. In this embodiment, multiple mounting sleeves 2024 are constructed at the lower end of the mounting shell 2021, evenly spaced along the circumference of the mounting shell 2021.The radial hydraulic cylinder's rod 2026 extends radially along the probe drill rod 500 and into the mounting housing 2021. An arc-shaped clamping block 2028 is mounted at the end of the rod 2026. In this embodiment, hydraulic oil drives the radial movement of the rod 2026 through the mounting housing 2021, thereby driving the arc-shaped clamping block 2028 to clamp or release the probe drill rod 500 or the extension drill rod 800. In this embodiment, a first annular hydraulic chamber 2015 and a second annular hydraulic chamber 2016 are constructed on the sliding assembly base 201. The first annular hydraulic chamber 2015 and the second annular hydraulic chamber 2016 are independent of each other and are not connected. An annular sealing cover 2017 is rotatably connected to the sliding assembly base 201. The first annular hydraulic chamber 2015 and the second annular hydraulic chamber 2016 are sealed by the annular sealing cover 2017. Moreover, the axes of the first annular hydraulic chamber 2015, the second annular hydraulic chamber 2016, the annular sealing cover 2017, the mounting housing 2021, and the detection drill rod 500 coincide. In this embodiment, a first hydraulic pipe 2018 and a second hydraulic pipe 2019 are respectively fixedly connected to the annular sealing cover 2017 on each radial hydraulic cylinder. The first hydraulic pipe 2018 and the second hydraulic pipe 2019 are respectively connected to the first annular hydraulic chamber 2015 and the second annular hydraulic chamber 2016. In this embodiment, the hydraulic oil volume in the first annular hydraulic chamber 2015 and the second annular hydraulic chamber 2016 is changed, so that the hydraulic oil synchronously drives the various radial hydraulic cylinders to operate, thereby driving the synchronous operation of all arc-shaped clamping blocks 2028. The drive unit 203 of this embodiment includes a drive motor 2031, a transmission gear 2032, and an outer ring gear 2033. The drive motor 2031 is mounted on the first base 2011 of the sliding assembly base 201. The transmission gear 2032 is coaxially mounted on the output shaft of the drive motor 2031. The outer ring gear 2033 is mounted at the lower end of the mounting housing 2021. The axis of the outer ring gear 2033 coincides with the axis of the detection drill rod 500, and the transmission gear 2032 and the outer ring gear 2033 are meshed with each other. A plurality of assembly holes 2034 are uniformly defined along the circumference of the upper end surface of the outer gear ring 2033. The assembly sleeves 2024 at the lower end of the mounting housing 2021 fit into the corresponding assembly holes 2034. The locking bolts extend into and threadably engage the assembly sleeves 2024. The bolt caps of the locking bolts are screwed onto the lower end surface of the outer gear ring 2033. In this embodiment, the outer gear ring 2033 is rotated by a drive motor 2031, thereby driving the mounting housing 2021 and the various clamping members to rotate together, thereby driving the detection drill rod 500 or the extended drill rod 800 to rotate.

[0046] As a preferred embodiment of the present invention, Figure 14 、 15As shown, the flip-type clamping mechanism 700 includes a rod-shaped clamping seat 701, a flip-drive cylinder 712, and two first transverse hydraulic cylinders 708. Two fixing ears 103 are constructed on the vertical guide rail 101. The two first transverse hydraulic cylinders 708 are arranged side by side, with one end of each first transverse hydraulic cylinder 708 connected to the corresponding fixing ear 103. The end of the first transverse hydraulic cylinder 708 away from the vertical guide rail 101 is connected to the rod-shaped clamping seat 701. Assembly blocks 707 are constructed on both sides of the rod-shaped clamping seat 701. A pivoting ear 709 is installed at the output end of each first transverse hydraulic cylinder 708. The pivoting ear 709 is pivotally connected to the corresponding assembly block 707 on the rod-shaped clamping seat 701 via a pivot shaft 710. In this embodiment, a first limiting hole 706 is opened on the side wall of the rod-shaped clamping seat 701, and a second limiting hole 711 is opened on the pivoting ear 709. When the first limiting hole 706 and the second limiting hole 711 are aligned with each other, a limiting pin is inserted into the first limiting hole 706 and the second limiting hole 711 to lock the rod-shaped clamping seat 701 in a vertical state, and the lower end of the rod-shaped clamping seat 701 is hinged to the output end of the flip driving cylinder 712. When the limiting pin is pulled out, this embodiment controls the action of the flip driving cylinder 712 to drive the rod-shaped clamping seat 701 to flip along the axis of the pivot shaft 710, thereby facilitating the disassembly and assembly of the extended drill rod 800; and when the rod-shaped clamping seat 701 is flipped to a vertical state, the flip driving cylinder 712 is in a horizontal state. At this time, the flip driving cylinder 712 and each first horizontal hydraulic cylinder 708 are driven to act synchronously. The flip driving cylinder 712 pushes the rod-shaped clamping seat 701, and the two first horizontal hydraulic cylinders 708 pull the rod-shaped clamping seat 701. The rod-shaped clamping seat 701 carries the extended drill rod 800 fixed thereon and moves toward the vertical guide pile 100 until the extended drill rod 800 is aligned with the detection drill rod 500, and then the first winch 300 is controlled to pull the clamping power mechanism 200 to move upward by one end distance, so that the extended drill rod 800 and the detection drill rod 500 are docked, and then, the clamping power mechanism 200 is controlled to drive the detection drill rod 500 to rotate and move upward, so that the extended drill rod 800 and the detection drill rod 500 are threadedly connected together, thereby achieving the purpose of lengthening the detection drill rod 500. The rod-shaped clamping seat 701 of this embodiment includes a strip-shaped clamping seat body, and a rod body placement groove 702 is constructed at one end of the strip-shaped clamping seat body. The lower part of the extended drill rod 800 is assembled in the rod body placement groove 702. A plurality of U-shaped tightening hoops 703 are connected to the strip-shaped clamping seat body at intervals along its length direction. Each U-shaped tightening hoop 703 is movable through the strip-shaped clamping seat body. These U-shaped tightening hoops 703 are all connected to the movable seat 704, and the movable seat 704 is connected to the strip-shaped clamping seat body through a second transverse hydraulic cylinder 705.This embodiment controls the movement of the second transverse hydraulic cylinder 705 so that it drives all the U-shaped tightening hoops 703 to move synchronously through the movable seat 704, thereby tightening the extended drill rod 800 on the strip clamping seat body, or releasing the restraint of the U-shaped tightening hoop 703 on the extended drill rod 800.

[0047] The present invention also discloses a method for using the above-mentioned multi-layer goaf drilling detection device, comprising the following steps:

[0048] Step 1. Install the drilling head 600 on the lower end of the detection drill rod 500, and assemble the upper part of the detection drill rod 500 into the clamping power mechanism 200;

[0049] Step 2. Control the clamping power mechanism 200 to clamp the detection drill rod 500 and drive the detection drill rod 500 to rotate. Simultaneously, control the first hoist 300 to operate so as to drive the clamping power mechanism 200 to move vertically downward.

[0050] Step 3. When the lower portion of the detection drill rod 500 reaches the goaf, the second hoist 900 is controlled to operate, so that the pulling rope is unwound and the outward-extending detection arm 504 is gradually extended outward;

[0051] Step 4. Control the outward-extending probe arm 504 to scan the goaf and record the scanned data;

[0052] Step 5. Before the outward-extending detection arm 504 leaves the goaf, control the second hoist 900 to reel in the pulling rope. Under the action of the pulling rope, the outward-extending detection arm 504 gradually adheres to the outer wall of the detection drill pipe 500.

[0053] Step 6. When the upper end of the detection drill rod 500 is close to the ground, the extended drill rod 800 is assembled on the flip clamping mechanism 700. The flip clamping mechanism 700 is then controlled to align the extended drill rod 800 with the detection drill rod 500, and the two are then connected.

[0054] Step 7. Control the flip-type clamping mechanism 700 to release the extended drill rod 800, and continue to control the clamping power mechanism 200 and the first hoist 300 to operate, so that the drilling head 600 continues to dig downward.

[0055] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles 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 by: The invention comprises a vertical guide pile and a first winch installed on the 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 is 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 on the first winch after passing through the vertical guide pile, the lower part of the detection drill rod is equipped with an outward-stretched detection arm that can be stored on the outer peripheral wall of the detection drill rod, and a second winch is installed on the clamping power mechanism. One end of the pull rope passes through the detection drill rod and is connected to the outward-extending detection arm, and the other end of the pull rope is wound 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; the detection drill rod includes a first rod-shaped body, and a vertical mounting groove is provided on the lower outer peripheral wall of the first rod-shaped body. There are multiple outward-extending detection arms, which are spaced apart in the vertical direction and are all assembled in the vertical mounting grooves. Adjacent outward-extending detection arms The measuring arm is hinged by a hinge shaft, and the upper end of the outward-extending detection arm located at the top is hinged to the first rod-shaped body through another hinge shaft, and a torsion spring is installed on each hinge shaft, and each outward-extending detection arm can be rotated outward at least 90 degrees along the axis of the hinge shaft. When the outward-extending detection arm is rotated inward to the extreme position, the angle between the outward-extending detection arm and the adjacent outward-extending detection arm is 180 degrees; the second winch is installed on the rod clamping unit, and the second winch rotates with the rod clamping unit; the clamping The holding power mechanism includes a sliding assembly seat that is slidably connected to the vertical guide pile, the sliding assembly seat is connected to the steel 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; the rod clamping unit includes a mounting shell rotatably mounted on the lower end of the sliding assembly seat, an assembly cavity is constructed in the mounting shell, and multiple clamping parts are evenly installed on the mounting shell along the circumference of the mounting shell, and clamping openings are formed between these clamping parts.

2. The multi-layer goaf drilling detection equipment according to claim 1, 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, 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.

4. The multi-layer goaf drilling detection equipment according to claim 3, 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 of the radial hydraulic cylinders are respectively connected to the first annular hydraulic chamber and the second annular hydraulic chamber through the annular sealing cover.

5. The multi-layer goaf drilling detection equipment according to claim 1, characterized in that: The driving unit includes a driving motor mounted on a sliding assembly seat, a transmission gear is coaxially mounted on the output shaft of the driving motor, an outer gear ring that coincides 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.

6. The multi-layer goaf drilling detection equipment according to claim 1, characterized in that: 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. A pivot ear is installed at the output end of each first transverse hydraulic cylinder, and the pivot ear is pivotally connected to the side wall corresponding to the rod-shaped clamping seat via a pivot axis. 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 pin is 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.

7. The multi-layer goaf drilling detection equipment according to claim 6, 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 is movable through the strip-shaped clamping seat body and connected to a movable seat, and the movable seat is connected to the strip-shaped clamping seat body via a second transverse hydraulic cylinder.

8. A method for using the multi-layer goaf drilling detection device according to any one of claims 1 to 7, 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, control the clamping power mechanism to drive the detection drill rod to rotate, and simultaneously control the first winch to drive the clamping power mechanism to move vertically downward; Step 3. When the lower portion of the detection drill rod reaches the goaf, the second winch is controlled to unwind the pulling rope, and the outward-extending detection arm gradually expands outward; Step 4. Control the outward-extending detection arm to scan the goaf and record the scanned data; Step 5. Before the extended detection arm leaves the goaf, control the second winch to reel in the pulling rope, so that the extended detection arm gradually adheres to the outer 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 clamping mechanism. The flip clamping mechanism is then controlled to align the extended drill rod with the detection drill rod, and the two are then 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 move so that the drilling head continues to dig downward.

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