Automatic surrounding rock surface displacement measuring equipment

Abstract

The utility model relates to the field of geotechnical engineering, in particular to automatic surrounding rock surface displacement measuring equipment, and aims to solve the problem of poor stability caused by lack of a fixing mechanism when measuring equipment works in a roadway in the prior art. The robot comprises a base, a mechanical arm installed on the top of the base, a gyroscope and a laser distance measuring sensor, the gyroscope and the laser distance measuring sensor are installed at the end of the mechanical arm, the base is of a hollow structure, and a ground gripping mechanism is installed in the base; the ground gripping mechanism comprises a lifting plate arranged in the base, a plurality of drill bits rotationally connected to the bottom face of the lifting plate and a driving assembly installed in the base and used for driving the lifting plate to ascend and descend, and a plurality of connecting holes allowing the drill bits to enter and exit are formed in the bottom face of the base. According to the utility model, the base can be conveniently fixed on the ground in a labor-saving manner before measurement, so that the measurement equipment is prevented from toppling over during working, and soil on the surface of the drill bit can be cleaned in the process that the drill bit is retracted into the base.

Description

Technical Field

[0001] This utility model relates to the field of geotechnical engineering, and in particular to an automatic surrounding rock surface displacement measuring device. Background Technology

[0002] In underground space construction such as mine roadways and tunnels, real-time monitoring of surrounding rock surface displacement is a key technology for assessing rock stability and support effectiveness. Currently, the industry commonly uses laser rangefinders for measurement. Existing technology involves mounting the laser rangefinder on a multi-angle robotic arm, then using a gyroscope. The robotic arm operates based on the angle parameters fed back from the gyroscope, thereby adjusting the orientation and angle of the laser rangefinder. Finally, the measured data is converted to obtain the final result.

[0003] However, existing measuring devices are usually placed on tripods or directly on the ground. Due to mechanical vibration, human activity interference, and the creep effect of the surrounding rock in the tunnel, the device is prone to displacement or tilting, resulting in drift error of the measurement data. Therefore, this solution proposes an automatic surrounding rock surface displacement measuring device. Utility Model Content

[0004] The present invention proposes an automatic surrounding rock surface displacement measuring device, which solves the problem of instability caused by the lack of a fixed mechanism when the measuring device is working in the roadway.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An automatic surrounding rock surface displacement measuring device includes a base, a robotic arm mounted on the top of the base, a gyroscope and a laser rangefinder mounted on the end of the robotic arm, wherein the base has a hollow structure and a ground gripping mechanism is installed inside the base.

[0007] The gripping mechanism includes a lifting plate located inside the base, multiple drill bits rotatably connected to the bottom surface of the lifting plate, and a drive assembly installed inside the base for driving the lifting plate to move up and down. The bottom surface of the base has multiple connection holes for the drill bits to enter and exit.

[0008] The bottom surface of the lifting plate is equipped with a linkage component, which is connected to the drive component for driving multiple drill bits to rotate synchronously when the lifting plate is raised and lowered.

[0009] It also includes a cleaning mechanism, which is installed inside the base and is used to clean the dirt off the surface of the drill bit when the drill bit returns to the inside of the base.

[0010] The above technical solution not only allows for convenient and labor-saving fixing of the base to the ground before measurement, thus preventing the measuring equipment from tipping over during operation, but also allows for cleaning of the soil on the surface of the drill bit during the process of retracting the drill bit into the base.

[0011] As a further improvement to the above solution, the drive assembly includes a fixed plate fixed inside the base, a screw rotatably connected to the bottom surface of the fixed plate, and a transmission motor mounted on the top surface of the fixed plate. One end of the output shaft of the transmission motor is connected to the top of the screw, and the lifting plate is threaded onto the outer circumference of the screw.

[0012] As a further improvement to the above solution, the drill bit is fitted with a linkage gear on its outer periphery. The linkage assembly includes a connecting pipe rotatably connected to the bottom surface of the lifting plate and a transmission gear fitted on the outer periphery of the connecting pipe. Multiple linkage gears mesh with the transmission gear. The connecting pipe is movably fitted on the outer periphery of the screw, and a limiting member is provided between the connecting pipe and the screw to restrict its movement in the axial direction of the screw.

[0013] The above technical solution uses the rotation of the screw to drive the rotation of the transmission gear, which in turn drives multiple drill bits to rotate synchronously.

[0014] As a further improvement to the above solution, the limiting component includes a limiting block fixed to the inner ring of the connecting pipe, and a limiting groove is provided on the outer periphery of the screw along its axial direction. One end of the limiting block extends into the limiting groove and slides with it.

[0015] The above technical solution enables the transmission gear to rotate synchronously with the screw while following the lifting plate's rise and fall.

[0016] As a further improvement to the above solution, the number of cleaning mechanisms is the same as the number of connecting holes. The cleaning mechanism includes a cleaning pipe installed in the connecting hole and an air distribution component installed on the top surface of the fixed plate for supplying air to the cleaning pipe when the lifting plate rises. The cleaning pipe has a ring structure and is coaxially arranged with its corresponding drill bit. The bottom of the cleaning pipe has multiple air outlet holes that face outwards from the drill bit and are inclined downwards.

[0017] The above technical solution utilizes the airflow blown out of the cleaning pipe to clean the mud on the surface of the drill bit, thereby preventing mud from being brought into the base.

[0018] As a further improvement to the above solution, the air distribution component includes an air cylinder installed on the top surface of the fixed plate, a piston plate installed inside the air cylinder, and a piston rod fixed on the bottom surface of the piston plate. The top surface of the fixed plate has a through hole for the piston rod to pass through, and the bottom of the piston rod passes through the through hole and is fixedly connected to the top surface of the lifting plate. An air intake pipe is installed on the top of the air cylinder, and an air delivery pipe connected to the cleaning pipe is installed on the top side of the air cylinder. One-way valves are installed on both the air delivery pipe and the air intake pipe. An observation hole communicating with the interior of the base is opened on the outer periphery of the base.

[0019] The above technical solution can be used to complete the air storage and exhaust process in the air cylinder by raising and lowering the lifting plate, thereby achieving the purpose of automatically supplying air into the cleaning pipe.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] 1. By setting up a ground gripping mechanism, the drive component can be activated when the base is placed on the tunnel floor. This drives the linkage component to rotate the drill bit while it descends, making it easy and quick to drill into the bottom surface. This avoids the device tipping over due to accidental contact or instability during measurement.

[0022] 2. By setting up a cleaning mechanism, the soil remaining on the outside of the drill rod can be blown away by wind during the process of withdrawing the drill bit from the bottom and retracting it into the base, thereby facilitating the cleaning of the drill bit. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of this utility model;

[0024] Figure 2 This is a schematic diagram of the steering motor mechanism of this utility model;

[0025] Figure 3 This is a schematic diagram of the base surface when the drill bit is not extended;

[0026] Figure 4 This is a schematic diagram of the base surface when the drill bit is extended;

[0027] Figure 5 This is a schematic diagram of the internal structure of the base;

[0028] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0029] Figure 7 This is a schematic diagram of the structure of the transmission gear and the linkage gear;

[0030] Figure 8 A schematic diagram of the structure when the drill pipe extends outside the base;

[0031] Figure 9 for Figure 8 Enlarged view of point B in the middle;

[0032] Figure 10 This is a structural diagram of the limiting groove and the limiting block;

[0033] Figure 11 This is a sectional view of the valve train.

[0034] Explanation of key symbols:

[0035] 1. Base; 2. Observation hole; 3. Robotic arm; 4. Gyroscope; 5. Laser rangefinder sensor; 6. Steering motor; 7. Connecting hole; 8. Cleaning pipe; 9. Air outlet; 10. Drill bit; 11. Air distribution component; 111. Air cylinder; 112. Piston plate; 113. Piston column; 12. Drive motor; 13. Fixing plate; 14. Lifting plate; 15. Screw; 16. Connecting pipe; 17. Drive gear; 18. Linkage gear; 19. Limiting block; 20. Limiting groove. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0037] Example 1:

[0038] Please combine Figure 1 - Figure 11 This embodiment of an automatic surrounding rock surface displacement measuring device includes a base 1, a robotic arm 3 mounted on the top of the base 1, a gyroscope 4 mounted on the end of the robotic arm 3, and a laser rangefinder 5. The base 1 has a hollow structure, and a steering motor 6 for driving the robotic arm 3 to rotate is installed on the top inner side of the base 1. During measurement, the device is placed in the selected position and then started. Under the control of the set program, the robotic arm 3 drives the adjustment of the position and orientation of the laser rangefinder 5. The gyroscope 4 works with the robotic arm to adjust the detection angle of the laser rangefinder 5. Under the control of the program, the steering motor 6 drives the robotic arm 3 to rotate, thereby assisting in the adjustment of the orientation of the laser rangefinder 5.

[0039] The base 1 is equipped with a ground-gripping mechanism, which includes a lifting plate 14 located inside the base 1, multiple drill bits 10 rotatably connected to the bottom surface of the lifting plate 14, and a drive assembly installed inside the base 1 for driving the lifting plate 14 to move up and down. The bottom surface of the base 1 has multiple connection holes 7 for the drill bits 10 to enter and exit. The drive assembly includes a fixing plate 13 fixed inside the base 1, a screw 15 rotatably connected to the bottom surface of the fixing plate 13, and a drive motor 12 installed on the top surface of the fixing plate 13. One end of the output shaft of the drive motor 12 is connected to the top of the screw 15. The base 1 is equipped with a PLC control panel for the drive motor 12, which allows for the start, stop, and operation of the drive motor 12. Adjustment is performed by rotating in the opposite direction. The lifting plate 14 is threaded onto the outer circumference of the screw 15. When the base 1 is placed at the selected measurement position, the drive motor 12 is started to rotate forward via the PLC control panel, which in turn drives the screw 15 to rotate forward. After the screw 15 rotates forward, it drives the lifting plate 14 to descend, which in turn drives multiple drill bits 10 to descend synchronously. After the drill bits 10 descend, they will pass through the connecting hole 7 directly below them, and then extend to the outside of the base 1, and finally drill into the soil below the base, thus stabilizing the base 1. Conversely, when the drive motor 12 rotates in the opposite direction, it will drive the drill bits 10 to move upward, and the drill bits will also retract from the soil. After the drill bits retract into the base 1, the drive motor 12 can be stopped.

[0040] A linkage assembly is installed on the bottom surface of the lifting plate 14. This linkage assembly is connected to the drive assembly to drive multiple drill bits 10 to rotate synchronously when the lifting plate 14 is raised or lowered. A linkage gear 18 is sleeved on the outer periphery of each drill bit 10. The linkage assembly includes a connecting pipe 16 rotatably connected to the bottom surface of the lifting plate 14 and a transmission gear 17 sleeved on the outer periphery of the connecting pipe 16. All linkage gears 18 mesh with the transmission gear 17. The connecting pipe 16 is movably sleeved on the outer periphery of the screw 15, and a limiting member is provided between the connecting pipe 16 and the screw 15 to restrict its movement along the axial direction of the screw 15. The limiting member includes a limiting block 19 fixed to the inner ring of the connecting pipe 16. A limiting groove 20 is provided on the outer periphery of the screw 15 along its axial direction. One end of the limiting block 19 extends into the limiting groove 20 and slides with it. The setting of the limiting member allows the transmission gear 17 to not only follow the lifting plate 14 but also to rotate synchronously. The lifting plate 14 rises and falls synchronously, and the transmission gear 17 can also rotate synchronously with the screw 15. After the screw 15 rotates forward, it will drive the connecting pipe 16 to rotate forward. The connecting pipe 16 will then drive the transmission gear 17 to rotate forward. The transmission gear 17 will then drive multiple linkage gears 18 to rotate in reverse. This allows multiple drill bits 10 to rotate in reverse synchronously while following the lifting plate 14 as it descends, making it easier for the drill bits 10 to drill into the soil after contacting the ground. Conversely, when the transmission motor 12 rotates in reverse, it drives the screw 15 to rotate in reverse, and the lifting plate 14 rises accordingly. At the same time, the connecting pipe 16 and the transmission gear 16 also rotate in reverse, thereby driving multiple linkage gears 18 to rotate forward. The drill bits 10 then move upward synchronously with the lifting plate 14 while rotating in forward, thus gradually exiting the soil and gradually returning to the base 1, achieving the purpose of conveniently storing the drill bits 10.

[0041] Example 2:

[0042] Combination Figure 3 - Figure 9 This embodiment, based on embodiment 1, further improves upon the following: it also includes a cleaning mechanism. The cleaning mechanism is installed inside the base 1 and is used to clean the soil on the surface of the drill bit 10 when the drill bit 10 returns to the interior of the base 1. The number of cleaning mechanisms is the same as the number of connecting holes 7. The cleaning mechanism includes a cleaning pipe 8 installed in the connecting hole 7 and an air distribution component 11 installed on the top surface of the fixed plate 13 for supplying air to the cleaning pipe 8 when the lifting plate 14 rises. The cleaning pipe 8 has a ring structure and is coaxially arranged with its corresponding drill bit 10. The bottom of the cleaning pipe 8 has multiple air outlet holes 9 facing the outer periphery of the drill bit 10 and inclined downward. During the process of the drill bit 10 withdrawing from the soil and returning to the interior of the base 1, the air distribution component 11 supplies air into the cleaning pipe 8. The air in the cleaning pipe 8 is then discharged from the air outlet holes 9 and blown onto the surface of the drill bit 10, thereby cleaning the soil remaining on the surface of the drill bit 10 and preventing soil from being brought into the interior of the base 1.

[0043] The air distribution component 11 includes an air cylinder 111 mounted on the top surface of the fixed plate 13, a piston plate 112 mounted inside the air cylinder 111, and a piston rod 113 fixed to the bottom surface of the piston plate 112. The top surface of the fixed plate 13 has a through hole for the piston rod 113 to pass through. The bottom of the piston rod 113 passes through the through hole and is fixedly connected to the top surface of the lifting plate 14. An air intake pipe is installed on the top of the air cylinder 111, and an air supply pipe communicating with the cleaning pipe 8 is installed on one side of the top of the air cylinder 111. One-way valves are installed on both the air supply pipe and the air intake pipe. An observation hole 2 communicating with the interior of the base 1 is opened on the outer periphery of the base 1. As the lifting plate 14 descends... This will cause the pistons 113 in multiple air distribution components 11 to descend synchronously, thereby drawing outside air into the air cylinder 111 through the air intake pipe. At the same time, as the lifting plate 14 moves upward and causes the drill bit 10 to move upward and exit the soil, the pistons 113 also move upward, thereby expelling the air in the air cylinder 111. The air is then delivered into the cleaning pipe 8 through the air supply pipe, and finally ejected from the air outlet 9 at the bottom of the cleaning pipe 8. This achieves the purpose of storing air in the air cylinder 111 when the lifting plate 14 moves downward, and expelling the air in the air cylinder 111 to clean the soil on the drill bit 10 when the lifting plate 14 moves upward.

[0044] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. An automatic rock surface displacement measuring device, comprising a base, a robotic arm mounted on top of the base, a gyroscope and a laser rangefinder mounted at the end of the robotic arm, characterized in that, The base has a hollow structure and a ground-gripping mechanism is installed inside the base; The gripping mechanism includes a lifting plate located inside the base, multiple drill bits rotatably connected to the bottom surface of the lifting plate, and a drive assembly installed inside the base for driving the lifting plate to move up and down. The bottom surface of the base has multiple connection holes for the drill bits to enter and exit. The bottom surface of the lifting plate is equipped with a linkage component, which is connected to the drive component for driving multiple drill bits to rotate synchronously when the lifting plate is raised and lowered. It also includes a cleaning mechanism, which is installed inside the base and is used to clean the dirt off the surface of the drill bit when the drill bit returns to the inside of the base.

2. The automatic surrounding rock surface displacement measuring device according to claim 1, characterized in that, The drive assembly includes a fixed plate fixed inside the base, a screw rotatably connected to the bottom surface of the fixed plate, and a drive motor mounted on the top surface of the fixed plate. One end of the output shaft of the drive motor is connected to the top of the screw, and the lifting plate is threaded onto the outer circumference of the screw.

3. The automatic surrounding rock surface displacement measuring device according to claim 2, characterized in that, The drill bit is fitted with a linkage gear on its outer periphery. The linkage assembly includes a connecting pipe rotatably connected to the bottom surface of the lifting plate and a transmission gear fitted on the outer periphery of the connecting pipe. Multiple linkage gears mesh with the transmission gear. The connecting pipe is movably fitted on the outer periphery of the screw, and a limiting member is provided between the connecting pipe and the screw to restrict its movement in the axial direction of the screw.

4. The automatic surrounding rock surface displacement measuring device according to claim 3, characterized in that, The limiting component includes a limiting block fixed to the inner ring of the connecting pipe. The outer periphery of the screw is provided with a limiting groove arranged along its axial direction. One end of the limiting block extends into the limiting groove and slides with it.

5. An automatic surrounding rock surface displacement measuring device according to claim 2, characterized in that, The number of cleaning mechanisms is the same as the number of connecting holes. The cleaning mechanism includes a cleaning pipe installed in the connecting hole and an air distribution component installed on the top surface of the fixed plate for supplying air to the cleaning pipe when the lifting plate rises. The cleaning pipe has a ring structure and is coaxially arranged with its corresponding drill bit. The bottom of the cleaning pipe has multiple air outlet holes facing the outer periphery of the drill bit and inclined downward.

6. An automatic surrounding rock surface displacement measuring device according to claim 5, characterized in that, The air distribution component includes an air cylinder installed on the top surface of a fixed plate, a piston plate installed inside the air cylinder, and a piston rod fixed to the bottom surface of the piston plate. The top surface of the fixed plate has a through hole for the piston rod to pass through. The bottom of the piston rod passes through the through hole and is fixedly connected to the top surface of the lifting plate. An air intake pipe is installed on the top of the air cylinder, and an air delivery pipe connected to the cleaning pipe is installed on the top side of the air cylinder. One-way valves are installed on both the air delivery pipe and the air intake pipe. An observation hole communicating with the interior of the base is opened on the outer periphery of the base.

Images