Detection device for coal mining

Abstract

The invention relates to the technical field of coal seam detection equipment, and discloses a detection device for coal mining, which comprises a lifting mechanism at least comprising a sling; the stabilizing mechanism is connected to one end of the sling and comprises a stabilizing seat, a spherical hinge seat and a spherical hinge head, the stabilizing seat is connected to the end of the sling, the spherical hinge seat is arranged on the side, away from the sling, of the stabilizing seat, and the spherical hinge seat is in spherical hinge connection with the spherical hinge head; and the detection mechanism is arranged below the stabilizing mechanism and is used for detecting the interior of the mine. The detection mechanism comprises a fixed seat, a detection part and a lifting assembly, and the fixed seat is connected with the spherical hinge head; the spherical hinge head is connected to the fixed seat, and the detection mechanism is connected with the stabilizing mechanism through the spherical hinge head and the spherical hinge seat; the detection part is arranged below the fixed seat and is used for detecting the internal condition of the mine; the lifting assembly is connected to the detection part and used for driving the detection part to ascend and descend in the direction close to or away from the fixed base. The stability of the detection mechanism is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal seam detection, in particular to a detection device used in coal mine mining. Background Art

[0002] Coal seams are categorized by thickness into thin, medium, thick, and extremely thick. Thick seams are defined as those between 3.5 and 8 meters thick in underground mining, or over 10 meters thick in open-pit mining. Underground mining involves first excavating a mineshaft, then building tunnels based on the mineshaft before mining operations begin.

[0003] Because mining operations take place underground, factors such as the geological conditions and thickness of the underground coal seams are unknown. Therefore, underground coal seam detection is necessary to ensure the safety and efficiency of subsequent mining operations. Existing detection equipment typically includes a lifting mechanism, a detection mechanism, and a cleaning mechanism. The lifting mechanism is used to lower the detection mechanism into the mine shaft, allowing it to detect the underground coal seams. The cleaning mechanism is used to clean the detection mechanism to ensure the accuracy of the detection information. Some detection equipment may also include a stabilizing structure.

[0004] Due to the influence of factors such as the construction environment and geological conditions, the lifting mechanism of existing detection equipment mostly uses slings to suspend the detection mechanism in the mine, and the lifting and lowering of the detection mechanism is achieved by controlling the contraction of the slings. This lifting method is prone to shaking of the detection mechanism during the lifting process or during detection, causing the detection mechanism to be unstable, which may lead to inaccurate detection information of the detection mechanism. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a detection device for use in coal mine mining, which can improve the stability of the detection mechanism.

[0006] The present invention provides a detection device for coal mining, comprising: A lifting mechanism comprising at least a sling, one end of which is suspended in the mine; A stabilizing mechanism is connected to one end of the sling suspended in the mine, and the stabilizing mechanism includes a stabilizing seat, a ball joint seat, and a ball joint head. The stabilizing seat is connected to the end of the sling, and the ball joint seat is provided on a side of the stabilizing seat away from the sling, and the ball joint seat and the ball joint head are connected by a spherical hinge; The detection mechanism is arranged below the stabilizing mechanism and is used to detect the interior of the mine. The detection mechanism includes: a fixed seat connected to the ball joint head; a detection part, which is arranged on the side of the fixed seat away from the ball joint head and is used to detect the internal situation of the mine; and a lifting component, which is connected to the detection part and is used to drive the detection part to rise and fall in a direction close to or away from the fixed seat.

[0007] Preferably, the lifting assembly includes: A threaded rod, rotatably connected to the fixing seat; The bearing seat is sleeved on the threaded rod and is threadedly connected to the threaded rod. A sliding seat, movably sleeved on the threaded rod and rotatably connected to the bearing seat, the sliding seat having two mounting surfaces symmetrical along the center of the threaded rod, and the detection portion is provided on both mounting surfaces; The lifting drive unit is arranged on the fixing seat and is used to provide power for the detection unit to slide up and down along the threaded rod.

[0008] Preferably, the lifting drive unit includes: a first motor, disposed on the fixing seat, wherein an output shaft of the first motor passes through the fixing seat and an end portion is located below the fixing seat, and two first motors are symmetrically disposed around the center of the threaded rod; A driving gear, the output shafts of the two first motors are both connected to the driving gear; The driven gear is fixedly sleeved on the threaded rod, and the driving gear is meshed with the driven gear.

[0009] Preferably, the detection parts on the two mounting surfaces are symmetrically arranged around the center of the threaded rod, and the detection part on either side includes: A mounting seat connected to the bearing seat via a connecting rod; A detection probe is rotatably mounted on the mounting seat via a rotating shaft, wherein the axis of the rotating shaft is perpendicular to the axis of the threaded rod; A circumferential rotation assembly capable of driving the mounting seat and the detection probe to rotate around the axis of the threaded rod through the connecting rod; A vertical rotation assembly capable of driving the detection probe to rotate around the rotation axis; The rotation driving part is used to provide driving force for the circumferential rotation component and the vertical rotation component.

[0010] Preferably, the circumferential rotation component includes: A gear ring, fixedly connected to the bearing seat, wherein the axis of the gear ring coincides with the axis of the threaded rod; The first bevel gear is rotatably arranged on the connecting rod, and the first bevel gear is meshed with the ring gear.

[0011] Preferably, the vertical rotation assembly includes: a second bevel gear, rotatably connected to the sliding seat; A worm gear assembly, comprising a worm wheel, a worm, and a connecting shaft, wherein the worm wheel is sleeved on the connecting shaft, the worm wheel is rotatably connected to the sliding seat via the connecting shaft, the worm is fixedly connected to the second bevel gear and meshes with the worm wheel, and the axis of the connecting shaft is parallel to the axis of the rotating shaft; A belt is provided, through which the rotating shaft and the connecting shaft are connected.

[0012] Preferably, the rotation driving unit includes: a second motor, fixedly connected to the mounting surface of the sliding seat; A rotating seat, sleeved on the output shaft of the second motor; a first wheel seat, sleeved on the output shaft of the second motor and located on one side of the rotating seat, the first wheel seat being provided with bevel teeth meshing with the first bevel gear; a second wheel seat, sleeved on the output shaft of the second motor and located on the other side of the rotating seat, the second wheel seat being provided with bevel teeth meshing with the second bevel gear; When the output shaft of the second motor rotates, it can drive the first wheel seat and / or the second wheel seat to rotate.

[0013] Preferably, the first wheel seat and the second wheel seat are annular and are both rotatably connected to the rotating seat, and the rotating drive unit further includes: a sliding sleeve, which is arranged on the output shaft of the second motor and can rotate together with the output shaft of the second motor; a first driving gear fixedly sleeved on the sliding sleeve, wherein the inner ring of the first wheel seat is processed with a first internal driving tooth, and the first driving gear can be embedded in the inner ring of the first wheel seat and meshed with the first internal driving tooth; a second driving gear fixedly sleeved on the sliding sleeve, the inner ring of the second wheel seat being processed with second internal driving teeth, the second driving gear being capable of being embedded in the inner ring of the second wheel seat and meshing with the second internal driving teeth; An electric push rod is fixed on the sliding seat, and a telescopic end of the electric push rod is connected to the sliding sleeve; Wherein, when the first driving gear is embedded in the inner ring of the first wheel seat, the second driving gear is located outside the inner ring of the second wheel seat.

[0014] Preferably, the ball joint heads and the ball joint seats are provided in two groups, and the ball centers of the two groups of ball joint heads coincide with each other.

[0015] Preferably, it also includes: a transparent cover connected to the side of the fixing base away from the stabilizing mechanism; The cleaning mechanism comprises a cleaning brush and a sliding portion. The cleaning brush is sleeved on the outside of the transparent cover, and the sliding portion can drive the cleaning brush to slide up and down.

[0016] The technical solution provided by the embodiment of the present invention has the following advantages compared with the existing technology: The detection device used in coal mine mining provided by an embodiment of the present invention includes a lifting mechanism, a stabilizing mechanism and a detection mechanism. The stabilizing mechanism is connected to the lifting mechanism, and the stabilizing mechanism includes a stabilizing seat, a ball joint seat and a ball joint head. The ball joint seat is fixedly arranged on the side of the stabilizing seat away from the sling side, and the ball joint head is arranged inside the ball joint seat. The ball joint head and the ball joint seat are connected by a ball hinge. For example, the stabilizing seat can be a cylindrical plate, and the ball joint seat has a spherical surface inside. The ball joint head is a part of the sphere and is bowl-shaped. The ball joint head fits the spherical surface inside the ball joint seat and the center of the sphere coincides. The bowl-shaped ball joint head can reduce the overall weight of the ball joint head, which is beneficial to improving the load-bearing capacity of the ball joint seat.

[0017] The detection mechanism, used to detect the interior of a mine, consists of a fixed base, a detection unit, and a lifting assembly. The fixed base is connected to a ball joint; the detection unit is attached to the fixed base, and its mechanical components are arranged symmetrically around the center of the fixed base. The lifting assembly drives the detection unit to move toward or away from the fixed base.

[0018] Among them, the detection mechanism is connected to the bottom of the stable seat through a ball joint seat and a ball joint head. When the sling is lifted or lowered or shakes due to other factors, it will drive the stable seat to shake. Since the ball joint head can rotate at any angle in the ball joint seat, the detection mechanism can always keep its own center of gravity stable under the action of gravity, that is, the ball joint seat and the ball joint head can prevent all the shaking caused by the sling from being fed back to the fixed seat, thereby ensuring the stability of the detection mechanism as much as possible. In addition, during the detection process, it may be necessary to reel in the sling to enable the detection mechanism to detect at different heights. When the sling is lifted or lowered by reeling in the sling, the detection mechanism may cause angular shaking. Using a lifting mechanism to achieve lifting and lowering of the detection part within a certain height range can effectively avoid large-scale shaking of the detection mechanism, which is beneficial to improving the stability of the detection mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic structural diagram of a detection device for coal mine mining provided by an embodiment of the present invention; Figure 2 A schematic structural diagram of a detection device for coal mine mining provided by an embodiment of the present invention; Figure 3 A cross-sectional view of the structure of a detection device for coal mine mining provided by an embodiment of the present invention; Figure 4A cross-sectional view of the structure of a detection device for coal mine mining provided by an embodiment of the present invention; Figure 5 for Figure 4 A magnified view of part A in FIG; Figure 6 A schematic structural diagram of a detection mechanism of a detection device for coal mine mining provided by an embodiment of the present invention; Figure 7 A schematic structural diagram of a detection unit of a detection device for coal mine mining provided by an embodiment of the present invention; Figure 8 A partial structural cross-sectional view of a detection device for coal mine mining provided by an embodiment of the present invention; Figure 9 for Figure 8 Enlarged view of part B in the middle.

[0020] Description of reference numerals: 1. Lifting mechanism; 11. Lifting rope; 2. Stabilizing mechanism; 21. Connecting seat; 22. Damping rod; 23. Stabilizing seat; 24. Ball joint seat; 25. Ball joint head; 3. Detection mechanism; 31. Fixing seat; 32. Detection unit; 321. Mounting seat; 322. Detection probe; 323. Circumferential rotation assembly; 3231. Ring gear; 3232. First bevel gear; 324. Vertical rotation assembly; 3241. Second bevel gear; 3242. Worm gear; 3243. Worm; 3244. Coupling; 3245. Belt; 325. Rotation drive unit; 3251. Second motor; 3252. Rotating seat; 3253. First wheel seat; 3254. Second wheel seat; 3255. Sliding sleeve; 3256. First driving gear; 3257. First inner driving gear; 3258. Second driving gear; 3259. Second inner driving gear; 3250. Electric push rod; 326. Rotating shaft; 33. Lifting assembly; 331. Threaded rod; 332. Supporting seat; 333. Sliding seat; 334. Lifting drive unit; 3341. First motor; 3342. Driving gear; 3343. Driven gear; 34. Connecting rod; 4. Transparent cover; 5. Cleaning mechanism; 51. Cleaning brush; 52. Sliding unit; 6. Control assembly. DETAILED DESCRIPTION

[0021] A specific embodiment of the present invention is described in detail below with reference to the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiment.

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the technical solutions of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0023] Because thick coal seam mining operations are conducted underground, factors such as the geological conditions and thickness of the underground coal seams are unknown. Therefore, underground coal seam detection is necessary to ensure the safety and efficiency of subsequent mining operations. Existing detection equipment typically includes a lifting mechanism, a detection mechanism, and a cleaning mechanism. The lifting mechanism is used to lower the detection mechanism into the mine shaft for detection of the underground coal seams. The cleaning mechanism is used to clean the detection mechanism to ensure the accuracy of the detection information. Some detection equipment may also include a stabilizing structure.

[0024] Due to the influence of factors such as the construction environment and geological conditions, the lifting mechanism of existing detection equipment mostly uses slings to suspend the detection mechanism in the mine, and the lifting and lowering of the detection mechanism is achieved by controlling the contraction of the slings. This lifting method is prone to shaking of the detection mechanism during the lifting process or during detection, causing the detection mechanism to be unstable, which may lead to inaccurate detection information of the detection mechanism; in addition, the overall structure of the existing detection mechanism is usually not a centrally symmetrical structure, resulting in the center of gravity of the detection mechanism and the slings not being in the same straight line, which is not conducive to the stability of the detection mechanism.

[0025] To this end, an embodiment of the present invention provides a detection device for use in coal mine mining, which can enable the detection mechanism to maintain maximum stability when suspended in the mine. At the same time, when the detection mechanism needs to adjust the detection height, the detection head can be raised and lowered through a lifting assembly. Compared with lifting and lowering through a lifting mechanism, it is not easy to produce large-scale shaking, which is beneficial to improving the stability of the detection mechanism.

[0026] At least one embodiment of the present invention provides a detection device for coal mine mining, including a lifting mechanism, a stabilizing mechanism, and a detection mechanism. The lifting mechanism includes at least a sling, one end of which is suspended in the mine; the stabilizing mechanism is connected to one end of the sling suspended in the mine, the stabilizing mechanism includes a stabilizing seat, a ball joint seat, and a ball joint head, the stabilizing seat is connected to the end of the sling, the ball joint seat is provided on the side of the stabilizing seat away from the sling, and the ball joint seat and the ball joint head are connected by a ball joint; the detection mechanism is provided below the stabilizing mechanism to realize detection inside the mine. The detection mechanism includes a fixed seat, a detection part, and a lifting assembly. The fixed seat is connected to the ball joint head; the detection part is connected to the fixed seat, and the detection mechanism is connected to the stabilizing mechanism through the ball joint head and the ball joint seat; the detection part is provided on the side of the fixed seat away from the ball joint head, to realize detection of the internal situation of the mine; the lifting assembly is connected to the detection part to drive the detection part to move up and down in the direction close to or away from the fixed seat.

[0027] The detection device used in coal mine mining provided by the above-mentioned embodiment of the present invention, through the articulation of the ball joint seat and the ball joint head in the stable structure, enables the detection mechanism suspended in the mine to always tend to the center of gravity under the action of gravity, and the shaking caused by the sling will not be fully fed back to the detection mechanism, thereby greatly improving the stability of the detection mechanism; at the same time, the detection head in the detection mechanism for realizing internal detection of the mine can be raised and lowered under the action of the lifting assembly, and can be adjusted when the height of the detection head needs to be adjusted without relying entirely on the lifting mechanism. Compared with the lifting mechanism, the method of adjusting the height of the detection head by the lifting assembly can effectively reduce the amplitude of the shaking of the detection mechanism and the probability of shaking, which is beneficial to improving the stability of the detection mechanism.

[0028] The present invention is described below by means of several specific embodiments. To keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of known functions and components may be omitted. When any component of an embodiment of the present invention appears in more than one drawing, the component may be represented by the same reference numeral in each drawing.

[0029] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, an embodiment of the present invention provides a detection device for coal mining, comprising a lifting mechanism 1, a stabilizing mechanism 2, and a detection mechanism 3. The lifting mechanism 1 can be installed at the entrance of a mine and includes at least a sling 11. The sling 11 is used to suspend the detection mechanism 3 and the stabilizing mechanism 2 in the mine, and the sling 11 is wound to achieve the lifting and lowering of the detection mechanism 3 and the stabilizing mechanism 2. The sling 11 can be wound by a winch, a winder, a crane, etc., and the present invention does not specifically limit this.

[0030] The stabilizing mechanism 2 is connected to one end of the sling 11 suspended in the mine. The stabilizing mechanism 2 includes a stabilizing seat 23, a ball joint seat 24, and a ball joint head 25. The stabilizing seat 23 is connected to the end of the sling 11. The ball joint seat 24 is fixed to the side of the stabilizing seat 23 facing away from the sling 11. The ball joint head 25 is disposed inside the ball joint seat 24. The ball joint head 25 and the ball joint seat 24 are connected by a ball joint. For example, the stabilizing seat 23 can be a cylindrical plate. The ball joint seat 24 has a spherical surface inside. The ball joint head 25 is a bowl-shaped portion of the sphere. The ball joint head 25 fits the spherical surface inside the ball joint seat 24, and the sphere center coincides. The ball joint seat 24 is fixed to the center of the bottom surface of the stabilizing seat 23. The bowl-shaped ball joint head 25 can reduce the overall weight of the ball joint head 25, which is conducive to improving the load-bearing capacity of the ball joint seat 24.

[0031] Detection mechanism 3, used for detecting the interior of the mine, comprises a fixed base 31, a detector unit 32, and a lifting assembly 33. Fixed base 31 is connected to ball joint 25; detector unit 32 is attached to fixed base 31, with its components arranged symmetrically around the center of fixed base 31. Lifting assembly 33 drives detector unit 32 to move toward or away from fixed base 31.

[0032] Specifically, the fixing seat 31 can be a cylindrical plate, and the fixing seat 31 and the ball joint head 25 can be connected by a round rod. One end of the round rod is fixed at the center of the ball joint head 25, and the other end is fixed at the center of the fixing seat 31. The detection part 32 is arranged on the side of the fixing seat 31 away from the ball joint head 25. The detection part 32 can take pictures or explore the situation inside the mine; the lifting component 33 can drive the detection part 32 to move up and down.

[0033] Among them, the detection mechanism 3 is connected to the bottom of the stabilizing seat 23 through the ball joint seat 24 and the ball joint head 25. When the sling 11 is lifted or lowered or shaken by other factors, the stabilizing seat 23 will be driven to shake, because the ball joint head 25 can rotate at any angle in the ball joint seat 24; at the same time, the center of gravity of the stabilizing seat 23, the center of gravity of the fixed seat 31, and the center of the ball of the ball joint seat 24 and the ball joint head 25 are all on the same straight line, and remain coincident with the center of gravity of the detection mechanism 3; therefore, under the action of gravity, the detection mechanism 3 can always remain stable towards its own center of gravity, that is, the ball joint seat 24 and the ball joint head 25 can prevent all the shaking generated by the sling 11 from being fed back to the fixed seat 31, thereby ensuring the stability of the detection mechanism 3 as much as possible.

[0034] Furthermore, during the detection process, the detection mechanism 3 may need to be detected at different heights by winding up the sling 11. When the sling 11 is raised or lowered, the detection mechanism 3 may cause angular fluctuations. However, by using the lifting mechanism 1 to raise and lower the detection portion 32 within a certain height range, the detection mechanism 3 can be effectively prevented from experiencing significant fluctuations, thereby improving the stability of the detection mechanism 3.

[0035] In one embodiment of the present invention, referring to Figure 3 、 Figure 5 and Figure 6 As shown, the lifting assembly 33 includes a threaded rod 331, a bearing seat 332, a sliding seat 333, and a lifting drive unit 334. The threaded rod 331 is rotatably connected to the bottom surface of the fixed seat 31, and the axis of the threaded rod 331 coincides with the center of the fixed seat 31; the bearing seat 332 is sleeved on the threaded rod 331 and is threadedly connected to the threaded rod 331; the sliding seat 333 is movably sleeved on the threaded rod 331 and is rotatably connected to the bearing seat 332. The sliding seat 333 has two mounting surfaces symmetrically along the center of the threaded rod 331, and the detection unit 32 is arranged on the two mounting surfaces; the lifting drive unit 334 is provided on the fixed seat 31 and can provide power for the detection unit 32 to slide up and down along the threaded rod 331.

[0036] Specifically, when the threaded rod 331 rotates, it can drive the supporting seat 332 and the sliding seat 333 to slide up and down along the threaded rod 331, thereby driving the detection part 32 set on the mounting surface to slide up and down, and the supporting seat 332 is rotatably connected to the sliding seat 333, so that the sliding seat 333 will not rotate around the threaded rod 331, so that the detection part 32 can perform detection at different heights.

[0037] Furthermore, the lifting drive unit 334 includes a first motor 3341, a driving gear 3342, and a driven gear 3343. The first motor 3341 is mounted on the fixed base 31. The output shaft of the first motor 3341 extends through the fixed base 31, with its end located below the fixed base 31. Two first motors 3341 are symmetrically arranged around the center of the threaded rod 331. The driving gear 3342 is connected to the output shafts of the two first motors 3341. The driven gear 3343 is sleeved on the threaded rod 331, and the driving gear 3342 and the driven gear 3343 mesh with each other. When the first motor 3341 is in operation, it drives the driving gear 3342 to rotate, which in turn drives the driven gear 3343 to rotate. Furthermore, the driven gear 3343 drives the threaded rod 331 to rotate.

[0038] In one embodiment of the present invention, reference Figure 3 、 Figure 5 、 Figure 6As shown, the detection parts 32 on the two mounting surfaces are symmetrically arranged around the center of the threaded rod 331. The detection part 32 on either side includes a mounting seat 321, a detection probe 322, a circumferential rotation assembly 323, a vertical rotation assembly 324, and a rotation drive unit 325. The mounting seat 321 is connected to the bearing seat 332 via a connecting rod 34; the detection probe 322 is rotatably mounted on the mounting seat 321 via a rotation shaft 326, the axis of which is perpendicular to the axis of the threaded rod 331; the circumferential rotation assembly 323 can drive the mounting seat 321 and the detection probe 322 to rotate around the axis of the threaded rod 331 via the connecting rod 34; the vertical rotation assembly 324 can drive the detection probe 322 to rotate around the rotation shaft 326; and the rotation drive unit 325 is used to provide driving force for the circumferential rotation assembly 323 and the vertical rotation assembly 324.

[0039] Specifically, when the circumferential rotation assembly 323 drives the detection probe 322 and the mounting base 321 to rotate about the axis of the threaded rod 331, the detection probe 322 can detect in different directions in the circumferential direction. When the vertical rotation assembly 324 drives the detection probe 322 to rotate about the rotation axis 326, the detection probe 322 can detect at different angles in the vertical direction. The combination of the circumferential rotation assembly 323 and the vertical rotation assembly 324 enables the detection head to detect in all directions inside the mine.

[0040] It should be noted that the detection parts 32 are symmetrically arranged on the two mounting surfaces of the sliding seat 333, and the two first motors 3341 are also symmetrically arranged along the center of the fixed seat 31, so that the internal components of the detection mechanism 3 are symmetrically arranged along the axis of the threaded rod 331, so that the center of gravity of the detection mechanism 3 is on the same straight line as the axis of the threaded rod 331, which is more conducive to improving the stability of the detection mechanism 3.

[0041] Reference Figure 5 、 Figure 6 、 Figure 7 As shown, the circumferentially rotating assembly 323 includes a ring gear 3231 and a first bevel gear 3232. The ring gear 3231 is fixedly connected to the bearing seat 332, with its axis coinciding with the axis of the threaded rod 331. The first bevel gear 3232 is rotatably mounted on the connecting rod 34 and meshes with the ring gear 3231. Because the axis of the ring gear 3231 coincides with the axis of the threaded rod 331, rotation of the first bevel gear 3232 drives the first bevel gear 3232 and the connecting rod 34 to rotate about the axis of the threaded rod 331, thereby driving the mounting seat 321 and the detection probe 322 to rotate circumferentially about the axis of the threaded rod 331.

[0042] Specifically, the first bevel gear 3232 is rotatably connected to the connecting rod 34. When the first bevel gear 3232 rotates and drives the connecting rod 34 to rotate about the axis of the threaded rod 331, the rotation of the first bevel gear 3232 about its own axis does not cause the connecting rod 34 to rotate on its own axis, but only causes the connecting rod 34 to rotate about the axis of the threaded rod 331. In addition, the connecting rod 34 is connected to the bearing seat 332. The bearing seat 332 is provided with an annular groove. The annular groove coincides with the path of the connecting rod 34 rotating about the axis of the threaded rod 331. One end of the connecting rod 34 slides in the annular groove. The annular groove not only limits the sliding direction of the connecting rod 34, but also limits the vertical position of the connecting rod 34 and the bearing seat 332, thereby preventing the connecting rod 34 from falling off the bearing seat 332. For example, the annular groove has a T-shaped cross-section, and a slider is fixed to the end of the connecting rod 34, which slides in the annular groove.

[0043] Reference Figure 6 、 Figure 7 As shown, the vertical rotation assembly 324 includes a second bevel gear 3241, a worm gear assembly, and a belt 3245. The second bevel gear 3241 is rotationally connected to the sliding seat 333; the worm gear assembly includes a worm wheel 3242, a worm 3243, and a connecting shaft 3244. The worm wheel 3242 is sleeved on the connecting shaft 3244 and is rotationally connected to the sliding seat 333 via the connecting shaft 3244. The worm 3243 is fixedly connected to the second bevel gear 3241 and meshes with the worm wheel 3242. The axis of the connecting shaft 3244 is parallel to the axis of the rotating shaft 326. The rotating connecting shaft between the detection probe 322 and the mounting seat 321 is connected to the connecting shaft 3244 via a belt 3245.

[0044] It will be appreciated that the second bevel gear 3241 is rotatably connected to the sliding seat 333 via an ear plate, and the connecting shaft 3244 is rotatably connected to the ear plate fixed to the sliding seat 333. The axis of the second bevel gear 3241 is parallel to the axis of the threaded rod 331, the axis of the worm 3243 coincides with the axis of the second bevel gear 3241, and the axis of the connecting shaft 3244 coincides with the axis of the worm wheel 3242. When the second bevel gear 3241 rotates, the worm gear assembly drives the connecting shaft 3244 to rotate, thereby driving the detection probe 322 to rotate about the rotation axis 326 via the belt 3245.

[0045] In one embodiment of the present invention, referring to Figure 7 、 Figure 8 and Figure 9As shown, the rotation drive unit 325 is used to provide driving force for the circumferential rotation assembly 323 and the vertical rotation assembly 324. The rotation drive unit 325 includes a second motor 3251, a rotating seat 3252, a first wheel seat 3253, and a second wheel seat 3254. The second motor 3251 is fixedly connected to the mounting surface of the sliding seat 333; the rotating seat 3252 is sleeved on the output shaft of the second motor 3251; the first wheel seat 3253 is sleeved on the output shaft of the second motor 3251 and is located on one side of the rotating seat 3252. The first wheel seat 3253 is provided with bevel teeth that mesh with the first bevel gear 3232; the second wheel seat 3254 is sleeved on the output shaft of the second motor 3251 and is located on the other side of the rotating seat 3252. The second wheel seat 3254 is provided with bevel teeth that mesh with the second bevel gear 3241. When the output shaft of the second motor 3251 rotates, it can drive the first wheel base 3253 and / or the second wheel base 3254 to rotate.

[0046] Specifically, the first wheel seat 3253 and the second wheel seat 3254 are respectively arranged on both sides of the rotating seat 3252. If the rotating seat 3252 is fixedly connected to the output shaft of the second motor 3251, and the first wheel seat 3253 and the second wheel seat 3254 are both fixedly connected to the rotating seat 3252, when the second motor 3251 is working, it can drive the first wheel seat 3253 and / or the second wheel seat 3254 to rotate, thereby driving the first bevel gear 3232 and the second bevel gear 3241 to rotate, and then driving the detection probe 322 to rotate circumferentially and vertically.

[0047] In the above embodiment, when the second motor 3251 rotates, it will drive the first wheel seat 3253 and the second wheel seat 3254 to rotate at the same time, and then drive the first bevel gear 3232 and the second bevel gear 3241 to rotate at the same time, which will cause the detection probe 322 to rotate circumferentially and vertically at the same time, making it inconvenient to control the detection probe 322 to detect the specified angle.

[0048] To this end, an embodiment of the present invention provides an improved approach.

[0049] Reference Figure 7 、 Figure 8 and Figure 9As shown, the first wheel seat 3253 and the second wheel seat 3254 are annular and are both rotatably connected to the rotating seat 3252. The rotating drive unit 325 also includes a sliding sleeve 3255, a first driving gear 3256, a second driving gear 3258, and an electric push rod 3250. Among them, the sliding sleeve 3255 is mounted on the output shaft of the second motor 3251 and can rotate together with the output shaft of the second motor 3251; the first driving gear 3256 is fixedly mounted on the sliding sleeve 3255, and the inner ring of the first wheel seat 3253 is processed with a first internal driving tooth 3257. The first driving gear 3256 can be embedded in the inner ring of the first wheel seat 3253 and mesh with the first internal driving tooth 3257; the second driving gear 3258 is fixedly mounted on the sliding sleeve 3255. The inner ring of the second wheel seat 3254 is processed with a second inner driving tooth 3259, and the second driving gear 3258 can be embedded in the inner ring of the second wheel seat 3254 and engage with the second inner driving tooth 3259; the electric push rod 3250 is fixed on the sliding seat 333, and the telescopic end of the electric push rod 3250 is connected to the sliding sleeve 3255; and when the first driving gear 3256 is embedded in the inner ring of the first wheel seat 3253, the second driving gear 3258 is located outside the inner ring of the second wheel seat 3254.

[0050] For example, a sliding groove is provided inside the sliding sleeve 3255, and a limit block is provided on the output shaft of the second motor 3251. The limit block slides in the sliding groove. The length directions of the sliding groove and the limit block are consistent with the length direction of the output shaft of the second motor 3251, so that the sliding sleeve 3255 can slide along the output shaft of the second motor 3251, and when the output shaft of the second motor 3251 rotates, it can drive the sliding sleeve 3255 to rotate together.

[0051] At the same time, the first wheel seat 3253 and the second wheel seat 3254 are both annular and rotatably connected to the rotating seat 3252. The rotating seat 3252 is sleeved on the sliding sleeve 3255 and fixedly connected to the sliding sleeve 3255. When the output shaft of the second motor 3251 rotates, it will drive the rotating seat 3252 to rotate, but the first wheel seat 3253 and the second wheel seat 3254 will not rotate.

[0052] Furthermore, the first driving gear 3256 is fixedly mounted on the sliding sleeve 3255, and a first internal driving tooth 3257 is processed on the inner ring of the first wheel seat 3253. When the sliding sleeve 3255 slides, it can drive the first driving gear 3256 to embed into the inner ring of the first wheel seat 3253, and make the first driving gear 3256 mesh with the first internal driving tooth 3257. When the output shaft of the second motor 3251 drives the sliding sleeve 3255 to rotate, the first driving gear 3256 can drive the first wheel seat 3253 to rotate, and then drive the first bevel gear 3232 to rotate, thereby realizing the circumferential rotation of the detection probe 322 around the threaded rod 331 ; At the same time, the second driving gear 3258 is fixedly sleeved on the sleeve, and a second internal driving tooth 3259 is processed on the inner ring of the second wheel seat 3254. When the sleeve 3255 slides, it can drive the second driving gear 3258 to embed into the inner ring of the second wheel seat 3254, and make the second driving gear 3258 engage with the second internal driving tooth 3259. When the output shaft of the second motor 3251 drives the sleeve 3255 to rotate, the second driving gear 3258 can drive the second wheel seat 3254 to rotate, and then drive the second bevel gear 3241 to rotate, so that the detection probe 322 can be rotated around the rotating shaft 326 through the worm gear group.

[0053] Furthermore, the electric push rod 3250 is fixedly connected to the sliding seat 333, and the sliding sleeve 3255 is rotatably connected to the ear plate. The telescopic end of the electric push rod 3250 is fixedly connected to the ear plate, and the electric push rod 3250 can drive the sliding sleeve 3255 to slide along the length direction of the output shaft of the second motor 3251.

[0054] Furthermore, when the first drive gear 3256 is embedded in the inner ring of the first wheel seat 3253, the second drive gear 3258 is located outside the inner ring of the second wheel seat 3254. This means that the first wheel seat 3253 and the second wheel seat 3254 do not rotate simultaneously, and thus the detection probe 322 does not simultaneously rotate circumferentially and vertically. During detection, the electric push rod 3250 can be controlled to slide the sleeve 3255 as needed, thereby controlling the detection probe 322 to rotate circumferentially or vertically.

[0055] Furthermore, the teeth of the first drive gear 3256 are rounded on the side closest to the first internal drive teeth 3257, and the teeth of the first internal drive teeth 3257 are rounded on the side closest to the first drive gear 3256. The rounded corners of the teeth of the first drive gear 3256 are arranged opposite the rounded corners of the teeth of the first internal drive teeth 3257. Similarly, the teeth of the second drive gear 3258 are rounded on the side closest to the second internal drive teeth 3259. The teeth of the second internal drive teeth 3259 are rounded on the side closest to the second drive gear 3258. The rounded corners of the teeth of the second drive gear 3258 are arranged opposite the rounded corners of the teeth of the second internal drive teeth 3259. The rounded corners facilitate the insertion of the first drive gear 3256 into the inner ring of the first wheel seat 3253, and the insertion of the second drive gear 3258 into the inner ring of the second wheel seat 3254.

[0056] In the above embodiment, since the detection mechanism 3 and the stabilization mechanism 2 are connected via the ball joint seat 24 and the ball joint head 25 , the ball joint seat 24 is likely to be loaded with a heavy load.

[0057] To this end, an embodiment of the present invention provides an improved approach.

[0058] Reference Figure 4 As shown, two sets of ball joint heads 25 and two sets of ball joint seats 24 are provided, and the ball centers of the two sets of ball joint heads 25 coincide with each other.

[0059] By providing two sets of ball joints 25 connected to the ball joint seat 24 between the detection mechanism 3 and the stabilization mechanism 2, the load-bearing capacity of the ball joint seat 24 can be improved. In addition, the sphere centers of the two sets of ball joints 25 coincide, so that the two sets of ball joint seats 24 and the ball joint heads 25 do not interfere with each other when they rotate, ensuring the stabilization of the ball joint seat 24 and the ball joint heads 25.

[0060] In the above embodiment, when the sling 11 sways greatly, the ball joint seat 24 and the ball joint head 25 are unable to effectively offset the swaying.

[0061] To this end, an embodiment of the present invention provides an improved approach.

[0062] Reference Figure 2 As shown, the stabilizing mechanism 2 further includes a connecting seat 21 and a damping rod 22. The connecting seat 21 is fixedly connected to one end of the sling 11 suspended in the mine; the two ends of the damping rod 22 are rotatably connected to the connecting seat 21 and the stabilizing seat 23 respectively, and three damping rods 22 are symmetrically arranged around the center of the stabilizing seat 23.

[0063] Specifically, when the sling 11 sways significantly, the damping rod 22 can effectively prevent the significant swaying of the sling 11 from being transmitted to the detection mechanism 3 , which is beneficial to improving the stability of the detection mechanism 3 .

[0064] In the above embodiment, when detection work is performed in a mine, muddy water in the mine may splash onto the detection mechanism 3 , causing unclear detection images or interfering with the normal operation of the detection mechanism 3 .

[0065] To this end, an embodiment of the present invention provides an improved approach.

[0066] Reference Figure 2 、 Figure 3 As shown, the detection device used in coal mining also includes a transparent cover 4 and a cleaning mechanism. The transparent cover 4 is connected to the side of the fixing base 31 away from the stabilizing mechanism 2. The cleaning mechanism 5 includes a cleaning brush 51 and a sliding portion 52. The cleaning brush 51 is encircled by the outside of the transparent cover 4, and the sliding portion 52 can drive the cleaning brush 51 to slide up and down.

[0067] Specifically, the transparent cover 4 can cover the detection part 32 inside to prevent muddy water from splashing onto the detection part 32 , and the cleaning brush 51 can clean the muddy water splashed onto the transparent cover 4 when sliding up and down to ensure the clarity of the detection image of the detection part 32 .

[0068] In an exemplary embodiment of the present invention, the detection device used in coal mine mining may also include a control component 6, which can be set outside the mine. The control component 6 is electrically connected to the first motor 3341, the second motor 3251, and the electric push rod 3250. The control component 6 is used to control the opening and closing of the first motor 3341 and the second motor 3251 and the extension and retraction state of the electric push rod 3250, thereby adjusting the detection probe 322 to rotate to different angles for detection.

[0069] The above inventions are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A detection device for coal mining, characterized in that: include: A lifting mechanism (1) comprises at least a sling (11), one end of the sling (11) being suspended in a mine; A stabilizing mechanism (2) is connected to one end of the sling (11) suspended in the mine, the stabilizing mechanism (2) comprising a stabilizing seat (23), a ball joint seat (24) and a ball joint head (25), the stabilizing seat (23) being connected to the end of the sling (11), the ball joint seat (24) being arranged on a side of the stabilizing seat (23) facing away from the sling (11), the ball joint seat (24) and the ball joint head (25) being connected by a ball joint; A detection mechanism (3) is provided below the stabilizing mechanism (2) and is used to detect the interior of the mine. The detection mechanism (3) comprises: a fixing seat (31) connected to the ball joint head (25); A detection part (32) is provided on a side of the fixing seat (31) away from the ball joint (25) and is used to detect the internal conditions of the mine; a lifting assembly (33) is connected to the detection part (32) and is used to drive the detection part (32) to move up and down in a direction close to or away from the fixing seat (31).

2. The detection device for coal mining according to claim 1, characterized in that: The lifting assembly (33) comprises: A threaded rod (331) is rotatably connected to the fixing seat (31); The bearing seat (332) is sleeved on the threaded rod (331) and is threadedly connected to the threaded rod (331). a sliding seat (333) movably sleeved on the threaded rod (331) and rotatably connected to the bearing seat (332); the sliding seat (333) has two mounting surfaces symmetrical along the center of the threaded rod (331); the detection portion (32) is provided on both mounting surfaces; The lifting drive unit (334) is provided on the fixing seat (31) and is used to provide power for the detection unit (32) to slide up and down along the threaded rod (331).

3. The detection device for coal mining according to claim 2, characterized in that: The lifting drive unit (334) includes: a first motor (3341) disposed on the fixing seat (31); an output shaft of the first motor (3341) passes through the fixing seat (31) and an end portion is located below the fixing seat (31); two first motors (3341) are symmetrically disposed around the center of the threaded rod (331); A driving gear (3342), the output shafts of the two first motors (3341) are both connected to the driving gear (3342); The driven gear (3343) is fixedly sleeved on the threaded rod (331), and the driving gear (3342) is meshed with the driven gear (3343).

4. The detection device for coal mining according to claim 2, characterized in that: The detection parts (32) on the two mounting surfaces are symmetrically arranged around the center of the threaded rod (331), and the detection part (32) on either side includes: A mounting seat (321) is connected to the bearing seat (332) via a connecting rod (34); A detection probe (322) is rotatably mounted on the mounting seat (321) via a rotating shaft (326), wherein the axis of the rotating shaft (326) is perpendicular to the axis of the threaded rod (331); A circumferential rotation assembly (323) capable of driving the mounting seat (321) and the detection probe (322) to rotate around the axis of the threaded rod (331) via the connecting rod (34); A vertical rotation assembly (324) capable of driving the detection probe (322) to rotate around the rotation axis (326); The rotation driving portion (325) is used to provide driving force for the circumferential rotation component (323) and the vertical rotation component (324).

5. The detection device for coal mining according to claim 4, characterized in that: The circumferential rotation component (323) comprises: A gear ring (3231) is fixedly connected to the bearing seat (332), and the axis of the gear ring (3231) coincides with the axis of the threaded rod (331); The first bevel gear (3232) is rotatably mounted on the connecting rod (34), and the first bevel gear (3232) is meshed with the ring gear (3231).

6. The detection device for coal mining according to claim 4, characterized in that: The vertical rotation assembly (324) includes: A second bevel gear (3241) is rotationally connected to the sliding seat (333); A worm gear assembly, comprising a worm wheel (3242), a worm (3243), and a connecting shaft (3244), wherein the worm wheel (3242) is sleeved on the connecting shaft (3244), the worm wheel (3242) is rotationally connected to the sliding seat (333) via the connecting shaft (3244), the worm (3243) is fixedly connected to the second bevel gear (3241) and meshes with the worm wheel (3242), and the axis of the connecting shaft (3244) is parallel to the axis of the rotating shaft (326); A belt (3245) is provided, wherein the rotating shaft (326) is connected to the connecting shaft (3244) via the belt (3245).

7. The detection device for coal mining according to any one of claims 5 or 6, characterized in that: The rotation driving unit (325) includes: A second motor (3251) is fixedly connected to the mounting surface of the sliding seat (333); A rotating seat (3252) is sleeved on the output shaft of the second motor (3251); a first wheel seat (3253) sleeved on the output shaft of the second motor (3251) and located on one side of the rotating seat (3252); the first wheel seat (3253) is provided with bevel teeth meshing with the first bevel gear (3232); a second wheel seat (3254) sleeved on the output shaft of the second motor (3251) and located on the other side of the rotating seat (3252); the second wheel seat (3254) is provided with bevel teeth meshing with the second bevel gear (3241); When the output shaft of the second motor (3251) rotates, it can drive the first wheel seat (3253) and / or the second wheel seat (3254) to rotate.

8. The detection device for coal mining according to claim 7, characterized in that: The first wheel seat (3253) and the second wheel seat (3254) are annular and are both rotatably connected to the rotating seat (3252). The rotating drive unit (325) further includes: A sliding sleeve (3255) is provided on the output shaft of the second motor (3251) and is capable of rotating together with the output shaft of the second motor (3251); A first driving gear (3256) is fixedly mounted on the sliding sleeve (3255); the inner ring of the first wheel seat (3253) is processed with a first internal driving tooth (3257); the first driving gear (3256) can be embedded in the inner ring of the first wheel seat (3253) and meshed with the first internal driving tooth (3257); A second driving gear (3258) is fixedly mounted on the sliding sleeve (3255); the inner ring of the second wheel seat (3254) is processed with a second inner driving tooth (3259); the second driving gear (3258) can be embedded in the inner ring of the second wheel seat (3254) and meshed with the second inner driving tooth (3259); An electric push rod (3250) is fixed on the sliding seat (333), and the telescopic end of the electric push rod (3250) is connected to the sliding sleeve (3255); Wherein, when the first driving gear (3256) is embedded in the inner ring of the first wheel seat (3253), the second driving gear (3258) is located outside the inner ring of the second wheel seat (3254).

9. The detection device for coal mining according to claim 1, characterized in that: The spherical joint heads (25) and the spherical joint seats (24) are each provided in two groups, and the spherical centers of the two groups of spherical joint heads (25) coincide with each other.

10. The detection device for coal mining according to claim 1, characterized in that: Also includes: A transparent cover (4) connected to the side of the fixing base (31) away from the stabilizing mechanism (2); The cleaning mechanism (5) comprises a cleaning brush (51) and a sliding portion (52), wherein the cleaning brush (51) is sleeved on the outside of the transparent cover (4), and the sliding portion (52) can drive the cleaning brush (51) to slide up and down.

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