Coal mine rock burst monitoring and early warning equipment

Abstract

The invention relates to the technical field of coal mine rock burst monitoring, in particular to coal mine rock burst monitoring and early warning equipment which comprises a main cable and further comprises a closed structure connected with the main cable, the closed structure comprises an expansion plugging mechanism, the expansion plugging mechanism is connected with a nailing mechanism, and the expansion plugging mechanism is connected with an anti-impact hydraulic mechanism; the hole entering and discharging structure is connected with the main cable and comprises a traction robot, the traction robot is connected with a sleeve frame, the sleeve frame is connected with a plurality of sets of rectangular sleeves, the rectangular sleeves are connected with a set of connecting sleeves through first active telescopic rods, supports are connected into the connecting sleeves through sleeve bodies, and the supports are fixedly connected with pressure sensors. Through cooperation of the sealing structure and the in-hole discharging structure, the device is suitable for drilling holes in different extending directions, fixed-point data collection at different positions in a coal mine is facilitated, the safety and durability of the coal mine are improved, and early warning operation on follow-up rock burst is facilitated.

Description

Technical Field

[0001] This invention relates to the field of coal mine rockburst monitoring technology, specifically a coal mine rockburst monitoring and early warning device. Background Technology

[0002] Rockburst is a dynamic phenomenon characterized by sudden, rapid, and violent destruction caused by the instantaneous release of elastic deformation energy in the coal and rock mass surrounding a mining area when its mechanical equilibrium is disrupted. Rockburst is a special type of mine pressure manifestation. Its intensity characteristics generally include weak impact, strong impact, ejection, mine tremors, rock bursts, coal blasts, shock waves, and elastic vibrations, often accompanied by coal and rock mass ejections, loud noises, and blast waves. It occurs suddenly and violently, with enormous shock waves that can instantly destroy roadways, coal faces, and equipment, injuring personnel. Therefore, monitoring and early warning of rockbursts are crucial.

[0003] Conventional coal mine rockburst monitoring and early warning equipment involves lowering a rope to the bottom of the borehole to monitor and collect data. This method is unsuitable for boreholes extending in different directions and cannot monitor multiple locations within the same borehole. Furthermore, as the coal seam fractures, the gas stored within it leaks, spewing out along the borehole and endangering the safety of miners. The borehole may also collapse, damaging the conductor. Conventional coal mine rockburst monitoring and early warning equipment is often buried in the borehole, and the conductor breaks, causing monitoring failure and hindering subsequent rockburst detection. Summary of the Invention

[0004] The purpose of this invention is to provide a coal mine rockburst monitoring and early warning device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A coal mine rockburst monitoring and early warning device includes a main cable and also includes: An enclosed structure connected to a main cable, the enclosed structure including an expansion sealing mechanism slidably connected to the main cable, the expansion sealing mechanism being connected to a nailing mechanism, the expansion sealing mechanism being connected to an anti-impact hydraulic mechanism, the anti-impact hydraulic mechanism being in contact with the main cable; An access hole discharge structure connected to a main cable includes a traction robot fixedly connected to the main cable, a frame fixedly connected to the traction robot, and multiple sets of rectangular sleeves fixedly connected to the frame. Each set of rectangular sleeves contains two sets of first active telescopic rods, which are movably connected to a connecting sleeve. A first wireless charging component is fixedly installed inside the connecting sleeve. A second wireless charging component, compatible with the first wireless charging component, is fixedly installed inside the rectangular sleeve. Four symmetrically arranged sleeve bodies are fixedly connected to the connecting sleeves. Electromagnets are fixedly installed inside each sleeve body. First springs, which are ferromagnetic, are fixedly connected to two sets of first springs and slidably connected to a bracket. A pressure sensor is fixedly connected to the bracket. Each sleeve body is fixedly connected to an independent power supply and a wireless communication module.

[0006] As a further improvement of the present invention: the expansion sealing mechanism includes a sealing ring slidably installed outside the main cable, the sealing ring being fixedly connected to a bladder frame, a pressure probe being fixedly installed on the side of the bladder frame facing the traction robot, a gas probe being fixedly installed on the side of the bladder frame facing the traction robot, the bladder frame being connected to a nailing mechanism, an elastic bladder being fixedly connected to the bladder frame, the elastic bladder being connected to an anti-impact hydraulic mechanism, the anti-impact hydraulic mechanism being connected to the bladder frame, a threaded frame being fixedly connected to the elastic bladder, a screw being threadedly connected to the threaded frame, one end of the screw abutting against a pressure frame slidably connected to the bladder frame, the pressure frame abutting against the elastic bladder, and a handle being fixedly connected to the other end of the screw.

[0007] As a further improvement of the present invention: the nailing mechanism includes two sets of symmetrically arranged hole frames that are fixedly connected to the bladder frame, and the hole frames are movably connected with nails.

[0008] As a further improvement of the present invention: the anti-impact hydraulic mechanism includes a reservoir cylinder fixedly connected to the bladder frame, the reservoir cylinder having a cavity inside, the cavity being connected to an elastic bladder via a conduit, the conduit being fixedly connected to the reservoir cylinder and the elastic bladder, a hydraulic frame being slidably connected to the reservoir cylinder, a second spring being fixedly connected to the hydraulic frame, the second spring being fixedly connected to the inner wall of the reservoir cylinder, a funnel-shaped cover being fixedly connected to the hydraulic frame, the funnel-shaped cover being disposed between the bladder frame and the traction robot, and the funnel-shaped cover being slidably connected to the main cable.

[0009] As a further improvement of the present invention: the traction robot includes a frame fixedly connected to the sleeve, two sets of first dual-output shaft motors fixedly connected to the frame, a lead screw fixedly connected to the output end of the first dual-output shaft motor, a drive frame threadedly connected to the lead screw, two sets of guide frames slidably connected to the drive frame, the guide frames slidably connected to the frame, a rack fixedly connected to the drive frame, an incomplete gear ring meshing with the rack, a variable-angle track walking mechanism connected to the incomplete gear ring, and the variable-angle track walking mechanism connected to the frame.

[0010] As a further improvement of the present invention: the variable-angle track walking mechanism includes a frame fixedly connected to an incomplete gear ring, four sets of second active telescopic rods symmetrically hinged on the frame, a suspension frame hinged to the moving end of the second active telescopic rod, the suspension frame being hinged to the frame, multiple sets of support wheels rotatably connected to the suspension frame, gears rotatably connected to the suspension frame, and tracks being connected to the gears and support wheels together, multiple sets of toothed blocks adapted to the gears being installed on the inner side of the tracks, a telescopic universal joint coupling being fixedly connected to the gears on the same axis, and four sets of drive motors being fixedly installed on the frame, with the end of the telescopic universal joint coupling away from the gears being fixedly connected to the output shaft of the drive motor.

[0011] As a further improvement of the present invention: a camera is fixedly installed on the side of the frame away from the sleeve, and the camera is communicatively connected to the main cable.

[0012] Compared with the prior art, the beneficial effects of the present invention are: In use, the traction robot is placed into the borehole. The nailing mechanism restricts its movement by nailing into the borehole wall. Then, the expansion sealing mechanism expands and seals the borehole opening. The impact-resistant hydraulic mechanism is located in the borehole. If the borehole is horizontal, the traction robot moves within it, pulling the main cable and the sleeve. The sleeve moves the rectangular sleeve, which in turn moves the connecting sleeve via the first active telescopic rod. The connecting sleeve moves the support via the sleeve body, which in turn moves the pressure sensor. Then, the first active telescopic rod retracts, and the remote control center communicates via a wireless communication module. The electromagnet is de-energized, causing the first spring to extend. Under the push of the first spring against the bracket, the bracket causes the pressure sensor to contact the borehole wall. The information measured by the pressure sensor is transmitted to an external remote control center via a wireless communication module. At this point, the connecting sleeve slips off the rectangular sleeve to collect data at a fixed point in the borehole. Pressure sensors are then placed at different locations in the borehole to complete the fixed-point data collection operation at different locations. If the borehole is a horizontal structure, the sleeve is lowered into the borehole by releasing the main cable. The sleeve then moves the rectangular sleeve via the first active telescopic rod. The connecting sleeve moves, which in turn moves the support via the sleeve body. The support moves the pressure sensor, and then the first active telescopic rod retracts. Simultaneously, the remote control center de-energizes the electromagnet via the wireless communication module, causing the first spring to extend. Under the push of the first spring against the support, the support causes the pressure sensor to contact the borehole wall. The information measured by the pressure sensor is transmitted to the external remote control center via the wireless communication module. At this point, the connecting sleeve slips off the rectangular sleeve to collect data at a fixed point in the borehole. This allows for the placement of pressure sensors at different locations within the borehole, enabling the repositioning of the pressure sensor when needed. The electromagnet magnetically attracts the first spring, and the first active telescopic rod is inserted into the connecting sleeve, thereby moving the connecting sleeve. When the coal seam in the borehole collapses due to impact, the independent power supply and wireless communication module enable the remote control center to continuously acquire relevant data through wireless communication. The gas leaking from the borehole due to impact is blocked by the expansion sealing mechanism and cannot leak out of the borehole, thus preventing the borehole from becoming a gas leak point. The impact-resistant hydraulic mechanism blocks the particles mixed in the ejected gas flow, preventing the particles in the gas flow from impacting the expansion sealing mechanism and ensuring the sealing effect. This invention, through the combination of a closed structure and an inlet discharge structure, makes it applicable to boreholes with different extension directions. This facilitates fixed-point data collection at different locations in coal mines. Furthermore, in the event of a rockburst in a coal mine, it prevents gas from escaping through the borehole, improving mine safety. Simultaneously, because each pressure sensor is independently powered, even if the main cable breaks due to borehole collapse, the remote control center can still collect and analyze data via information transmitted through the wireless communication module. This enhances the durability of the invention and facilitates early warning operations for subsequent rockbursts. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0014] Figure 2 This is a three-dimensional structural schematic diagram from another perspective of the present invention.

[0015] Figure 3 For the present invention Figure 2 A magnified view of a portion of point A in the middle.

[0016] Figure 4 This is a three-dimensional structural diagram of the closed structure of the present invention.

[0017] Figure 5 This is a three-dimensional structural diagram of the closed structure of the present invention from another perspective.

[0018] Figure 6 This is a schematic diagram of the anti-impact hydraulic mechanism of the present invention.

[0019] Figure 7 This is a schematic diagram of the structure of the rectangular sleeve, the first active telescopic rod, the connecting sleeve, the first wireless charging component, the second wireless charging component, the sleeve body, the electromagnet, the first spring, the bracket, and the pressure sensor of the present invention working together.

[0020] Figure 8 This is a three-dimensional structural diagram of the variable-angle track walking mechanism of the present invention.

[0021] In the diagram: 1. Main cable; 2. Enclosed structure; 4. Expansion sealing mechanism; 5. Nail insertion mechanism; 6. Impact-resistant hydraulic mechanism; 7. Manhole discharge structure; 8. Traction robot; 9. Sleeve frame; 10. Rectangular sleeve; 11. First active telescopic rod; 12. Connecting sleeve; 13. First wireless charging component; 14. Second wireless charging component; 15. Sleeve body; 16. Electromagnet; 17. First spring; 18. Bracket; 19. Pressure sensor; 20. Independent power supply; 21. Wireless communication module; 22. Sealing ring; 23. Bag frame; 24. Air pressure probe; 25. Gas probe; 26. Elastic bag; 27. Threaded frame; 2 8. Screw; 29. ​​Pressure frame; 30. Handle; 31. Hole frame; 32. Nail; 33. Liquid reservoir; 34. Cavity; 35. Conduit; 36. Hydraulic frame; 37. Second spring; 38. Bucket-shaped cover; 39. Frame; 40. First double-output shaft motor; 41. Lead screw; 42. Drive frame; 43. Guide frame; 44. Rack; 45. Incomplete gear ring; 46. Variable angle track walking mechanism; 47. Chassis; 48. Second active telescopic rod; 49. Suspension frame; 50. Support wheel; 51. Gear; 52. Track; 53. Toothed block; 54. Telescopic universal joint coupling; 55. Drive motor; 56. Camera. Detailed Implementation

[0022] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0023] Example 1, see Figures 1 to 8 As shown, a coal mine rockburst monitoring and early warning device includes a main cable 1, which is used for information transmission and power supply, and is used to connect to an external remote control center. It also includes: A closed structure 2 connected to the main cable 1, the closed structure 2 including an expansion sealing mechanism 4 slidably connected to the main cable 1, the expansion sealing mechanism 4 being connected to a nailing mechanism 5, the expansion sealing mechanism 4 being connected to an anti-impact hydraulic mechanism 6, the anti-impact hydraulic mechanism 6 being in contact with the main cable 1; An access hole discharge structure 7 is connected to the main cable 1. The access hole discharge structure 7 includes a traction robot 8 fixedly connected to the main cable 1. The traction robot 8 is fixedly connected to a sleeve 9. The sleeve 9 is fixedly connected to the main cable 1. The sleeve 9 is fixedly connected to multiple sets of rectangular sleeves 10. Two sets of first active telescopic rods 11 are fixedly installed in each set of rectangular sleeves 10. The two sets of first active telescopic rods 11 are movably connected to a connecting sleeve 12. A first wireless charging component 13 is fixedly installed in the connecting sleeve 12. A second wireless charging component 14, which is compatible with the first wireless charging component 13, is fixedly installed in the rectangular sleeve 10. Four sets of sleeve bodies 15 are fixedly connected to the connecting sleeve 12. Electric components are fixedly installed in each sleeve body 15. A magnet 16 is fixedly connected to a first spring 17. The first spring 17 is ferromagnetic. The ferromagnetism of the first spring 17 can be formed by the ferromagnetic material of the first spring 17 or by installing a ferromagnetic material block at the end of the first spring 17. Two sets of first springs 17 are fixedly connected to a bracket 18 that is slidably connected to the electromagnet 16. A pressure sensor 19 is fixedly connected to the bracket 18. An independent power supply 20 is fixedly connected to the sleeve 15. A wireless communication module 21 is fixedly connected to the sleeve 15. The first wireless charging component 13 charges the independent power supply 20 through the second wireless charging component 14, so as to replenish the power supply 20 when the first active telescopic rod 11 extends into the connecting sleeve 12.

[0024] In use, the traction robot 8 is placed into the borehole. The nailing mechanism 5 restricts its movement by nailing into the borehole wall. Then, the expansion sealing mechanism 4 expands and seals the borehole opening. The impact-resistant hydraulic mechanism 6 is located in the borehole. If the borehole is a horizontal structure, the traction robot 8 moves in the borehole, pulling the main cable 1 and the sleeve 9. The sleeve 9 moves the rectangular sleeve 10. The rectangular sleeve 10 moves the connecting sleeve 12 through the first active telescopic rod 11. The connecting sleeve 12 moves the bracket 18 through the sleeve body 15. The bracket 18 moves the pressure sensor 19. Then, the first active telescopic rod 11 retracts. The remote control center communicates via a wireless communication module. 21 de-energizes the electromagnet 16, causing the first spring 17 to extend. Under the push of the first spring 17 on the bracket 18, the bracket 18 causes the pressure sensor 19 to abut against the borehole wall. The information measured by the pressure sensor 19 is transmitted to an external remote control center via the wireless communication module 21. At this time, the connecting sleeve 12 slips off the rectangular sleeve 10 to collect data at a fixed point in the borehole. Pressure sensors 19 are then placed at different locations in the borehole to complete the fixed-point data collection operation at different locations. If the borehole is a horizontal structure, the sleeve 9 is lowered into the borehole by releasing the main cable 1. Then, the sleeve 9 moves the rectangular sleeve 10, which moves via the first active extension / retraction mechanism. Rod 11 drives connecting sleeve 12 to move, connecting sleeve 12 drives bracket 18 to move via sleeve body 15, bracket 18 drives pressure sensor 19 to move, then the first active telescopic rod 11 retracts, and the remote control center de-energizes electromagnet 16 via wireless communication module 21, causing the first spring 17 to extend. Under the push of the first spring 17 on bracket 18, bracket 18 causes pressure sensor 19 to abut against the borehole wall. The information measured by pressure sensor 19 is transmitted to the external remote control center via wireless communication module 21. At this time, connecting sleeve 12 slips off rectangular sleeve 10 to collect data at a fixed point in the borehole, and pressure sensors 19 are then set at different positions in the borehole for use when needed. When the pressure sensor 19 needs to be moved again, the electromagnet 16 magnetically attracts the first spring 17, and the first active telescopic rod 11 is inserted into the connecting sleeve 12, thereby moving the connecting sleeve 12. When the coal seam in the borehole collapses due to impact, the independent power supply 20 and the wireless communication module 21 are provided so that the remote control center can continuously obtain relevant data through wireless communication. The gas leaking from the borehole due to impact is blocked by the expansion sealing mechanism 4 and cannot leak out of the borehole, thus preventing the borehole from becoming a gas leak point. The impact-resistant hydraulic mechanism 6 blocks the particles mixed in the ejected gas flow, preventing the particles in the gas flow from impacting the expansion sealing mechanism 4 and ensuring the sealing effect.This invention, through the cooperation of the closed structure 2 and the inlet discharge structure 7, makes it applicable to boreholes with different extension directions, facilitating fixed-point data collection at different locations in the coal mine. Furthermore, in the event of a rockburst in the coal mine, it prevents gas from escaping through the borehole, improving mine safety. Simultaneously, because each pressure sensor 19 is independently powered by an independent power supply 20, even if the main cable 1 breaks due to borehole collapse, the remote control center can still collect and analyze data via information transmitted through the wireless communication module 21. This enhances the durability of the invention and facilitates early warning operations for subsequent rockbursts.

[0025] In one embodiment, the expansion sealing mechanism 4 includes a sealing ring 22 slidably mounted outside the main cable 1. The sealing ring 22 is fixedly connected to a bladder frame 23. A pressure probe 24 is fixedly mounted on the side of the bladder frame 23 facing the traction robot 8, and a gas probe 25 is fixedly mounted on the side of the bladder frame 23 facing the traction robot 8. The bladder frame 23 is connected to the nailing mechanism 5. An elastic bladder 26 is fixedly connected to the bladder frame 23. The elastic bladder 26 is filled with a filling fluid. The elastic bladder 26 is connected to an anti-impact hydraulic mechanism 6. The anti-impact hydraulic mechanism 6 is connected to the bladder frame 23. A threaded frame 27 is fixedly connected to the elastic bladder 26. A screw 28 is threadedly connected to the threaded frame 27. One end of the screw 28 abuts against a pressure frame 29 slidably connected to the bladder frame 23. The pressure frame 29 abuts against the elastic bladder 26. A handle 30 is fixedly connected to the other end of the screw 28. Rotating the handle 30 causes the screw 28 to rotate. As the screw 28 squeezes the elastic bladder 26, the filling fluid inside the elastic bladder 26 is forced into the anti-impact hydraulic mechanism 6. At the same time, as the filling hydraulic pressure increases, the elastic bladder 26 flattens and seals the borehole. The gas probe 25 and the air pressure probe 24 are used to detect the gas concentration and air pressure change value in the borehole, respectively.

[0026] In one embodiment, the nailing mechanism 5 includes two sets of symmetrically arranged hole frames 31 fixedly connected to the bladder frame 23, and nails 32 are movably connected to the hole frames 31. By passing the nails 32 through the hole frames 31 and driving them into the borehole wall, the nailing mechanism 5 is connected to the borehole wall, thereby restricting the movement of the bladder frame 23.

[0027] In one embodiment, the anti-impact hydraulic mechanism 6 includes a reservoir 33 fixedly connected to the bladder frame 23. The reservoir 33 has a cavity 34 inside, which is connected to the elastic bladder 26 via a conduit 35. The conduit 35 is fixedly connected to the reservoir 33 and the elastic bladder 26. The reservoir 33 is slidably connected to a hydraulic frame 36, and the hydraulic frame 36 is fixedly connected to a second spring 37. The second spring 37 is fixedly connected to the inner wall of the reservoir 33. The hydraulic frame 36 is fixedly connected to a funnel-shaped cover 38, which is disposed between the bladder frame 23 and the traction robot 8. The funnel-shaped cover 38 is slidably connected to the main cable 1. As the filling fluid enters the reservoir 33 through the conduit 35, the filling fluid pushes the hydraulic frame 36, and the second spring 37 is compressed. At the same time, the hydraulic pressure of the filling fluid increases. If the funnel-shaped cover 38 is impacted by the gas flow and debris, the funnel-shaped cover 38 drives the hydraulic frame 36 to move, causing the hydraulic frame 36 to press the filling fluid, so that the filling fluid enters the elastic bladder 26, so that the elastic bladder 26 expands further, thereby further enhancing the sealing effect of the elastic bladder 26 on the borehole.

[0028] In one embodiment, the traction robot 8 includes a frame 39 fixedly connected to a sleeve 9. Two sets of first dual-output shaft motors 40 are fixedly connected to the frame 39. A lead screw 41 is fixedly connected to the output end of each first dual-output shaft motor 40. A drive frame 42 is threadedly connected to the lead screw 41. Two sets of guide frames 43 are slidably connected to the drive frame 42. The guide frames 43 are slidably connected to the frame 39. A rack 44 is fixedly connected to the drive frame 42. An incomplete gear ring 45 is meshed with the rack 44. A variable-angle track walking mechanism 46 is connected to the incomplete gear ring 45. The variable-angle track walking mechanism 46 is connected to the frame 39. The first dual-output shaft motor 40 drives the lead screw 41 to rotate, the lead screw 41 drives the drive frame 42 to move along the guide frame 43, the guide frame 43 drives the rack 44 to move, so that the rack 44 drives the incomplete gear ring 45 to rotate, thereby driving the variable angle track walking mechanism 46 to rotate, so that the variable angle track walking mechanism 46 can adjust its moving posture, so that the variable angle track walking mechanism 46 can tilt up and abut against the hole wall, so that the traction robot 8 can be adapted to different hole diameters.

[0029] In one embodiment, the variable-angle tracked walking mechanism 46 includes a frame 47 fixedly connected to an incomplete gear ring 45. Four sets of second active telescopic rods 48 are symmetrically hinged on the frame 47. The moving end of the second active telescopic rod 48 is hinged to a suspension frame 49. The suspension frame 49 is hinged to the frame 47. The suspension frame 49 is rotatably connected to multiple sets of support wheels 50. The suspension frame 49 is rotatably connected to a gear 51. The gear 51 and the support wheels 50 are connected together to a track 52. Multiple sets of toothed blocks 53 adapted to the gear 51 are installed on the inner side of the track 52. The gear 51 is coaxially fixedly connected to a telescopic universal joint coupling 54. Four sets of drive motors 55 are fixedly installed on the frame 47. The end of the telescopic universal joint coupling 54 away from the gear 51 is fixedly connected to the output shaft of the drive motor 55. The second active telescopic rod 48 drives the suspension frame 49 to rotate, causing the suspension frame 49 to drive the support wheel 50 and gear 51 to move synchronously, thereby adjusting the relative position of each track 52 so that the track 52 fits against the borehole wall. The drive motor 55 drives the gear 51 to rotate through the telescopic universal joint coupling 54. The rotating gear 51 drives the toothed block 53 to move, so that the toothed block 53 drives the track 52 to move in the borehole, and the variable angle track walking mechanism 46 moves in the borehole.

[0030] Example 2, based on Example 1, see [link / reference] Figure 1 and Figure 2 A camera 56 is fixedly mounted on the side of the frame 39 away from the sleeve 9, and the camera 56 is communicatively connected to the main cable 1. During the movement of the traction robot 8, the camera 56 performs video recording to allow personnel to obtain real-time information about the borehole.

[0031] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. A coal mine rockburst monitoring and early warning device, comprising a main cable, characterized in that, Also includes: An enclosed structure connected to a main cable, the enclosed structure including an expansion sealing mechanism slidably connected to the main cable, the expansion sealing mechanism being connected to a nailing mechanism, the expansion sealing mechanism being connected to an anti-impact hydraulic mechanism, the anti-impact hydraulic mechanism being in contact with the main cable; An access hole discharge structure connected to a main cable includes a traction robot fixedly connected to the main cable, a frame fixedly connected to the traction robot, and multiple sets of rectangular sleeves fixedly connected to the frame. Each set of rectangular sleeves contains two sets of first active telescopic rods, which are movably connected to a connecting sleeve. A first wireless charging component is fixedly installed inside the connecting sleeve. A second wireless charging component, compatible with the first wireless charging component, is fixedly installed inside the rectangular sleeve. Four symmetrically arranged sleeve bodies are fixedly connected to the connecting sleeves. Electromagnets are fixedly installed inside each sleeve body. First springs, which are ferromagnetic, are fixedly connected to two sets of first springs and slidably connected to a bracket. A pressure sensor is fixedly connected to the bracket. Each sleeve body is fixedly connected to an independent power supply and a wireless communication module.

2. The coal mine rockburst monitoring and early warning device according to claim 1, characterized in that, The expansion sealing mechanism includes a sealing ring slidably installed outside the main cable. The sealing ring is fixedly connected to a bladder frame. A pressure probe is fixedly installed on the side of the bladder frame facing the traction robot, and a gas probe is fixedly installed on the side of the bladder frame facing the traction robot. The bladder frame is connected to a nailing mechanism. An elastic bladder is fixedly connected to the bladder frame. The elastic bladder is connected to an anti-impact hydraulic mechanism, which is connected to the bladder frame. A threaded frame is fixedly connected to the elastic bladder. A screw is threadedly connected to the threaded frame. One end of the screw abuts against a pressure frame that is slidably connected to the bladder frame. The pressure frame abuts against the elastic bladder. A handle is fixedly connected to the other end of the screw.

3. The coal mine rockburst monitoring and early warning device according to claim 2, characterized in that, The nailing mechanism includes two sets of symmetrically arranged hole frames that are fixedly connected to the bladder frame, and nails are movably connected to the hole frames.

4. The coal mine rockburst monitoring and early warning device according to claim 2, characterized in that, The impact-resistant hydraulic mechanism includes a reservoir cylinder fixedly connected to the capsule frame. The reservoir cylinder has an internal cavity, which is connected to an elastic capsule via a conduit. The conduit is fixedly connected to the reservoir cylinder and the elastic capsule. A hydraulic frame is slidably connected to the reservoir cylinder. A second spring is fixedly connected to the hydraulic frame and to the inner wall of the reservoir cylinder. A funnel-shaped cover is fixedly connected to the hydraulic frame. The funnel-shaped cover is positioned between the capsule frame and the traction robot and is slidably connected to the main cable.

5. The coal mine rockburst monitoring and early warning device according to claim 1, characterized in that, The traction robot includes a frame fixedly connected to a sleeve, two sets of first dual-output shaft motors fixedly connected to the frame, a lead screw fixedly connected to the output end of the first dual-output shaft motor, a drive frame threadedly connected to the lead screw, two sets of guide frames slidably connected to the drive frame, the guide frames slidably connected to the frame, a rack fixedly connected to the drive frame, an incomplete gear ring meshing with the rack, a variable-angle track walking mechanism connected to the incomplete gear ring, and the variable-angle track walking mechanism connected to the frame.

6. The coal mine rockburst monitoring and early warning device according to claim 5, characterized in that, The variable-angle tracked walking mechanism includes a frame fixedly connected to an incomplete gear ring. Four sets of second active telescopic rods are symmetrically hinged on the frame. The moving end of each second active telescopic rod is hinged to a suspension frame. The suspension frame is hinged to the frame and rotatably connected to multiple sets of support wheels. The suspension frame is rotatably connected to gears. The gears and support wheels are connected to a track. Multiple sets of toothed blocks adapted to the gears are installed on the inner side of the track. The gears are coaxially fixedly connected to a telescopic universal joint coupling. Four sets of drive motors are fixedly installed on the frame. The end of the telescopic universal joint coupling away from the gear is fixedly connected to the output shaft of the drive motor.

7. A coal mine rockburst monitoring and early warning device according to claim 5, characterized in that, A camera is fixedly installed on the side of the rack away from the sleeve, and the camera is communicatively connected to the main cable.

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