Wheel type crawler in underground coal mine hole

Abstract

The utility model discloses a wheel type crawler in a hole in an underground coal mine. The wheel type crawler comprises an optical fiber connecting short section, a control short section, a first driving short section, a battery bin, a second driving short section and a camera shooting short section which are connected in sequence, a battery power supply and orifice control mode is adopted, pushing wheels of the driving short sections are arranged on moving plates, pushing springs are mounted on the moving plates, and the pushing wheels tightly abut against the hole wall towards the radial outer side under the action of the pushing springs, so that the friction force between the two sets of driving wheels and the hole wall is larger, slipping is effectively prevented, and the two driving short sections are connected in series, so that larger pulling force can be generated; when the drilling hole collapses or the diameter of the drilling hole is suddenly increased and the like, better passing capacity is achieved, when one driving short section is suddenly increased due to the diameter of the drilling hole and the pushing wheel is suspended, the other driving short section can still be located in the hole wall with the normal diameter of the drilling hole, driving force is generated, the crawler is driven to advance or retreat, and the crawler is driven to move forwards or backwards. The technical problem that existing in-hole monitoring equipment cannot be conveniently fed into a drill hole is solved.

Description

Technical Field

[0001] The utility model belongs to the field of underground geological exploration in coal mines and relates to a crawler, in particular to a wheeled crawler in a hole in a coal mine. Background Art

[0002] Drilling construction in underground coal mines is a huge undertaking and plays a vital role in coal mine safety. Drilling construction is a crucial tool for advanced detection, gas extraction, rock burst prevention, and water hazard control. Therefore, in the coal mining process, the number and length of drill holes are increasing to prevent and control disasters such as mine water hazards, rock burst, and coal and gas outbursts. However, drill holes are currently underutilized, with many being used solely for detection. While detection accuracy is high, due to the small cross-section of the drill hole, the detection range is limited, limited to a single hole, which can easily lead to missed detection of anomalies. With the advancement of various sensing technologies, the size and power consumption of sensors are decreasing. Therefore, using drill holes for geophysical exploration, which fully utilizes the advantages of both drilling and geophysical exploration, can not only expand the detection range but also improve detection accuracy and precision, which will be more conducive to disaster prevention and control. Currently, borehole detection or monitoring equipment is typically delivered manually or by drilling rigs. However, due to the roughness of the borehole, the high resistance caused by the extensive drilling process, and the high penetration distance of manual pushing, the instrument generally does not exceed 100 meters. While drilling rigs can push the instrument farther, they are bulky, difficult to move, and inefficient. Therefore, there is an urgent need to develop a borehole crawler to solve this problem. The diameter of the borehole in coal mines is generally around 100 mm, which is relatively small. This places new demands on the dimensions of the borehole crawler. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a wheeled crawler in a coal mine underground hole to solve the technical problem in the existing technology that the hole monitoring equipment cannot be easily sent into the borehole.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A wheeled crawler in a hole in a coal mine, comprising an optical fiber connection short section, a control short section, a first drive short section, a battery compartment, a second drive short section and a camera short section connected in sequence; the control short section establishes wireless communication with the camera short section;

[0006] The control sub includes a first housing, a first body is disposed inside the first housing, and both ends of the first body are connected to the optical fiber connection sub and the battery compartment respectively; the first body is provided with a photoelectric conversion module, a first WiFi module, a network switch, a voltage conversion module and a main control board;

[0007] The network switch is electrically connected to the photoelectric conversion module, the first WiFi module and the main control board respectively; the photoelectric conversion module is connected to the optical cable in the optical fiber connection short section; and the voltage conversion module is electrically connected to the main control board and the battery compartment;

[0008] The first drive short section and the second drive short section have the same structure; the first drive short section or the second drive short section includes a first circular section, a second circular section and a third circular section that are connected, and a drive motor is provided in the first circular section and the third circular section, and the output of the drive motor is drawn out of the first circular section or the third circular section and is installed with a drive wheel; a rectangular square hole is provided on the top of the second circular section, and a pair of movable plates are provided at both ends of the rectangular square hole, and a pushing wheel is commonly provided at the ends of the pair of movable plates, and two pairs of symmetrical pushing springs are provided on the bottom inner wall of the second circular section, and the ends of the pushing springs are against the pushing wheels.

[0009] The utility model also includes the following technical features:

[0010] The camera subsection includes a second shell, in which an industrial camera, a second wifi module and an LED light source board are arranged; the industrial camera establishes communication with the second wifi module, and wireless communication is established between the second wifi module and the first wifi module; an LED lamp is arranged at the axial rear end of the second shell, and the LED lamp is connected to the LED light source board through a light guide wire.

[0011] The second shell includes a second body and a lens cover that are connected to each other.

[0012] The driving wheel includes an aluminum hub and rubber arranged on the aluminum hub.

[0013] Compared with the prior art, the present invention has the following beneficial technical effects:

[0014] The utility model adopts battery power supply and hole mouth control mode, and is composed of a control short section, two driving short sections, a battery compartment, a camera short section and an optical fiber connection short section. The pushing wheel of the driving short section is arranged on a movable plate, and the movable plate is equipped with a pushing spring. The pushing wheel is tightly pressed against the hole wall radially outward under the action of the pushing spring, so that the friction between the two sets of driving wheels and the hole wall is greater, which can effectively prevent slipping, and can also automatically adjust the pushing degree of the pushing wheels according to the borehole diameter, so that it can better use boreholes of different diameters; in addition, the two driving short sections are connected in series not only to generate greater pulling force, but also to have better passing capacity when encountering situations such as borehole collapse or sudden increase in borehole diameter. When one driving short section is suspended due to the sudden increase in borehole diameter, the other driving short section may still be in the hole wall with normal borehole diameter, so that driving force can be generated to drive the crawler forward or backward, solving the technical problem that the in-hole monitoring equipment in the prior art cannot be conveniently delivered into the borehole. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a structural diagram of the control sub 2 of the present invention;

[0017] Figure 3 This is a schematic structural diagram of the first drive sub or the second drive sub of the present invention;

[0018] Figure 4 This is a schematic diagram of the interior of the first drive sub or the second drive sub of the present invention;

[0019] Figure 5 This is a structural diagram of the camera subsection of the present utility model;

[0020] Figure 6 This is a partial structural diagram of the camera subsection of the present utility model;

[0021] Figure 7 It is a partial structural diagram of the camera subsection of the present utility model;

[0022] Figure 8 This is a schematic diagram of the use of the present utility model.

[0023] The meanings of the numbers in the figure are: optical fiber connection short section 1, control short section 2, first drive short section 3, battery compartment 4, second drive short section 5, camera short section 6;

[0024] First housing 201, first body 202, photoelectric conversion module 203, first WiFi module 204, network switch 205, voltage conversion module 206, main control board 207;

[0025] First round section 301, second round section 302, third round section 303, drive motor 304, drive wheel 305; rectangular hole 306, movable plate 307, push wheel 308, push spring 309;

[0026] Second housing 601, industrial camera 602, second Wi-Fi module 603, LED light 605;

[0027] Second body 60101, lens cover 60102.

[0028] The specific contents of the present invention are further explained in detail below with reference to the embodiments. DETAILED DESCRIPTION

[0029] It should be noted that, unless otherwise specified, all components in the present invention are components known in the art.

[0030] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent modifications made on the basis of the technical solution of this application fall within the scope of protection of the present invention.

[0031] The utility model provides a wheeled crawler in a hole in a coal mine, comprising an optical fiber connection short section 1, a control short section 2, a first drive short section 3, a battery compartment 4, a second drive short section 5 and a camera short section 6 which are connected in sequence;

[0032] The control sub 2 includes a first housing 201, within which a first body 202 is disposed. The first body 202 has two ends connected to the optical fiber connection sub 1 and the battery compartment 4, respectively. The first body 202 is provided with a photoelectric conversion module 203, a first WiFi module 204, a network switch 205, a voltage conversion module 206, and a main control board 207.

[0033] The network switch 205 is electrically connected to the photoelectric conversion module 203, the first WiFi module 204 and the main control board 207 respectively. The photoelectric conversion module 203 is connected to the optical cable in the optical fiber connection short section 1. The voltage conversion module 206 is electrically connected to the main control board 207 and the battery compartment 4.

[0034] The first drive section 3 and the second drive section 5 have the same structure; the first drive section 3 or the second drive section 5 includes a first circular section 301, a second circular section 302 and a third circular section 303 connected to each other, and a drive motor 304 is provided in the first circular section 301 and the third circular section 303. The output of the drive motor 304 is drawn out of the first circular section 301 or the third circular section 302 and is installed with a drive wheel 305; a rectangular square hole 306 is provided on the top of the second circular section 302, and a pair of movable plates 307 are provided at both ends of the rectangular square hole 306. The ends of the pair of movable plates 307 are jointly provided with a pushing wheel 308, and two pairs of symmetrical pushing springs 309 are provided on the bottom inner wall of the second circular section 302, and the ends of the pushing springs 309 are against the pushing wheel 308.

[0035] In the above technical solution, the driving short section is used to push the short section tightly against the hole wall to prevent sliding; the driving wheel is composed of an aluminum hub and rubber, which gives it good grip; the driving motor is a servo motor, which is responsible for driving the driving wheel forward and backward.

[0036] The control short section is used to cooperate with the controller of the orifice (an embedded operating system developed based on RTOS) to realize the control of the crawler. The main control board (stm32F103) 207 is used to receive the instructions of the orifice control system, decompose and convert them into internal instructions, and send them to the motor 304 of the drive short section 3 through the CAN bus; the first wifi module 204 communicates with the second wifi module of the camera short section 6 through a wireless network. The main control board 207 and the wifi module are both connected to the network switch 205. The network switch (YN-S10403) 205 is connected to the photoelectric conversion module 203. The photoelectric conversion module 203 is connected to the optical fiber in the optical fiber connection short section 1 to realize the transmission of video signals and control signals; there is a total of 1 voltage conversion module, which converts 12V AC into 5V AC, and 5V AC powers the control circuit board.

[0037] When the crawler enters the borehole, the borehole wall pushes the pushing wheel 308 radially inward. When the hole diameter becomes larger, the torque of the drive motor 304 decreases, the push rod of the drive motor 304 contracts, and the pushing wheel 308 moves radially outward, becoming thicker at this point and tightly coupled with the hole wall. When the hole diameter becomes smaller, the torque of the drive motor 304 increases, the moving plate 307 of the drive motor 304 extends, and the pushing wheel 308 moves radially inward, becoming thinner at this point and tightly coupled with the hole wall.

[0038] When the hole collapses and the hole diameter becomes larger, and the first driving short section 3 and the first driving short section 5 slip and cannot move forward, the driving motor 304 drives the driving wheel 305 to move. At this time, the moving plate 307 extends radially outward, causing the pushing wheel 308 to move radially outward, increasing the diameter of the crawler, so that the pushing wheel 308 can be more closely coupled with the hole wall, thereby increasing the friction between the driving wheel 305 and the hole wall. At the same time, the driving motor 304 increases the torque and reduces the speed to achieve normal conditions. Under the thrust of the pushing spring 309, the moving plate 307 pushes the pushing wheel 308 radially outward. At this time, the displacement of the pushing wheel 308 is the largest, making the entire driving short section thicker. When entering the drill hole, the hole wall will push against The wheel 308 pushes radially inward. Depending on the aperture, the displacement of the pushing wheel 308 is different. The larger the aperture, the smaller the displacement of the pushing wheel 308, and the larger the aperture, the greater the displacement of the pushing wheel 308. As the pushing wheel 308 moves radially inward, the movable plate 307 also moves radially inward, shortening the pushing spring 309. At this time, the pushing spring 309 generates thrust, pushing the pushing wheel 308 radially outward, anchoring the first drive short section 3 and the first drive short section 5 tightly in the hole wall, increasing the friction between the driving wheel 305 and the hole wall to prevent the driving wheel 305 from slipping when rotating, and ensuring that the first drive short section 3 and the first drive short section 5 generate forward pulling force or backward thrust.

[0039] The crawler's forward movement: The control system at the orifice turns on the crawler's power supply, starts the camera sub 6, and issues a forward command to the crawler. The control sub 1 converts the command into a motor command, which is sent to the drive motors 304 of the first drive sub 3 and the first drive sub 5 via the CAN bus. The motors rotate in the forward direction, driving the drive wheels to rotate and achieve forward crawling.

[0040] The crawler retreat process: The control system of the orifice turns on the crawler power, starts the camera short section 6, sends a retreat command to the crawler, and the control short section 1 converts the command into a motor command, which is sent to the drive motor 304 of the first drive short section 3 and the first drive short section 5 through the CAN bus. The drive motor 304 rotates in the opposite direction, driving the drive wheel to rotate to achieve backward crawling.

[0041] The camera subsection 6 includes a second shell 601, in which an industrial camera 602, a second wifi module 603 and an LED light source board are arranged; the industrial camera 602 establishes communication with the second wifi module 603, and wireless communication is established between the second wifi module 603 and the first WiFi module 204; an LED lamp 605 is arranged at the axial rear end of the second shell 601, and the LED lamp 605 is connected to the LED light source board through a light guide wire.

[0042] In the above technical solution, the camera short section is used to capture images inside the hole and transmit the video to the control short section. The industrial camera is responsible for video acquisition inside the hole. The second wifi module is connected to the industrial camera using a network cable, and uses a wireless network and the first wifi module of the control short section to transmit the video signal to the first wifi module of the control short section; the LED light source board is used to provide lighting inside the hole, and the LED light source board transmits the light source to the LED light source outside the camera short section structure through a light guide; the LED light source transmits the light source to the outside of the second shell through a light guide; the electrical connector is used to provide power to the camera short section; the electrical connector is used to provide power to the camera short section; the wifi module, industrial camera, and LED light source board are all powered by a 12V DC power supply.

[0043] The second housing 601 includes a second body 60101 and a lens cover 60102 that are connected to each other.

[0044] The driving wheel 305 includes an aluminum hub and rubber disposed on the aluminum hub.

[0045] In the above technical solution, the driving short section is used to push it tightly against the hole wall to prevent it from sliding, so that it has good grip.

Claims

1. A wheeled crawler in a coal mine underground, characterized in that: The device comprises an optical fiber connection short section (1), a control short section (2), a first drive short section (3), a battery compartment (4), a second drive short section (5) and a camera short section (6) which are connected in sequence; the control short section (2) establishes wireless communication with the camera short section (6); The control short section (2) comprises a first shell (201), a first body (202) is provided inside the first shell (201), and two ends of the first body (202) are respectively connected to the optical fiber connection short section (1) and the battery compartment (4); the first body (202) is provided with a photoelectric conversion module (203), a first WiFi module (204), a network switch (205), a voltage conversion module (206) and a main control board (207); The network switch (205) is electrically connected to the photoelectric conversion module (203), the first WiFi module (204) and the main control board (207) respectively; the photoelectric conversion module (203) is connected to the optical cable in the optical fiber connection short section (1); and the voltage conversion module (206) is electrically connected to the main control board (207) and the battery compartment (4); The first driving short section (3) and the second driving short section (5) have the same structure; the first driving short section (3) or the second driving short section (5) comprises a first circular section (301), a second circular section (302) and a third circular section (303) connected to each other; a driving motor (304) is provided in each of the first circular section (301) and the third circular section (303); the output of the driving motor (304) is drawn out of the first circular section (301) or the third circular section (303); 3) and is equipped with a driving wheel (305); a rectangular square hole (306) is opened on the top of the second circular section (302), a pair of movable plates (307) are provided at both ends of the rectangular square hole (306), and a pushing wheel (308) is commonly provided at the ends of the pair of movable plates (307), and two pairs of symmetrical pushing springs (309) are provided on the bottom inner wall of the second circular section (302), and the ends of the pushing springs (309) are against the pushing wheel (308).

2. The wheeled crawler in a hole in a coal mine as claimed in claim 1, characterized in that: The camera subsection (6) comprises a second shell (601), in which an industrial camera (602), a second Wi-Fi module (603) and an LED light source board are arranged; the industrial camera (602) establishes communication with the second Wi-Fi module (603), and wireless communication is established between the second Wi-Fi module (603) and the first Wi-Fi module (204); an LED lamp (605) is arranged at the axial rear end of the second shell (601), and the LED lamp (605) is connected to the LED light source board via a light guide.

3. The wheeled crawler in a hole in a coal mine as claimed in claim 2, characterized in that: The second shell (601) includes a second body (60101) and a lens cover (60102) connected to each other.

4. The wheeled crawler in a hole in a coal mine as claimed in claim 1, characterized in that: The driving wheel (305) comprises an aluminum hub and rubber arranged on the aluminum hub.

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