An underground mine main chute scanning device and method

Abstract

This invention relates to the field of underground mine exploration equipment, specifically to a scanning device and method for a main shaft in an underground mine. The device includes three winch mechanisms, a positioning assembly, and a wind-resistant suspension system. A scanner is fixedly mounted on the positioning assembly. The wind-resistant suspension system includes two positioning cables and one downhole cable. The two positioning cables are wound around two of the winch mechanisms, and the downhole cable is wound around the remaining winch mechanism. The two positioning cables are lowered from the shaft opening to the bottom of the shaft and are taut to maintain a parallel posture to gravity. The downhole cable is connected to the two side positioning cables by the positioning assembly, forming a sliding constraint that limits the lateral displacement and spin of the downhole cable, thus achieving wind resistance and deflection prevention. This invention, through the cooperation of the side positioning cables and the positioning assembly, applies a lateral sliding constraint to the downhole cable of the central scanner, effectively limiting the spin and lateral displacement of the scanning device even in complex wind conditions in deep mines.

Description

Technical Field

[0001] This invention relates to the field of underground mine exploration equipment, specifically to a scanning device and method for the main ore pass of an underground mine. Background Technology

[0002] The scanning device's support frame is typically used in 3D scanning operations in deep wells such as mine ore passes. Since the main mine ore passes are hundreds of meters deep and the well walls are often irregular, the scanning device is prone to swaying and frequently hitting the well wall during lowering due to uneven force. In addition, there is often strong airflow inside deep wells, and using a single cable to suspend the equipment can easily cause it to undergo lateral displacement and spin under the action of wind, which seriously affects the accuracy of 3D scanning and the safety of the equipment. Summary of the Invention

[0003] The purpose of this invention is to provide a scanning device and method for the main chute of an underground mine, so as to solve the defects of existing downhole devices that are difficult to move as a whole, cannot flexibly adjust the downhole coordinate points, and are easily affected by the underground airflow during the downhole process, resulting in lateral displacement and spin.

[0004] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A wind-resistant and deflection-resistant scanning device for the main chute of an underground mine, comprising: three winch mechanisms; A positioning component, on which a scanner is fixedly mounted, the scanner being used to provide scanning functionality; The wind-resistant suspension system includes two positioning cables and one downhole cable. The two positioning cables are respectively wound around two of the winch mechanisms, and the downhole cable is wound around the remaining winch mechanism. The two positioning cables are lowered from the wellhead of the main chute to the bottom of the well and are taut to maintain a parallel posture to gravity. The downhole cable forms a sliding constraint with the positioning cables on both sides through the positioning component, thereby limiting the lateral displacement and spin of the downhole cable to achieve wind resistance and deflection prevention.

[0005] Furthermore, the bottom ends of the two positioning cables are connected to tensioning counterweights or ground anchors; The ground anchor is fixedly buried in the ground at the bottom of the well, and the tension counterweight is suspended above the ground at the bottom of the well to apply a constant axial tension to the positioning cable.

[0006] Furthermore, each of the two positioning cables is fixedly equipped with an inclination measuring unit, the measuring axis of which is arranged parallel to the axis of the positioning cable to monitor the verticality of the positioning cable.

[0007] Furthermore, the positioning assembly includes a horizontal support rod and two sliding rods; One end of each of the two sliding rods is slidably connected to the horizontal support rod along its own length and the relative position is locked by a set screw, thereby forming a linear telescopic rod assembly with adjustable length. A sleeve is fixed to the other end of each of the two sliding rods, and the axis of the sleeve is orthogonal to the axis of the telescopic rod assembly. The two sliding rods are connected to the positioning cables on both sides by sleeves to form sliding guide connections. The middle part of the horizontal support rod is fixedly connected to the downhole cable.

[0008] Furthermore, this also includes: mobile chassis; Three independently arranged mechanical booms are installed on the mobile chassis. The mechanical booms include two sets of positioning booms on both sides and one set of lowering booms in the middle. The three hoisting mechanisms are respectively integrated into the execution ends of the three sets of mechanical booms.

[0009] Furthermore, each of the mechanical booms has three independent degrees of freedom of motion, including: a slewing mechanism, mounted on the mobile chassis, configured to provide rotational freedom about a vertical axis; A variable amplitude mechanism, connected to the rotating part of the slewing mechanism, is configured to provide pitch freedom in a vertical plane including the vertical axis; The telescopic arm, connected to the actuator of the luffing mechanism, is configured to provide linear translational freedom in the vertical plane.

[0010] Furthermore, the proximal end of each telescopic arm is pivotally connected to the rotating part of the corresponding rotary mechanism, and its distal end extends and is equipped with a fixed pulley, so as to adjust the horizontal cantilever distance of the fixed pulley by the linear translation of the telescopic arm. The luffing mechanism is a thrust actuator, one end of which is pivotally connected to the rotating part corresponding to the slewing mechanism, and the other end is pivotally connected to the middle section of the telescopic arm, so as to change the pitch angle of the telescopic arm by changing the stroke of the thrust actuator.

[0011] Furthermore, the winch mechanism is installed at the end of the corresponding telescopic arm near the slewing mechanism, so that the winch mechanism adjusts its spatial posture synchronously with the telescopic arm; The positioning cable or the downhole cable, which is unwound from the winch mechanism, hangs vertically downward after being reversed by the fixed pulley at the far end of the telescopic boom.

[0012] Furthermore, the mobile chassis is a space truss chassis, which has a triangular configuration on the top projection plane, including an upper frame, a lower frame and a vertical support column located between the two. The upper frame has a load-bearing structure embedded in it for arranging counterweights to lower the center of gravity of the whole machine. The traveling mechanism of the mobile chassis includes swivel casters and fixed shaft deflection wheels mounted on the bottom of the lower frame. The vertical steering shaft of the swivel casters extends upward and is coaxially fixed to a steering control component. The rigid section of the vertical steering shaft exposed between the upper frame and the lower frame is configured as a traction pin for mechanical coupling with external traction equipment.

[0013] A scanning method for the main chute of an underground mine, applied to a scanning device for the main chute of an underground mine, includes the following steps: lowering and arranging two positioning cables through two of the winch mechanisms respectively, and applying axial tension to keep them in a vertical state; A scanner is fixedly mounted on the positioning component; One of the downhole cables is connected to the positioning cables on both sides by the positioning component to form a sliding constraint. The remaining winch mechanism lowers the downhole cable, causing the positioning component to slide and extend along the positioning cables on both sides. At the same time, a scanning operation is performed by a scanner to limit the scanner's sway and achieve wind resistance and anti-deviation.

[0014] The advantages of this invention compared to the prior art are: This invention applies lateral sliding constraints to the downhole cable of the central scanner by cooperating with the positioning cables on both sides and the positioning components. Even in complex wind field environments in deep wells, it can effectively limit the spinning and lateral displacement of the scanning device, thereby improving the accuracy of the scanning data and the safety of downhole operation. Attached Figure Description

[0015] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0016] Figure 1 This is a conceptual schematic diagram of the scanning device's well-drilling operation and the wind-resistant suspension system status according to an embodiment of the present invention; Figure 2 This is a perspective view of the mobile chassis and three sets of mechanical boom structures according to an embodiment of the present invention; Figure 3 This is a side view of the mobile chassis and three sets of mechanical boom structures according to an embodiment of the present invention; Figure 4 This is a top view of the mobile chassis and three sets of mechanical boom structures according to an embodiment of the present invention; The labels in the diagram represent the following: 1-Winding mechanism; 2-Positioning assembly; 21-Horizontal support rod; 22-Sliding rod; 23-Sleeve; 3-Wind-resistant suspension system; 31-Positioning cable; 32-Lowering cable; 33-Ground anchor; 4-Main chute; 5-Mobile chassis; 51-Upper frame; 52-Lower frame; 53-Vertical support column; 54-Universal caster; 55-Fixed shaft deflector; 56-Vertical steering shaft; 57-Steering control element; 58-Traction pin; 6-Mechanical boom; 61-Slewing mechanism; 62-Luffing mechanism; 63-Telescopic boom; 64-Fixed pulley. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In macroscopic application environments, 3D mapping systems for deep underground mine shafts not only require independent lowering supports but also need to form a complete closed loop with data acquisition terminals and power control systems. Traditional isolated equipment often fails to perform mapping tasks when faced with complex conditions such as high wind speeds and irregular shaft walls due to a lack of system-level anti-interference design. To address this significant deficiency in existing technologies, this invention constructs a highly mobile, strongly constrained, wind-resistant, and anti-deviation scanning device for the main chute of an underground mine.

[0019] (First embodiment) The first embodiment of the present invention provides a wind-resistant and deflection-resistant scanning device for the main chute 4 of an underground mine, comprising: a mobile chassis 5, a multi-degree-of-freedom mechanical boom 6, a wind-resistant suspension system 3, and a system control unit.

[0020] Traditional simple supports are often fixed and welded, which cannot be quickly moved and fine-tuned in narrow and rugged mine tunnels. This embodiment uses an alternative simple support to solve the problem of overall machine mobility on unpaved roads.

[0021] Furthermore, the mobile chassis 5 is a space truss chassis, which has a triangular configuration on the top projection plane. It has an upper frame 51 and a lower frame 52. The bottom of the lower frame 52 is equipped with omnidirectional casters 54 and fixed shaft deflection wheels 55. The triangular configuration and low center of gravity counterweight design greatly improve the static stability of the whole machine during cantilever operation.

[0022] Furthermore, the upper shelf 51 is embedded with a load-bearing structure to arrange counterweights, thereby solving the problem of overturning moment imbalance caused by suspending heavy objects.

[0023] Furthermore, the rigid section of the vertical steering shaft 56 exposed between the upper and lower shelves 52 is configured as a traction pin 58; the traction pin 58 enables rapid mechanical coupling with external equipment, facilitating long-distance towing.

[0024] Furthermore, since the shape of the wellhead of the chute is usually extremely irregular, it is impossible to guarantee that the vehicle can always be parked in the ideal geometric center position. To solve this problem, the mobile chassis 5 integrates three independently arranged mechanical booms 6, including positioning booms on both sides and a lowering boom in the middle. Each boom includes a slewing mechanism 61 that provides rotation about a vertical axis, a luffing mechanism 62 that provides pitch in a vertical plane containing the vertical axis, and a telescopic boom 63 that provides linear translation in the aforementioned vertical plane. The luffing mechanism 62 is preferably a thrust actuator.

[0025] The three independently arranged mechanical booms 6 provide three suspension points with independent and precise three-dimensional spatial addressing capabilities, solving the problem of spatial coordinate matching where the origin of the cable lowering cannot be accurately aligned with the central axis of the well shaft.

[0026] Furthermore, the winch mechanism 1 is integrated into the near end of the telescopic boom 63, and the cable released by it is suspended after being reversed by the fixed pulley 64 at the far end; the winch mechanism 1 moves synchronously with the telescopic boom 63, eliminating the motion interference of the cable during the luffing process.

[0027] Furthermore, due to the strong turbulence generated by the thermodynamic effects inside the deep well, a single flexible cable will inevitably sway uncontrollably under the aerodynamic resistance. In order to solve the problem of lateral displacement and spin of the scanning device in the suspended state, the wind-resistant suspension system 3 includes two positioning cables 31 wound around the two winch mechanisms 1 on both sides, and a downhole cable 32 wound around the middle winch mechanism 1. The core of the wind-resistant suspension system 3 is the positioning component 2, which includes a linear telescopic rod assembly composed of a horizontal support rod 21 and two sliding rods 22.

[0028] Among them, a sleeve 23 is coaxially fixed on the outside of the sliding rod 22, and the axis of the sleeve 23 is orthogonal to the telescopic rod assembly; the positioning cable 31 passes through the sleeve 23, and the downhole cable 32 is fixed to the horizontal support rod 21, thereby forming a sliding constraint.

[0029] The wind-resistant suspension system 3 transforms the taut positioning cables 31 on both sides into rigid guide rails. The positioning component 2 establishes lateral kinematic constraints, retaining only the translational degree of freedom in the vertical direction, thereby reducing the damage of wind field disturbances to scanning accuracy.

[0030] Furthermore, if the verticality and parallelism of the two positioning cables 31 are low, it will be difficult to perform well scanning operations. However, since the purely mechanical structure lacks perception of the environmental conditions, the error of manual visual estimation of verticality is extremely large. In order to ensure that the positioning cable 31 remains vertical, a tensioning counterweight or ground anchor 33 is connected to the bottom end of the positioning cable 31, and an inclination measurement unit that communicates with the system control unit is configured on the cable. This design realizes closed-loop monitoring of verticality and ensures the accuracy of guidance.

[0031] The system control unit sends a signal representing the tilt angle of the positioning cable 31 to the staff through the human-machine interaction module.

[0032] (Second Embodiment) The second embodiment of the present invention describes a control method for a scanning device in a main ore pass of an underground mine under a specific operating scenario, which includes the following steps.

[0033] Step 1, Deployment and Calibration: The operator sets the operating parameters through the human-machine interface. The system control unit drives the winch mechanisms 1 on both sides to lower the two positioning cables 31 to the designated elevation. The operator at the bottom of the well drives the ground anchor 33 into the ground or suspends the tension counterweight to apply a constant axial tension to the cables. During this stage, the tilt angle measurement unit collects the attitude data of the positioning cables 31 in real time and feeds it back to the system control unit for logical judgment and closed-loop control. When the detected tilt angle deviates from the vertical reference, the system prompts that the calibration has failed. The operator can fine-tune the extension and rotation attitude of the mechanical booms 6 on both sides through the terminal until the tilt angle data meets the standard, and the system enters the locked state.

[0034] Step 2, Assembly and Rigid Coupling: At the wellhead, the scanning device is fixedly installed on the positioning component 2; the operator loosens the set screw on the positioning component 2 and adjusts the length of the linear telescopic rod assembly to precisely match the actual distance between the two positioning cables 31; after tightening the screw, the end sleeve 23 is fitted onto the positioning cable 31, and the downhole cable 32 is fixedly connected to the middle of the horizontal support rod 21; after completing the mechanical coupling, the system has the conditions for wind resistance and deflection prevention.

[0035] Step 3, Active Scanning and Anomaly Handling: The system control unit drives the central hoisting mechanism 1 to unwind the lowering cable 32 at a preset speed. During the descent, the crosswinds below the well generate lateral thrust and torsional torque on the scanning device. The torsional torque is directly transmitted to the sleeves 23 on both sides through the horizontal support rod 21 of the positioning component 2 and absorbed by the positioning cable 31 which is under high tension. Due to the sliding guiding characteristics of the sleeves 23, the equipment can only descend smoothly in the vertical direction, and the lateral and rotational degrees of freedom are completely locked. During the scanning process, if the built-in attitude sensor of the scanning device or the load sensor of the hoisting mechanism 1 detects abnormal resistance, the system control unit will immediately trigger the anomaly handling mechanism of the safety shutdown logic, stop the descent, and issue an audible and visual alarm to prevent equipment damage or cable breakage.

[0036] To fully encompass the technical concept of this invention, those skilled in the art should understand that the foregoing embodiments have various equivalent variations. In terms of physical variations, although a spatial triangular truss chassis is described in the embodiments, the use of a rectangular chassis or a tracked walking mechanism also falls within the scope of equivalent substitution of this invention. In terms of system and control logic, the system control unit and tilt measurement unit mentioned herein should not be narrowly understood as a single physical component, but can encompass any computing architecture capable of performing logical judgments and signal processing, including but not limited to microprocessors, programmable logic controllers, application-specific integrated circuits, or field-programmable gate arrays. Furthermore, all mentioned connections, fixations, or constraints include not only direct mechanical physical contact, but also indirect connections through intermediate media, provided that the energy or force transmission path is not deviated from.

[0037] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered as falling within the scope of protection of the embodiments of the present invention.

Claims

1. A wind-resistant and deflection-resistant scanning device for the main ore pass of an underground mine, characterized in that, include: Three hoisting mechanisms (1); Positioning component (2), on which a scanner is fixedly mounted, the scanner being used to provide scanning function; The wind-resistant suspension system (3) includes two positioning cables (31) and one downhole cable (32). The two positioning cables (31) are respectively wound around two of the winch mechanisms (1), and the downhole cable (32) is wound around the remaining winch mechanism (1). The two positioning cables (31) are lowered from the wellhead of the main chute (4) to the bottom of the well and are taut to maintain a parallel posture to gravity. The downhole cable (32) forms a sliding constraint with the positioning cables (31) on both sides through the positioning component (2), thereby limiting the lateral displacement and spin of the downhole cable (32) to achieve wind resistance and deflection prevention.

2. The wind-resistant and deflection-preventing scanning device for the main ore pass of an underground mine according to claim 1, characterized in that, The bottom ends of the two positioning cables (31) are connected to a tensioning counterweight or a ground anchor (33); wherein the ground anchor (33) is fixedly buried in the ground at the bottom of the well, and the tensioning counterweight is suspended above the ground at the bottom of the well to apply a constant axial tension to the positioning cables (31).

3. The wind-resistant and deflection-preventing scanning device for the main chute of an underground mine according to claim 2, characterized in that, Both positioning cables (31) are fixedly equipped with tilt measuring units. The measuring axis of the tilt measuring unit is arranged parallel to the axis of the positioning cable (31) to monitor the verticality of the positioning cable (31).

4. The wind-resistant and deflection-preventing scanning device for the main ore pass of an underground mine according to claim 1, characterized in that, The positioning component (2) includes a horizontal support rod (21) and two sliding rods (22). One end of each of the two sliding rods (22) is slidably connected to the horizontal support rod (21) along its own length direction, and their relative positions are locked by set screws, thereby forming a linear telescopic rod assembly with adjustable length; A sleeve (23) is fixed to the other end of each of the two sliding rods (22), and the axis of the sleeve (23) is orthogonal to the axis of the telescopic rod assembly; The two sliding rods (22) are connected to the positioning cables (31) on both sides by sleeves (23) to form a sliding guide connection; The middle part of the horizontal support rod (21) is fixedly connected to the downhole cable (32).

5. The wind-resistant and deflection-preventing scanning device for the main ore pass of an underground mine according to claim 1, characterized in that, Also includes: Mobile chassis (5); Three independently arranged mechanical booms (6) are installed on the mobile chassis (5). The mechanical booms (6) include two sets of positioning booms on both sides and one set of downhole booms in the middle. The three hoisting mechanisms (1) are respectively integrated into the execution ends of the three sets of mechanical booms (6).

6. The wind-resistant and deflection-preventing scanning device for the main ore pass of an underground mine according to claim 5, characterized in that, Each of the mechanical booms (6) has three independent degrees of freedom of motion, including: A rotary mechanism (61), mounted on the mobile chassis (5), is configured to provide rotational freedom about a vertical axis; A variable amplitude mechanism (62), connected to the rotating part of the slewing mechanism (61), is configured to provide pitch freedom in a vertical plane including the vertical axis; The telescopic arm (63), connected to the actuating end of the luffing mechanism (62), is configured to provide linear translational freedom in the vertical plane.

7. The wind-resistant and deflection-preventing scanning device for the main ore pass of an underground mine according to claim 6, characterized in that, The proximal end of each telescopic arm (63) is pivotally connected to the rotating part of the corresponding rotary mechanism (61), and its distal end extends and is equipped with a fixed pulley (64) so ​​as to adjust the horizontal cantilever distance of the fixed pulley (64) by the linear translation of the telescopic arm (63). The variable amplitude mechanism (62) is a thrust actuator, one end of which is pivotally connected to the rotating part corresponding to the slewing mechanism (61), and the other end is pivotally connected to the middle section of the telescopic arm (63) so as to change the pitch angle of the telescopic arm (63) by the stroke change of the thrust actuator.

8. The wind-resistant and deflection-preventing scanning device for the main ore pass of an underground mine according to claim 7, characterized in that, The hoisting mechanism (1) is installed at one end of the corresponding telescopic arm (63) near the slewing mechanism (61), so that the hoisting mechanism (1) adjusts its spatial posture synchronously with the telescopic arm (63); The positioning cable (31) or the downhole cable (32) unwound from the winch mechanism (1) hangs vertically downward after being reversed by the fixed pulley (64) at the far end of the telescopic boom (63).

9. The wind-resistant and deflection-preventing scanning device for the main ore pass of an underground mine according to claim 5, characterized in that, The mobile chassis (5) is a space truss chassis, which has a triangular configuration on the top projection plane, including an upper frame (51), a lower frame (52) and a vertical support column (53) located between the two. The upper frame (51) is embedded with a load-bearing structure for arranging counterweights to lower the center of gravity of the whole machine. The traveling mechanism of the mobile chassis (5) includes swivel casters (54) and fixed shaft deflection wheels (55) mounted on the bottom of the lower frame (52). The vertical steering shaft (56) of the swivel casters (54) extends upward and is coaxially fixed to a steering control element (57). The rigid section of the vertical steering shaft (56) exposed between the upper frame (51) and the lower frame (52) is configured as a traction pin (58) for mechanical coupling with an external traction device.

10. A scanning method for the main ore pass in an underground mine, characterized in that, The scanning device for the main chute of an underground mine as described in claim 1 includes the following steps: Two of the hoisting mechanisms (1) are used to lower and arrange the two positioning cables (31) respectively, and apply axial tension to keep them in a vertical state; A scanner is fixedly mounted on the positioning component (2); One of the downhole cables (32) is connected to the positioning cables (31) on both sides by the positioning assembly (2) to form a sliding constraint. The lowering cable (32) is lowered by the remaining hoisting mechanism (1), causing the positioning component (2) to slide and extend along the positioning cables (31) on both sides, while scanning is performed by the scanner to limit the scanner's sway and achieve wind resistance and anti-deviation.

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