Movable underground coal bunker exploring and scanning device

Abstract

The utility model discloses a movable underground coal bunker exploring and scanning device, which belongs to the technical field of coal bunker inspection and detection and comprises a coal bunker top plate, a winch fixedly connected to the upper end of the coal bunker top plate, a moving mechanism connected to the outer surface of the winch in a winding manner, and a bunker exploring mechanism fixedly connected to the inside of the moving mechanism through bolts. The winch is matched with the moving mechanism, so that the device can move downwards from the top of the coal bunker, real and reliable three-dimensional data can be provided through the laser radar in the moving process, the real-time modeling precision reaches the centimeter level, the morphological characteristics in the bunker are clear and distinguishable, and the internal state and change of the coal bunker can be accurately mastered; the rotating assembly is matched with the detection probe, in the process that the device moves downwards, the inner wall of the coal bunker can be scanned, and the damage condition and the water leakage condition of the coal bunker wall can be effectively recognized; and through the marking assembly, the damaged point position of the bin wall can be marked in the mode of spraying colored pigment, and the practicability of the device is improved.

Description

Technical Field

[0001] This utility model relates to the field of coal bunker inspection and detection technology, and more specifically, to a mobile underground coal bunker detection and scanning device. Background Technology

[0002] Underground coal bunkers are a core part of the coal mine transportation system. Against the backdrop of my country's coal mines rapidly transforming towards intelligent operation, the monitoring, maintenance, and management of underground coal bunkers still largely rely on manual labor. As enclosed spaces, the bunkers have complex internal environments and numerous safety hazards. On the one hand, there are risks such as gas accumulation and coal dust explosions within the bunkers; on the other hand, the working space inside the bunkers is narrow and dark, and workers are highly susceptible to dangers such as being buried by falling coal or equipment failure when conducting inspections, cleaning, and unblocking. Manual operations are inherently risky.

[0003] In recent years, coal bunker accidents have occurred frequently, causing serious casualties and property losses. These painful lessons highlight the urgency of strengthening coal bunker safety management. In order to effectively strengthen coal bunker safety management and resolutely curb all kinds of coal bunker accidents, the National Mine Safety Administration issued the "Notice on Further Strengthening Coal Mine Bunker Safety Management". The notice clearly emphasizes that it is necessary to accelerate the research and development and application of unmanned bunker inspection, cleaning and unblocking technology and equipment, and accelerate the research and development and application of robots for daily inspection, cleaning and unblocking of coal bunkers, so as to avoid personnel entering the high-risk area of ​​coal bunkers.

[0004] Therefore, a mobile underground coal bunker scanning device is proposed to address the above problems. Utility Model Content

[0005] 1. Technical problems to be solved

[0006] In view of the problems existing in the prior art, the purpose of this utility model is to provide a mobile underground coal bunker detection and scanning device, which can realize the functions of automated bunker detection and detection.

[0007] 2. Technical Solution

[0008] To solve the above problems, the present invention adopts the following technical solution.

[0009] A mobile underground coal bunker scanning and detection device includes a coal bunker roof plate. A winch is fixedly connected to the upper end of the coal bunker roof plate. A moving mechanism is wound around the outer surface of the winch. A detection mechanism is fixedly connected inside the moving mechanism by bolts. The detection mechanism includes a lidar. A controller is fixedly connected to the upper end of the lidar. The controller integrates a wireless transmission module and a wireless control module. A detection probe is fixedly connected to the right end of the controller. A marking component is fixedly connected to the upper end of the controller. A rotating component is installed on the upper part of the marking component. The lidar uses TOF ranging technology, which can quickly scan the interior of the coal bunker and construct a three-dimensional model. The controller integrates the wireless transmission module and the wireless control module, which can realize real-time data transmission and remote control.

[0010] Furthermore, the moving mechanism includes a mounting frame, the lower end of which is fixedly connected to the upper end of the coal bunker roof. Two fixed pulleys are fixedly connected to the top wall of the inner cavity of the mounting frame. A steel cable is slidably connected to the outer surface of the two fixed pulleys. A connecting seat is fixedly connected to the lower end of the steel cable. A connecting plate is fixedly connected to the lower end of the connecting seat.

[0011] Furthermore, the rotating assembly includes a second connecting plate, a motor is fixedly connected to the lower end of the second connecting plate, a worm is fixedly connected to the output end of the motor via a coupling, a worm wheel is meshed with the outer surface of the worm, a drive shaft is fixedly connected to the inner surface of the worm wheel, a bearing is fixedly connected to the outer surface of the drive shaft, and the outer surface of the bearing is fixedly connected to the inner surface of the second connecting plate.

[0012] Furthermore, the marking assembly includes a connecting box, an electric push rod is provided inside the connecting box, an injector is fixedly connected to the output end of the electric push rod, a nozzle is fixedly connected to the right end of the injector, and an injection pipe is fixedly connected and communicated to the outer surface of the injector. Colored pigment can be added to the injector through the injection pipe, and marking can be performed when the detection probe detects damage to the bin wall.

[0013] Furthermore, the upper end of the second connecting plate is fixedly connected to the lower end of the connecting plate by bolts, and the outer surface of the steel cable is wound and connected to the outer surface of the winch.

[0014] Furthermore, the upper end of the connecting box is fixedly connected to the lower end of the drive shaft, and the lower end of the connecting box is fixedly connected to the upper end of the controller.

[0015] 3. Beneficial effects

[0016] Compared with existing technologies, the advantages of this utility model are:

[0017] (1) This scheme uses a winch in conjunction with a moving mechanism to allow the device to move downward from the top of the coal bunker. During the movement, the lidar can provide real and reliable three-dimensional data with real-time modeling accuracy up to the centimeter level, making the morphological features inside the bunker clearly distinguishable and facilitating accurate understanding of the internal state and changes of the coal bunker.

[0018] (2) This solution uses a rotating component in conjunction with a detection probe to scan the inner wall of the coal bunker during the downward movement of the device. This effectively identifies the damage and leakage of the coal bunker wall, assists managers in making decisions on cleaning or maintenance, avoids the safety hazards of manual visual inspection required in the traditional process of exploring the bunker, and effectively improves the mine's control over the coal bunker.

[0019] (3) This solution uses a marking component to mark the damaged points on the warehouse wall by spraying colored pigments. This makes it easier to quickly find the damaged points during subsequent maintenance, thus improving the practicality of the device. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the moving mechanism of this utility model;

[0022] Figure 3 This is a schematic diagram of the probe mechanism of this utility model;

[0023] Figure 4 This is a schematic diagram of the rotating component of this utility model;

[0024] Figure 5 This is a schematic diagram of the marking component of this utility model.

[0025] Explanation of the labels in the diagram:

[0026] 1. Coal bunker roof; 2. Winch; 3. Moving mechanism; 31. Mounting frame; 32. Fixed pulley; 33. Steel cable; 34. Connecting seat; 35. Connecting plate one; 4. Detection mechanism; 41. LiDAR; 42. Controller; 43. Detection probe; 44. Marking assembly; 441. Connecting box; 442. Electric push rod; 443. Injector; 444. Nozzle; 445. Injection pipe; 45. Rotating assembly; 451. Connecting plate two; 452. Motor; 453. Worm gear; 454. Worm wheel; 455. Drive shaft; 456. Bearing. Detailed Implementation

[0027] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0028] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] Example 1:

[0031] Please see Figures 1-5 A mobile underground coal bunker detection and scanning device includes a coal bunker roof plate 1, a winch 2 fixedly connected to the upper end of the coal bunker roof plate 1, a moving mechanism 3 wound around the outer surface of the winch 2, a detection mechanism 4 fixedly connected inside the moving mechanism 3 by bolts, the detection mechanism 4 includes a lidar 41, a controller 42 fixedly connected to the upper end of the lidar 41, a wireless transmission module integrated inside the controller 42, a wireless control module integrated inside the controller 42, a detection probe 43 fixedly connected to the right end of the controller 42, a marking component 44 fixedly connected to the upper end of the controller 42, and a rotating component 45 installed on the upper part of the marking component 44.

[0032] Winch 2 is a mining explosion-proof variable frequency speed control winch, model JYB-50×1.2S, with a rated traction force of 50kN and a maximum lifting speed of 1.2m / s, which is suitable for the deep operation requirements of underground coal bunkers.

[0033] The LiDAR 41 uses the high-precision 3D LiDAR RIEGL VZ-1000, which is designed for industrial measurement and modeling. It has a scanning range of 360°×270°, a ranging accuracy of ±15mm, and a maximum detection distance of 100m, which fully meets the spatial scanning needs of underground coal bunkers. Its built-in TOF ranging technology can process up to 500,000 measurement points per second, enabling it to quickly build a high-precision 3D model of the coal bunker. In addition, the LiDAR 41 has an IP67 protection rating, which can effectively resist the effects of the humid and dusty environment underground.

[0034] The controller 42 uses the Advantech ARK-3500 industrial-grade embedded controller, which is equipped with an Intel Core i7 processor and has powerful data processing capabilities, enabling it to process large amounts of data collected by the LiDAR 41 and the detection probe 43 in real time.

[0035] The outer surface of the winch 2 is tightly wound with a high-strength multi-layer steel wire stranded cable 33. The cable 33 is connected to the moving mechanism 3. Through the cable winding and unwinding action of the winch 2, the moving mechanism 3 can be accurately raised and lowered in the coal bunker. The inside of the moving mechanism 3 is firmly connected to the exploration mechanism 4 through high-strength anti-loosening bolts. This connection method is not only easy to install and disassemble, but also maintains a reliable connection in the complex vibration environment underground, enabling the two to work together. When the exploration mechanism 4 moves down in the coal bunker, it can complete the scanning and detection work inside the coal bunker, present the internal condition of the coal bunker to the terminal, and scan the inner wall of the coal bunker to check for any damage.

[0036] Please see Figures 2-5 The moving mechanism 3 includes a mounting frame 31. The lower end of the mounting frame 31 is fixedly connected to the upper end of the coal bunker roof plate 1. Two fixed pulleys 32 are fixedly connected to the inner wall of the mounting frame 31. A steel cable 33 is slidably connected to the outer surface of the two fixed pulleys 32. The outer surface of the steel cable 33 is wound and connected to the outer surface of the winch 2. A connecting seat 34 is fixedly connected to the lower end of the steel cable 33. A connecting plate 35 is fixedly connected to the lower end of the connecting seat 34.

[0037] The rotating assembly 45 includes a second connecting plate 451. The upper end of the second connecting plate 451 is fixedly connected to the lower end of the first connecting plate 35 by bolts. A motor 452 is fixedly connected to the lower end of the second connecting plate 451. A worm gear 453 is fixedly connected to the output end of the motor 452 through a coupling. A worm wheel 454 is meshed with the outer surface of the worm gear 453. A drive shaft 455 is fixedly connected to the inner surface of the worm wheel 454. A bearing 456 is fixedly connected to the outer surface of the drive shaft 455. The outer surface of the bearing 456 is fixedly connected to the inner surface of the second connecting plate 451.

[0038] The marking component 44 includes a connecting box 441. The upper end of the connecting box 441 is fixedly connected to the lower end of the drive shaft 455, and the lower end of the connecting box 441 is fixedly connected to the upper end of the controller 42. An electric push rod 442 is provided in the inner cavity of the connecting box 441. An injector 443 is fixedly connected to the output end of the electric push rod 442. A nozzle 444 is fixedly connected to the right end of the injector 443. An injection pipe 445 is fixedly connected to and communicates with the outer surface of the injector 443.

[0039] The winch 2 is started by the wireless control module of the controller 42, and the steel cable 33 is slowly lowered at a speed of 0.3 meters per second, which drives the coal bin exploration mechanism 4 to descend smoothly. During the descent, the lidar 41 continuously scans the inside of the coal bin, quickly builds a three-dimensional model of the coal bin, and transmits the data to the ground monitoring terminal in real time.

[0040] Simultaneously, the controller 42 starts the motor 452, causing the worm gear 453 to rotate under the action of the motor 452. This drives the worm wheel 454 to rotate the transmission shaft 455 with the cooperation of the bearing 456, ultimately causing the detection probe 43 to rotate and continuously detect the inner wall of the coal bunker.

[0041] When the detection probe 43 detects a minor crack in a certain area of ​​the bin wall, it immediately sends a signal to the controller 42. Upon receiving the signal, the controller 42 immediately stops the winch 2 and the motor 452, and simultaneously activates the electric push rod 442 to push out the sprayer 443, allowing the sprayer 443 to approach the damaged area. Finally, the controller 42 controls the sprayer 443 to start, spraying colored pigment from the nozzle 444 to mark the abnormal area and provide clear guidance for subsequent maintenance.

[0042] It should be noted that the motor 452, winch 2, lidar 41, controller 42, detection probe 43, electric push rod 442, and injector 443 in this utility model are all powered by a power supply, and the motor 452, winch 2, lidar 41, detection probe 43, electric push rod 442, and injector 443 are all controlled by controller 42.

[0043] It should be noted that the specific installation methods, circuit connection methods, and control methods of the motor 452, winch 2, laser radar 41, controller 42, detection probe 43, electric push rod 442, and ejector 443 in this utility model are all conventional designs, and will not be described in detail in this utility model.

[0044] Working principle:

[0045] The winch 2 is started by the wireless control module integrated in the controller 42, which releases the steel cable 33. At this time, the detection mechanism 4 will move downward under its own gravity, so that the steel cable 33 can slide along the outer surface of the two fixed pulleys 32. During the downward movement of the detection mechanism 4, the lidar 41 can scan the state inside the coal bunker in real time and generate a three-dimensional image, which is transmitted to the monitoring terminal through the wireless transmission module integrated in the controller 42, so that the staff can keep abreast of the situation inside the coal bunker.

[0046] During the descent of the detection mechanism 4, the controller 42 starts the motor 452, which causes the worm gear 453 to rotate under the action of the motor 452. This drives the worm wheel 454 to drive the transmission shaft 455 to rotate with the cooperation of the bearing 456. Ultimately, this causes the detection probe 43 to rotate, thereby scanning the inner wall of the coal bunker and promptly detecting any damage or leakage on the inner wall of the coal bunker.

[0047] Before probing the coal bunker, colored marker pigment can be added to the injector 443 through the injection pipe 445. During the probing process, when the detection probe 43 detects damage and water leakage on the inner wall of the coal bunker, it will transmit a signal to the controller 42. The controller 42 will then control the electric push rod 442 to start, and at the same time, control the motor 452 and the winch 2 to stop running, so that the injector 443 can be pushed outward by the electric push rod 442, allowing the injector 443 to approach the damaged point. Finally, the controller 42 will control the injector 443 to start, spraying the colored pigment from the nozzle 444 above the damaged point, making it easier to quickly locate the damaged point during subsequent maintenance.

[0048] The above description is merely a preferred embodiment of this utility model; however, the protection scope of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in this utility model, based on the technical solution and its improved concept, should be included within the protection scope of this utility model.

Claims

1. A mobile underground coal bin exploration scanning device for a coal bin roof (1), characterized in that: A winch (2) is fixedly connected to the upper end of the coal bunker roof plate (1). A moving mechanism (3) is wound around the outer surface of the winch (2). A detection mechanism (4) is fixedly connected inside the moving mechanism (3) by bolts. The detection mechanism (4) includes a laser radar (41). A controller (42) is fixedly connected to the upper end of the laser radar (41). A wireless transmission module is integrated inside the controller (42). A wireless control module is integrated inside the controller (42). A detection probe (43) is fixedly connected to the right end of the controller (42). A marking component (44) is fixedly connected to the upper end of the controller (42). A rotating component (45) is installed on the upper part of the marking component (44).

2. The mobile coal bin scanning device of claim 1, wherein: The moving mechanism (3) includes a mounting frame (31), the lower end of which is fixedly connected to the upper end of the coal bunker roof plate (1). Two fixed pulleys (32) are fixedly connected to the top wall of the inner cavity of the mounting frame (31). A steel cable (33) is slidably connected to the outer surface of the two fixed pulleys (32). A connecting seat (34) is fixedly connected to the lower end of the steel cable (33). A connecting plate (35) is fixedly connected to the lower end of the connecting seat (34).

3. A mobile coal bin scanning device for use in a coal mine according to claim 2, wherein: The rotating assembly (45) includes a second connecting plate (451). A motor (452) is fixedly connected to the lower end of the second connecting plate (451). A worm gear (453) is fixedly connected to the output end of the motor (452) through a coupling. A worm wheel (454) is meshed with the outer surface of the worm gear (453). A transmission shaft (455) is fixedly connected to the inner surface of the worm wheel (454). A bearing (456) is fixedly connected to the outer surface of the transmission shaft (455). The outer surface of the bearing (456) is fixedly connected to the inner surface of the second connecting plate (451).

4. A mobile coal bin scanning device for use in a coal mine according to claim 3, wherein: The marking assembly (44) includes a connecting box (441), an electric push rod (442) is provided in the inner cavity of the connecting box (441), an injector (443) is fixedly connected to the output end of the electric push rod (442), a nozzle (444) is fixedly connected to the right end of the injector (443), and an injection pipe (445) is fixedly connected to and communicates with the outer surface of the injector (443).

5. The mobile coal bin scanning device of claim 3, wherein: The upper end of the second connecting plate (451) is fixedly connected to the lower end of the first connecting plate (35) by bolts, and the outer surface of the steel cable (33) is wound and connected to the outer surface of the winch (2).

6. A mobile coal bin scanning device for use in a coal mine according to claim 4, wherein: The upper end of the connecting box (441) is fixedly connected to the lower end of the transmission shaft (455), and the lower end of the connecting box (441) is fixedly connected to the upper end of the controller (42).

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