Mining multi-parameter roof crack detection device based on drilling crawling robot
By using a multi-parameter detection device based on drilling crawling robot in the mine, combined with parallel electrode method and hydraulic pressure detection, the lack of mobility and accuracy of traditional equipment is solved, and efficient and accurate detection of mine roof cracks is achieved. .
Patent Information
- Application Number
- CN202421014586.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-11
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2034-05-11
AI Technical Summary
Traditional mine roof crack detection equipment has shortcomings in mobility, flexibility and depth detection, resulting in airbag puncture, inaccurate water leakage, too long measurement time, and a single detection method cannot accurately judge the development of mine roof cracks.
Design a multi-parameter top plate crack detection device for mining based on drilling crawling robot, combining track robot, camera, conveying device, clamping device, connecting pipe, airbag, pressure sensor and casing, through parallel electrode method and water pressure detection Implement multi-parameter detection to improve detection efficiency and accuracy.
It realizes convenient detection of cracks on the inner wall of the drilling hole, improves the accuracy and diversity of detection, and overcomes the problems of insufficient mobility and accuracy of traditional equipment.
Smart Images
Figure CN222141235U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of crack detection, in particular to a mining multi-parameter roof crack detection device based on a drilling crawling robot. Background Art
[0002] In the process of mineral resource mining, the monitoring of roof cracks is crucial for the safe mining of mines. Traditional mine roof crack detection equipment and methods are restricted by mobility, flexibility, depth detection and other aspects. In the actual operation of underground drilling, due to the influence of factors such as a large number of sharp gravel, water leakage at the drill rod connection, and low drill rod propulsion efficiency, the airbag is often punctured, the leakage volume is inaccurate, the measurement time is too long, etc., which seriously affects the detection effect of the degree of crack development. In addition, relying solely on one detection method to judge the development of mine roof cracks is still not accurate enough. Therefore, it is urgent to design a new device that can simultaneously realize the joint detection of two methods to overcome the above defects and improve the detection efficiency and accuracy. Summary of the invention
[0003] In order to solve the above technical problems, the utility model provides a mining multi-parameter roof crack detection device based on a drilling crawling robot, which improves the convenience of detecting cracks and different parameters in a borehole and improves the accuracy and diversity of detection.
[0004] To achieve the above-mentioned purpose, the utility model provides a multi-parameter roof crack detection device for mining based on a drilling crawling robot, including a crawler robot and a camera, and the camera is installed on the outer wall of the crawler robot; it also includes a conveying device, a clamping device, a connecting pipe, an airbag, a pressure sensor and a casing, and a plurality of groups of drainage holes are arranged on the outer wall of the connecting pipe, and two groups of airbags are respectively installed at the left and right ends of the connecting pipe, the right airbag is connected to the outer wall of the crawler robot, the pressure sensor is installed on the outer wall of the connecting pipe, the casing is arranged on the outer wall of the left airbag, and the right end of the casing is connected to the conveying device, the conveying device is used to provide water, gas and electricity to the detection device, and the conveying device is used to perform parallel electrode detection in the borehole, and the clamping device is installed on the outer wall of the connecting pipe. Installed on the outer wall of the left airbag, the clamping device is used to clamp and fix the cable, and the clamping device is used to insert the cable end into the inner wall of the borehole; the device is placed inside the borehole, and the crawler robot is started to drive the connecting pipe to move, so that the device moves as a whole in the borehole, and stops moving when the device moves to the position that needs to be detected, and the two groups of airbags are inflated by the conveying device. After the two groups of airbags are inflated, the left and right ends of the connecting pipe are blocked, and the conveying device fills the connecting pipe with water, and the water is discharged from the multiple drainage holes of the connecting pipe, so that the water is injected into the blocking area, and the water pressure is detected by the pressure sensor, so as to facilitate the detection of whether there are cracks and water leakage on the inner wall of the borehole, and finally the parallel electrode method is used to detect the borehole through the conveying device.
[0005] Preferably, the conveying device includes an inflation component, a water supply component, a power supply component, a detector, an air pipe, a water pipe, an electric wire, a cable and an internally threaded fixing pin. The air pipe, the water pipe and the electric wire all pass through the inside of the casing. The inflation component is connected with the two groups of air bags through the air pipe, the water supply component is connected with the connecting pipe through the water pipe, the power supply component is connected with the crawler robot through the electric wire, the cable input end is connected with the detector, the cable output end is connected with the internally threaded fixing pin, and the outer wall of the cable is provided with electrodes. The internally threaded fixing pin is fixed to the left air bag through a clamping device; the inflation component inflates the two groups of air bags through the air pipe, so that the two groups of air bags are expanded, and the water supply component connects the connecting pipe through the water pipe. The pipe is filled with water, which makes it easier to detect borehole cracks using water pressure. The power supply component provides power to the crawler robot through wires, improving the convenience of the crawler robot in driving the device. When the device enters the borehole, the internal threaded fixing pin is fixed by the clamping device. When the device moves into the borehole, the internal threaded fixing pin pulls the cable into the borehole, and then the clamping device inserts the internal threaded fixing pin into the inner wall of the borehole. The device is then removed from the borehole, and then an insulating rod is placed in the borehole, and the hole is filled with cement. The resistivity data monitored by the electrodes in the hole are transmitted to the detector using cables and electrodes, thereby realizing parallel electrode detection in the borehole.
[0006] Preferably, the clamping device includes a driving device, a fixing frame, a shell, a sliding block, a cylinder and a stud, the fixing frame is installed on the outer wall of the left airbag, the shell is installed on the left airbag through the fixing frame, and the sleeve passes through the shell, the sliding block is slidably installed on the shell up and down by the driving device, a driving motor is provided in the sliding block, the cylinder is installed at the bottom end of the sliding block, the stud is rotatably installed at the bottom end of the sliding block, and the output end of the driving motor is connected to the stud, the stud is rotatably arranged inside the cylinder, and a guide groove is provided on the outer wall of the shell; the top end of the threaded hole of the internal threaded fixing pin is contacted with the bottom end of the stud, and the stud is driven by the driving motor to rotate forward, so that the stud drives the internal threaded fixing pin to move upward, so that the internal threaded fixing pin enters the cylinder through the guidance of the guide groove. When the internal threaded fixing pin needs to be fixed on the inner wall of the drilled hole, the driving device drives the sliding block to slide downward, so that the sliding block drives the cylinder to extend downward, and the driving motor drives the stud to rotate in the opposite direction, and the stud pushes the internal threaded fixing pin to move downward, so that the bottom of the internal threaded fixing pin is inserted into the inner wall of the drilled hole, which is convenient for the internal threaded fixing pin to be automatically fixed.
[0007] Preferably, the driving device includes a motor, a gear and a rack, the motor is mounted on the housing, the gear is arranged on the output end of the motor, the rack is arranged on the outer wall of the sliding block, and the rack is meshed with the gear; the motor drives the gear to rotate, so that the gear drives the sliding block to move up and down through the meshing with the rack, thereby improving the convenience of the device for inserting the internal threaded fixing pin into the inner wall of the drilled hole.
[0008] Preferably, it also includes a drill bit, which is installed at the end of the crawler robot and is connected to the electric wire; when the crawler robot moves forward, the drill bit rotates to clean up the sharp gravel.
[0009] Preferably, a display controller is also included, and the inflation component, water supply component, power supply component and detector are all electrically connected to the display controller.
[0010] Preferably, it also includes a plurality of sets of auxiliary wheels, which are circumferentially mounted on the outer side wall of the connecting tube; the device moves the guide support through the plurality of sets of auxiliary wheels.
[0011] Compared with the prior art, the utility model has the following beneficial effects: the device is placed inside the borehole, and the crawler robot is started to drive the connecting pipe to move, so that the device moves as a whole inside the borehole, and stops moving when the device moves to the position that needs to be detected, and the two groups of air bags are inflated by the conveying device. After the two groups of air bags are inflated, the left and right ends of the connecting pipe are blocked, and the conveying device fills the connecting pipe with water, and the water is discharged from the multiple groups of drainage holes in the connecting pipe, so that the water is injected into the blocking area, and the water pressure is detected by the pressure sensor, so as to facilitate the detection of whether there are cracks and water leakage on the inner wall of the borehole, and the parallel electrode method is used to detect the borehole through the conveying device, so as to improve the convenience of detecting cracks and different parameters in the borehole, and improve the accuracy and diversity of detection. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 It is a schematic diagram of the axonometric structure of the utility model;
[0013] Figure 2 It is a schematic diagram of the axonometric local structure of the connection pipe and the pressure sensor, etc.;
[0014] Figure 3 This is a schematic diagram of the axonometric structure of the clamping device in a normal state;
[0015] Figure 4 It is a schematic diagram of the axonometric partial structure of the cylinder extending downward;
[0016] Figure 5 It is a schematic diagram of the axonometric partial structure with the internal thread fixing pin moved downward;
[0017] Figure 6 It is a schematic diagram of the axonometric partial structure of the drill bit.
[0018] Markings in the attached figure: 1. crawler robot; 2. camera; 3. connecting pipe; 4. airbag; 5. pressure sensor; 6. casing; 7. fixing frame; 8. shell; 9. sliding block; 10. cylinder; 11. stud; 12. motor; 13. gear; 14. inflation component; 15. water supply component; 16. power supply component; 17. detector; 18. air pipe; 19. water pipe; 20. electric wire; 21. cable; 22. internal thread fixing pin; 23. drill bit; 24. display controller; 25. auxiliary wheel; 26. rack. DETAILED DESCRIPTION
[0019] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively below with reference to the relevant drawings. The utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.
[0020] Embodiment 1:
[0021] like Figures 1 to 6 As shown, this embodiment provides a mining multi-parameter roof crack detection device based on a drilling crawling robot, including a crawler robot 1 and a camera 2, wherein the camera 2 is mounted on the outer wall of the crawler robot 1; further comprising a conveying device, a clamping device, a connecting pipe 3, an air bag 4, a pressure sensor 5 and a sleeve 6, wherein a plurality of drainage holes are arranged on the outer wall of the connecting pipe 3, two groups of air bags 4 are respectively mounted on the left and right ends of the connecting pipe 3, the right air bag 4 is connected to the outer wall of the crawler robot 1, the pressure sensor 5 is mounted on the outer wall of the connecting pipe 3, the sleeve 6 is arranged on the outer wall of the left air bag 4, the right end of the sleeve 6 is connected to the conveying device, the conveying device is used to provide water, gas and electricity to the detection device, and the conveying device is used to perform parallel electrode detection in the borehole, the clamping device is mounted on the outer wall of the left air bag 4, the clamping device is used to clamp and fix the cable, and the clamping device is used to insert the cable end into the inner wall of the borehole;
[0022] like Figure 1 As shown, the conveying device includes an air filling component 14, a water supply component 15, a power supply component 16, a detector 17, an air pipe 18, a water pipe 19, an electric wire 20, a cable 21 and an internal thread fixing pin 22. The air pipe 18, the water pipe 19 and the electric wire 20 all pass through the inside of the casing 6. The air filling component 14 is connected with the two groups of air bags 4 through the air pipe 18, the water supply component 15 is connected with the connecting pipe 3 through the water pipe 19, the power supply component 16 is connected with the crawler robot 1 through the electric wire 20, the input end of the cable 21 is connected with the detector 17, the output end of the cable 21 is connected with the internal thread fixing pin 22, and the outer wall of the cable 21 is provided with an electrode, and the internal thread fixing pin 22 is fixed on the left air bag 4 through a clamping device;
[0023] In this embodiment, the device is placed inside the borehole, and the crawler robot 1 is started to drive the connecting pipe 3 to move, so that the device moves as a whole in the borehole. When the device moves to the position that needs to be detected, it stops moving. Then, the two groups of air bags 4 are inflated by the conveying device. After the two groups of air bags 4 are inflated, the left and right ends of the connecting pipe 3 are blocked. Then, the conveying device fills the connecting pipe 3 with water, and the water is discharged from the multiple groups of drainage holes in the connecting pipe 3, so that the water is injected into the blocking area. The water pressure is detected by the pressure sensor 5, so as to facilitate the detection of whether there are cracks and water leakage on the inner wall of the borehole. Then, the parallel electrode method is used to detect the borehole through the conveying device, which improves the convenience of detecting cracks and different parameters in the borehole, and improves the accuracy and diversity of detection.
[0024] Embodiment 2:
[0025] On the basis of Example 1, Figure 2 and Figure 3 As shown, this embodiment provides a multi-parameter roof crack detection device for mining based on a drilling crawling robot, wherein the clamping device comprises a driving device, a fixing frame 7, a shell 8, a sliding block 9, a barrel 10 and a stud 11, wherein the fixing frame 7 is mounted on the outer wall of the left airbag 4, the shell 8 is mounted on the left airbag 4 through the fixing frame 7, and the sleeve 6 passes through the inside of the shell 8, the sliding block 9 is mounted on the shell 8 by sliding up and down through the driving device, a driving motor is arranged inside the sliding block 9, the barrel 10 is mounted at the bottom end of the sliding block 9, the stud 11 is rotatably mounted at the bottom end of the sliding block 9, and the output end of the driving motor is connected to the stud 11, the stud 11 is rotatably arranged inside the barrel 10, and a guide groove is arranged on the outer wall of the shell 8;
[0026] like Figure 3 As shown, the driving device includes a motor 12, a gear 13 and a rack 26. The motor 12 is mounted on the housing 8, the gear 13 is arranged on the output end of the motor 12, the rack 26 is arranged on the outer wall of the sliding block 9, and the rack 26 is meshed with the gear 13;
[0027] like Figure 6 As shown, it also includes a drill bit 23, which is installed at the end of the crawler robot 1 and is connected to the wire 20;
[0028] like Figure 1 As shown, it also includes a display controller 24, and the inflation component 14, the water supply component 15, the power supply component 16 and the detector 17 are all electrically connected to the display controller 24;
[0029] like Figure 1 As shown, it also includes multiple sets of auxiliary wheels 25, which are circumferentially installed on the outer side wall of the connecting pipe 3;
[0030] In this embodiment, the inflation component 14 inflates the two groups of air bags 4 through the air pipe 18, so that the two groups of air bags 4 are expanded, the water supply component 15 fills the connecting pipe 3 with water through the water pipe 19, so as to facilitate the detection of borehole cracks by water pressure, and the power supply component 16 provides power to the crawler robot 1 through the wire 20, so as to improve the convenience of the crawler robot 1 to drive the device. When the device enters the borehole, the internal thread fixing pin 22 is fixed by the clamping device. When the device moves into the borehole, the internal thread fixing pin 22 pulls the cable 21 into the borehole, and the clamping device inserts the internal thread fixing pin 22 into the inner wall of the borehole. The device is moved out of the borehole, and then the insulating rod is placed in the borehole, and the hole is filled with cement. The cable 21 and the electrode transmit the resistivity data monitored by the electrode in the hole to the detector 17, thereby realizing parallel electrode detection in the borehole, and making the top of the threaded hole of the internal thread fixing pin 22 contact with the bottom end of the stud 11, and the stud 11 is driven by the driving motor to rotate forward, so that the stud 11 drives the internal thread fixing pin 22 to move upward, and the internal thread fixing pin 22 enters the inside of the cylinder 10 through the guidance of the guide groove. When the internal thread fixing pin 22 needs to be fixed on the inner wall of the borehole, the driving device drives the sliding block 9 to slide downward, so that the sliding block 9 drives the cylinder 10 to extend downward, and the driving motor drives the stud 11 to rotate in the opposite direction, and the stud 11 pushes the internal thread fixing pin 22 to move downward, so that the bottom of the internal thread fixing pin 22 is inserted into the inner wall of the borehole.
[0031] When the present embodiment is working, the device is placed inside the borehole, and the crawler robot 1 is started to drive the connecting pipe 3 to move, so that the device moves as a whole inside the borehole. When the device moves to the position to be detected, it stops moving, and the two groups of air bags 4 are inflated by the conveying device. After the two groups of air bags 4 are inflated, the left and right ends of the connecting pipe 3 are blocked. The conveying device fills the connecting pipe 3 with water, and the water is discharged from the multiple groups of drainage holes in the connecting pipe 3, so that the water is injected into the blocked area, and the water pressure is detected by the pressure sensor 5. The borehole is detected by the parallel electrode method through the conveying device.
[0032] The crawler robot 1, camera 2, pressure sensor 5, motor 12, inflation component 14, water supply component 15, power supply component 16, detector 17, drill bit 23 and display controller 24 described in the utility model are purchased on the market. Technicians in the industry only need to install and operate them according to the accompanying instruction manual, without the need for technical personnel in this field to make creative efforts.
[0033] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.
Claims
1. A multi-parameter roof crack detection device for mining based on a drilling crawling robot, comprising a crawler robot (1) and a camera (2), wherein the camera (2) is mounted on the outer side wall of the crawler robot (1); characterized in that: The invention also comprises a conveying device, a clamping device, a connecting pipe (3), an air bag (4), a pressure sensor (5) and a sleeve (6). The outer wall of the connecting pipe (3) is provided with a plurality of drainage holes. Two groups of air bags (4) are respectively installed at the left and right ends of the connecting pipe (3). The right air bag (4) is connected to the outer wall of the crawler robot (1). The pressure sensor (5) is installed on the outer wall of the connecting pipe (3). The sleeve (6) is arranged on the outer wall of the left air bag (4). The right end of the sleeve (6) is connected to the conveying device. The conveying device is used to provide water, gas and electricity to the detection device, and the conveying device is used to perform parallel electrode detection in the borehole. The clamping device is installed on the outer wall of the left air bag (4). The clamping device is used to clamp and fix the cable, and the clamping device is used to insert the end of the cable into the inner wall of the borehole.
2. A multi-parameter roof crack detection device for mining based on a drilling crawling robot as claimed in claim 1, characterized in that: The conveying device comprises an air filling component (14), a water supply component (15), a power supply component (16), a detector (17), an air pipe (18), a water pipe (19), an electric wire (20), a cable (21) and an internally threaded fixing pin (22). The air pipe (18), the water pipe (19) and the electric wire (20) all pass through the interior of the casing (6). The air filling component (14) is connected to the two groups of air bags (4) through the air pipe (18). The water supply component (15) is connected to the connecting pipe (3) through the water pipe (19). The power supply component (16) is connected to the crawler robot (1) through the electric wire (20). The input end of the cable (21) is connected to the detector (17). The output end of the cable (21) is connected to the internally threaded fixing pin (22). The outer wall of the cable (21) is provided with an electrode. The internally threaded fixing pin (22) is fixed to the left air bag (4) through a clamping device.
3. A multi-parameter roof crack detection device for mining based on a drilling crawling robot as claimed in claim 1, characterized in that: The clamping device comprises a driving device, a fixing frame (7), a shell (8), a sliding block (9), a cylinder (10) and a stud (11); the fixing frame (7) is mounted on the outer side wall of the left air bag (4); the shell (8) is mounted on the left air bag (4) through the fixing frame (7); the sleeve (6) passes through the inside of the shell (8); the sliding block (9) is mounted on the shell (8) by the driving device so as to slide up and down; a driving motor is arranged inside the sliding block (9); the cylinder (10) is mounted on the bottom end of the sliding block (9); the stud (11) is rotatably mounted on the bottom end of the sliding block (9); the output end of the driving motor is connected to the stud (11); the stud (11) is rotatably arranged inside the cylinder (10); and a guide groove is arranged on the outer side wall of the shell (8).
4. A multi-parameter roof crack detection device for mining based on a drilling crawling robot as claimed in claim 3, characterized in that: The driving device comprises a motor (12), a gear (13) and a rack (26); the motor (12) is mounted on a housing (8); the gear (13) is arranged on an output end of the motor (12); the rack (26) is arranged on an outer wall of a sliding block (9); and the rack (26) meshes with the gear (13).
5. A multi-parameter roof crack detection device for mining based on a drilling crawling robot as claimed in claim 1, characterized in that: It also includes a drill bit (23), which is installed at the end of the crawler robot (1), and the drill bit (23) is connected to the electric wire (20).
6. A multi-parameter roof crack detection device for mining based on a drilling crawling robot as claimed in claim 2, characterized in that: It also includes a display controller (24), and the inflation component (14), the water supply component (15), the power supply component (16) and the detector (17) are all electrically connected to the display controller (24).
7. A multi-parameter roof crack detection device for mining based on a drilling crawling robot as claimed in claim 1, characterized in that: It also includes a plurality of sets of auxiliary wheels (25), which are circumferentially mounted on the outer side wall of the connecting pipe (3).