Bionic fluke type monitoring robot for waste dump slope

Abstract

The invention discloses a biomimetic anchor fluke type monitoring robot for a waste dump slope, and relates to the technical field of slope monitoring, the biomimetic anchor fluke type monitoring robot comprises a slope detector, a main body unit is arranged on the bottom surface of the slope detector, and a fixing unit for anchoring equipment at multiple angles is arranged on the bottom surface of the main body unit; the main body unit comprises a solar panel fixedly mounted on the bottom surface of the gradient detector and a base arranged on the bottom surface of the solar panel and playing a connecting role; after the fixed block is pushed to a certain depth, the anchoring telescopic rod drives the movable connecting rod to contract, the movable connecting rod drives the sliding block connected with the movable connecting rod to move, the inclination angle of the movable connecting rod is driven to change along with sliding of the sliding block in the limiting sliding groove, and it is ensured that the anchoring telescopic rod can always control the motion state of the sliding block; after the anchoring telescopic rod is completely contracted, the five soil breaking cones are unfolded from the contracted state and are unfolded in the soil in a lotus shape, and the stability of the equipment is further enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of slope monitoring, in particular to a bionic anchor claw type monitoring robot for a dump slope. BACKGROUND

[0002] The dump is a site for concentrating waste slag (such as rock and soil stripped from a mine, construction waste) in mines, infrastructure and other engineering projects, and the slope is the inclined slope at the edge of the dump, which is an inclined interface formed by the accumulation of waste slag and is also the most prone to safety accidents in the dump. The slope has poor stability and is easily affected by factors such as rainfall, load changes, and earthquakes, and is prone to deformation. Once the slope slides or collapses, it will directly cause casualties and equipment damage, and may also block rivers and bury roads to cause secondary disasters. In order to ensure that abnormal signals such as slope displacement and settlement are captured in time, and to warn of abnormal risks of the slope in advance, displacement monitoring and seepage monitoring devices are usually installed to monitor the slope.

[0003] From the fixing method of the slope monitoring device, the fixing method of the traditional device usually needs manual excavation of the foundation, and the ground nails used for fixing are usually conical or spiral in structure, and the anchoring force mainly depends on the friction of the soil. In loose sand or high water content strata, it is easy to slip, which is not conducive to long-term stable monitoring operation of the monitoring device. Therefore, a multi-point fixing method is needed to improve the overall stability of the device, and the fixing procedure during installation of the device needs to be simplified. Through the cooperation of different fixing methods at different depths, the fixing efficiency of the device is improved, and the overall stability is improved. The existing anchoring method also needs to be improved to improve the anchoring force in soft ground. From this point of view, we provide a bionic anchor claw type monitoring robot for a dump slope to solve the above problems. SUMMARY

[0004] The purpose of the present application is to provide a bionic anchor claw type monitoring robot for a dump slope to solve the problems raised in the background art.

[0005] To solve the above technical problems, the technical solution adopted by the present application is:

[0006] A bionic anchor claw type monitoring robot for a dump slope, comprising a slope detector, the bottom surface of the slope detector is provided with a main unit, the bottom surface of the main unit is provided with a fixing unit for multi-angle anchoring of the device;

[0007] The main unit comprises a solar panel fixedly installed on the bottom surface of the slope detector, and a base provided on the bottom surface of the solar panel and serving as a connecting part;

[0008] The fixed unit comprises a main arm arranged on the side of the base, an adjusting arm movably connected inside the main arm for adjusting the fixed position, and a hydraulic telescopic rod movably connected on the side of the adjusting arm for anchoring.

[0009] Further improvement of the technical scheme of the present application is that a threaded rod is rotatably connected inside the main arm, a motor is fixedly connected inside the top surface of one end of the main arm, the threaded rod is fixedly connected to the output end of the motor, and a connecting buckle is fixedly connected to the top surface of one end of the main arm.

[0010] Further improvement of the technical scheme of the present application is that a threaded sleeve is fixedly connected to the top surface of one end of the adjusting arm, the threaded sleeve is threadedly connected to the outer surface of the threaded rod, and a telescopic rod one is movably connected to the top surface of one end of the adjusting arm.

[0011] Further improvement of the technical scheme of the present application is that a stop block is movably connected inside the bottom surface of the adjusting arm, a spring is arranged inside the adjusting arm, and the spring is fixedly connected to the top end of the side surface of the stop block.

[0012] Further improvement of the technical scheme of the present application is that one end of the telescopic rod one is movably connected to the top end of the side surface of the hydraulic telescopic rod, a fixed block is fixedly connected to the output end of the hydraulic telescopic rod, and an anchoring telescopic rod is fixedly connected inside the bottom surface of the fixed block.

[0013] Further improvement of the technical scheme of the present application is that five limiting sliding grooves are arranged inside the side surface of the fixed block, a sliding block is slidably connected inside the limiting sliding grooves, and a soil breaking cone is fixedly connected to the side surface of the sliding block.

[0014] Further improvement of the technical scheme of the present application is that a movable connecting rod is movably connected to one side of the output end of the anchoring telescopic rod, and the other end of the movable connecting rod is movably connected inside the side surface of the sliding block.

[0015] Further improvement of the technical scheme of the present application is that a solar panel is fixedly connected to the bottom surface of the slope detector, an integrated box is fixedly connected to the bottom surface of the solar panel, the integrated box is fixedly connected to the top surface of the base, and four fixed buckles are fixedly connected to the side surface of the base.

[0016] Further improvement of the technical scheme of the present application is that one end of the main arm is movably connected inside the fixed buckle, an extension arm is fixedly connected to the top surface of the fixed buckle, a telescopic rod two is movably connected to the side surface of the extension arm, and one end of the telescopic rod two is movably connected to the outer surface of the connecting buckle.

[0017] Due to the adoption of the above technical scheme, the present application has the following technical progress compared with the prior art.

[0018] 1. The application provides a bionic anchor claw type monitoring robot for the slope of a dump, by placing the device in the area to be detected, and adjusting the four fixing units to the appropriate angle by the main unit, so that it can be attached to the ground, then the motor drives the threaded rod to rotate, further by the cooperation of the threaded rod and the threaded sleeve, the adjusting arm is extended from the inside of the main arm, and after the adjusting arm is extended to a certain length, the motor drives the threaded rod to rotate in reverse to retract the adjusting arm, the spring thrust cooperates with the movement direction of the adjusting arm, and the four anti-skid blocks are clamped in the ground from different directions to ensure that the whole device remains stable in the working state.

[0019] 2. The application provides a bionic anchor claw type monitoring robot for the slope of a dump, by fixing the whole device after the anti-skid block, driving the hydraulic telescopic rod to move vertically to the ground, then the hydraulic telescopic rod drives the fixed block to insert into the softer area, so that the four fixed blocks can anchor the whole device in the current position to ensure the overall stability of the device.

[0020] After the fixed block is pushed to a certain depth, the anchoring telescopic rod drives the movable connecting rod to retract, the movable connecting rod drives the sliding block connected thereto to move, and the inclination of the movable connecting rod changes as the sliding block slides in the limiting sliding groove, ensuring that the anchoring telescopic rod can always control the movement state of the sliding block, when the anchoring telescopic rod is completely retracted, the five soil breaking cones are unfolded from the retracted state, and are unfolded in lotus shape in the soil, further enhancing the stability of the device.

[0021] 3. The application provides a bionic anchor claw type monitoring robot for the slope of a dump, by retracting the telescopic rod two, driving the main arm to adjust the pitch angle with the connection of the fixed buckle as the shaft, the pitch angle of the individual fixing unit can be controlled according to the actual land conditions, so as to improve the adaptability of the whole device.

[0022] When the device is fixed, the slope detector can detect the current slope state in real time, and cooperate with the necessary components in the integrated box to complete the monitoring operation of the device. DETAILED DESCRIPTION

[0023] Fig. 1 is a perspective structural schematic diagram of the application;

[0024] Fig. 2 is a structural schematic diagram of the fixing unit of the application;

[0025] Fig. 3 is a component structural schematic diagram of the fixing unit of the application;

[0026] Fig. 4 is a component assembly structural schematic diagram of the fixing unit of the application;

[0027] Fig. 5 This is a schematic diagram of the main unit of the present invention;

[0028] Fig. 6 This is a schematic diagram of the component structure of the main unit of the present invention;

[0029] In the diagram: 1. Slope detector; 2. Main unit; 21. Solar panel; 22. Integrated box; 23. Base; 24. Telescopic rod II; 25. Fixing buckle; 26. Extension arm; 3. Fixing unit; 31. Main arm; 32. Threaded rod; 33. Connecting buckle; 34. Motor; 35. Adjusting arm; 36. Hydraulic telescopic rod; 37. Threaded sleeve; 38. Anti-slip block; 39. Spring; 310. Telescopic rod I; 311. Fixing block; 312. Anchored telescopic rod; 313. Movable connecting rod; 314. Sliding block; 315. Soil-breaking cone; 316. Limiting groove. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to embodiments:

[0031] Example 1: As Figs. 1-6 As shown, the present invention provides a biomimetic anchor claw monitoring robot for the slope of a spoil heap, including a slope detector 1. The bottom surface of the slope detector 1 is provided with a main body unit 2. The bottom surface of the main body unit 2 is provided with a fixing unit 3 for anchoring the device at multiple angles. The fixing unit 3 includes a main arm 31 provided on the side of the base 23, an adjusting arm 35 movably connected inside the main arm 31 for adjusting the fixed position, and a hydraulic telescopic rod 36 movably connected to the side of the adjusting arm 35 for anchoring. A threaded rod 32 is rotatably connected inside the main arm 31. A motor 34 is fixedly connected inside the top end of the main arm 31. The threaded rod 32 is fixedly connected to the output end of the motor 34. A connecting buckle 33 is fixedly connected to the top end of the main arm 31.

[0032] There are four fixed units 3, arranged in a pattern of three in the front and one in the back. The three fixed units 3 are arranged at a 45-degree angle to each other. The side of the main arm 31 has an opening, and the adjusting arm 35 is stored inside the main arm 31.

[0033] A threaded sleeve 37 is fixedly connected to one end of the top surface of the adjusting arm 35. The threaded sleeve 37 is threadedly connected to the outer surface of the threaded rod 32. A telescopic rod 310 is movably connected to one end of the top surface of the adjusting arm 35. A stop block 38 is movably connected inside the bottom surface of the adjusting arm 35. A spring 39 is provided inside the adjusting arm 35. The spring 39 is fixedly connected to the top side of the stop block 38.

[0034] The adjusting arm 35 and the main arm 31 are kept horizontal. The stop block 38 is movably connected to the inside of the bottom surface of the spring 39. The back of the stop block 38 is provided with a ramp. The spring 39 pushes the top side of the stop block 38 to enable it to unfold quickly. One end of the hydraulic telescopic rod 36 is fixed to the side of the adjusting arm 35. The angle between the adjusting arms 35 is controlled by the telescopic rod 310. The locking block provided at one end of the hydraulic telescopic rod 36 will limit the maximum movement angle of the hydraulic telescopic rod 36 to avoid collision with the internal components of the main arm 31 when it is in the retracted state.

[0035] In this embodiment, the device is placed in the area to be tested, and the four fixing units 3 are adjusted to a suitable angle by the main unit 2 so that they can fit against the ground. Then, the motor 34 rotates to drive the threaded rod 32 to rotate. Further, the adjusting arm 35 extends out from the inside of the main arm 31 through the cooperation of the threaded rod 32 and the threaded sleeve 37. After the adjusting arm 35 extends to a certain length, the motor 34 drives the threaded rod 32 to rotate in the opposite direction to retract the adjusting arm 35. When the adjusting arm 35 retracts, the thrust of the spring 39, in conjunction with the direction of movement of the adjusting arm 35, locks the four stop blocks 38 into the ground from different directions, ensuring that the device remains stable in the working state.

[0036] Example 2: Figs. 1-6 As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, one end of the telescopic rod 310 is movably connected to the top side of the hydraulic telescopic rod 36, the output end of the hydraulic telescopic rod 36 is fixedly connected to a fixing block 311, the bottom surface of the fixing block 311 is fixedly connected to an anchoring telescopic rod 312, five limiting grooves 316 are opened inside the side of the fixing block 311, a slider 314 is slidably connected inside the limiting grooves 316, a soil-breaking cone 315 is fixedly connected to the side of the slider 314, a movable connecting rod 313 is movably connected to one side of the output end of the anchoring telescopic rod 312, and the other end of the movable connecting rod 313 is movably connected to the inside side of the slider 314;

[0037] When the hydraulic telescopic rod 36 is not in operation, it is in a retracted state with the adjusting arm 35 at a 45-degree angle. At this time, the fixing block 311 is stored inside the cavity on the bottom surface of the hydraulic telescopic rod 36 and does not directly contact the ground, thus reducing the impact on the movement of the adjusting arm 35.

[0038] The overall shape of the fixing block 311 is a pentagonal truncated pyramid, and the number of limiting grooves 316 on the side is five, which are evenly distributed around the axis of the fixing block 311 on each side of the limiting grooves 316. The five soil-breaking cones 315 are distributed around the axis of the fixing block 311 to form a complete cone. The slider 314 restricts the soil-breaking cones 315 to slide on the side of the fixing block 311.

[0039] The five movable connecting rods 313 arranged on the side of the anchoring telescopic rod 312 correspond to the positions of the limiting sliding grooves 316, and the limiting sliding grooves 316 are internally provided with sliding grooves capable of accommodating the movable connecting rods 313.

[0040] In the embodiment, after the stop block 38 is used to fix the whole device, the telescopic rod one 310 drives the hydraulic telescopic rod 36 to move vertically to the ground, and then the hydraulic telescopic rod 36 drives the fixing blocks 311 to be inserted into the soft area, so that the four fixing blocks 311 can anchor the whole device in the current position, thereby ensuring the stability of the whole device.

[0041] After the fixing blocks 311 are pushed to a certain depth, the anchoring telescopic rod 312 drives the movable connecting rods 313 to contract, the movable connecting rods 313 drive the sliding blocks 314 to move, and the movable connecting rods 313 change the inclination angle along with the sliding of the sliding blocks 314 in the limiting sliding grooves 316, so as to ensure that the anchoring telescopic rod 312 can always control the movement state of the sliding blocks 314, and when the anchoring telescopic rod 312 is completely contracted, the five soil breaking cones 315 are expanded from the contracted state and expanded in the form of lotus in the soil, thereby further enhancing the stability of the device.

[0042] Embodiment 3: as shown in the embodiment 1, the application provides a technical solution: Figs. 1-6 Preferably, the main unit 2 comprises a solar panel 21 fixedly installed on the bottom surface of the slope detector 1, a base 23 arranged on the bottom surface of the solar panel 21 and serving as a connecting part, the bottom surface of the slope detector 1 is fixedly connected with the solar panel 21, the bottom surface of the solar panel 21 is fixedly connected with an integrated box 22, the integrated box 22 is fixedly connected to the top surface of the base 23, the side surface of the base 23 is fixedly connected with four fixing buckles 25, one end of the main arm 31 is movably connected in the inside of the fixing buckle 25, the top surface of the fixing buckle 25 is fixedly connected with an extension arm 26, the side surface of the extension arm 26 is movably connected with a telescopic rod two 24, and one end of the telescopic rod two 24 is movably connected to the outer surface of the connecting buckle 33.

[0043] The base 23 and the integrated box 22 are connected through flanges, the integrated box 22 is internally provided with devices necessary for monitoring operation, and the solar panel 21 can supplement the power of the devices when the sunlight is sufficient, thereby ensuring that the devices can be operated for a long time.

[0044] The side surface of the base 23 is provided with the four fixing buckles 25 arranged in the array of front three and rear one, thereby ensuring that the fixing unit 3 connected with the fixing buckles 25 forms a structure similar to the hawk claw, improving the ability of the whole device to grip the ground, and the extension arm 26 arranged on the top surface of the fixing buckle 25 controls each fixing unit 3 through the independent telescopic rod two 24, so as to control the pitch angle of the individual fixing unit 3 according to different situations.

[0045] In this embodiment, by retracting the telescopic rod 24, the main arm 31 is driven to adjust the pitch angle around the connection point with the fixing buckle 25. The pitch angle of each individual fixing unit 3 can be controlled according to different actual land conditions to improve the overall adaptability of the equipment.

[0046] Once the equipment is fixed in place, the slope monitor 1 can detect the current slope status in real time and, together with the necessary components inside the integrated box 22, complete the monitoring operation of the equipment.

[0047] The working principle of this biomimetic anchor-claw monitoring robot facing the slope of the spoil heap will be explained in detail below.

[0048] like Figs. 1-6 As shown, by placing the device in the area to be inspected, the retraction of the telescopic rod 24 drives the main arm 31 to adjust the pitch angle around the connection point with the fixing buckle 25. The pitch angle of each individual fixing unit 3 can be controlled according to different actual land conditions to improve the overall adaptability of the device.

[0049] The motor 34 rotates to drive the threaded rod 32 to rotate. The threaded rod 32 and the threaded sleeve 37 work together to extend the adjusting arm 35 from the inside of the main arm 31. After the adjusting arm 35 extends to a certain length, the motor 34 drives the threaded rod 32 to rotate in the opposite direction to retract the adjusting arm 35. When the adjusting arm 35 retracts, the thrust of the spring 39, in conjunction with the direction of movement of the adjusting arm 35, locks the four stop blocks 38 into the ground from different directions, ensuring that the equipment remains stable during operation.

[0050] After the stop block 38 has fixed the entire equipment, the telescopic rod 310 drives the hydraulic telescopic rod 36 to move so that it is perpendicular to the ground. Then, the hydraulic telescopic rod 36 drives the fixing block 311 to insert into the softer area, so that the four fixing blocks 311 can anchor the entire equipment in the current position and ensure the overall stability of the equipment.

[0051] After the fixed block 311 is pushed to a certain depth, the anchoring telescopic rod 312 drives the movable connecting rod 313 to retract. The movable connecting rod 313 drives the slider 314 connected to it to move. As the slider 314 slides inside the limiting groove 316, the inclination angle of the movable connecting rod 313 changes, ensuring that the anchoring telescopic rod 312 can always control the movement state of the slider 314. When the anchoring telescopic rod 312 is fully retracted, the five soil-breaking cones 315 unfold from the retracted state and unfold in a lotus shape inside the soil, further enhancing the stability of the equipment.

[0052] Once the equipment is fixed in place, the slope monitor 1 can detect the current slope status in real time and, together with the necessary components inside the integrated box 22, complete the monitoring operation of the equipment.

[0053] The above has been described in detail in general terms, but some modifications or improvements can be made on the basis of the present application, which are obvious to those skilled in the art. Therefore, within the scope of the modifications or improvements without departing from the spirit of the present application, they are within the protection scope of the present application.

Claims

1. A biomimetic anchor-claw type monitoring robot for spoil heap slopes, comprising a slope detector (1), characterized in that: The bottom surface of the slope detector (1) is provided with a main body unit (2), and the bottom surface of the main body unit (2) is provided with a fixing unit (3) for anchoring the device at multiple angles. The main unit (2) includes a solar panel (21) fixedly installed on the bottom surface of the slope detector (1) and a base (23) set on the bottom surface of the solar panel (21) for connection. The fixing unit (3) includes a main arm (31) set on the side of the base (23), an adjusting arm (35) movably connected inside the main arm (31) for adjusting the fixed position, and a hydraulic telescopic rod (36) movably connected on the side of the adjusting arm (35) for anchoring.

2. The biomimetic anchor-claw monitoring robot for spoil heap slopes according to claim 1, characterized in that: The main arm (31) is internally rotatably connected to a threaded rod (32), and a motor (34) is fixedly connected to one end of the top surface of the main arm (31). The threaded rod (32) is fixedly connected to the output end of the motor (34), and a connecting buckle (33) is fixedly connected to one end of the top surface of the main arm (31).

3. The biomimetic anchor-claw type monitoring robot for spoil heap slopes according to claim 2, characterized in that: A threaded sleeve (37) is fixedly connected to one end of the top surface of the adjusting arm (35), and the threaded sleeve (37) is threadedly connected to the outer surface of the threaded rod (32). A telescopic rod (310) is movably connected to one end of the top surface of the adjusting arm (35).

4. A biomimetic anchor-claw type monitoring robot for spoil heap slopes according to claim 3, characterized in that: The bottom surface of the adjusting arm (35) is movably connected to a stop block (38), and a spring (39) is provided inside the adjusting arm (35). The spring (39) is fixedly connected to the top side of the stop block (38).

5. A biomimetic anchor-claw type monitoring robot for spoil heap slopes according to claim 4, characterized in that: One end of the telescopic rod (310) is movably connected to the top side of the hydraulic telescopic rod (36), and the output end of the hydraulic telescopic rod (36) is fixedly connected to a fixing block (311). An anchoring telescopic rod (312) is fixedly connected inside the bottom surface of the fixing block (311).

6. A biomimetic anchor-claw type monitoring robot for spoil heap slopes according to claim 5, characterized in that: The fixed block (311) has five limiting grooves (316) inside its side. The limiting grooves (316) are slidably connected to a slider (314). The slider (314) is fixedly connected to a soil-breaking cone (315) on its side.

7. A biomimetic anchor-claw type monitoring robot for spoil heap slopes according to claim 6, characterized in that: The output end of the anchoring telescopic rod (312) is movably connected to a movable connecting rod (313), and the other end of the movable connecting rod (313) is movably connected to the inside of the side of the slider (314).

8. A biomimetic anchor-claw type monitoring robot for spoil heap slopes according to claim 1, characterized in that: The slope detector (1) is fixedly connected to a solar panel (21) on its bottom surface. The solar panel (21) is fixedly connected to an integrated box (22) on its bottom surface. The integrated box (22) is fixedly connected to the top surface of the base (23). The base (23) is fixedly connected to four fixing buckles (25) on its side surface.

9. A biomimetic anchor-claw type monitoring robot for spoil heap slopes according to claim 8, characterized in that: One end of the main arm (31) is movably connected to the inside of the fixing buckle (25). An extension arm (26) is fixedly connected to the top surface of the fixing buckle (25). A telescopic rod (24) is movably connected to the side of the extension arm (26). One end of the telescopic rod (24) is movably connected to the outer surface of the connecting buckle (33).

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