Device capable of stably detecting defects in shaft

Abstract

The utility model relates to the technical field of coal mine safety detection, in particular to a device capable of stably detecting defects in a shaft, which comprises a rack, an extending plate, a support and a lower table, a steel wire rope hole is arranged on the rack, a lifting steel wire rope is arranged at the center of the upper end face of the rack, eight groups of side plates are arranged on the side face of the rack, and cambered surface plates are arranged on four groups of side plates. A hollow layer is arranged on the middle layer of the machine frame, a middle square column is arranged at the center in the hollow layer, a plurality of sets of batteries are installed on the upper end face of the machine frame, the machine frame is installed on a plurality of sets of positioning steel wire ropes through steel wire rope holes, and a movable ground penetrating radar is arranged at the upper end of an extending plate. According to the ground penetrating radar push-out device, the push-out plate is utilized to drive the arc-shaped arm and the arc-shaped plate to be unfolded, so that the arc-shaped arm is in contact with and supports the wall of a shaft, and equipment is stably pushed out of the ground penetrating radar to be close to the position to be detected.

Description

Technical Field

[0001] This utility model relates to the field of coal mine safety detection technology, and in particular to a device that can stably detect defects inside a shaft. Background Technology

[0002] To meet the high standards required for deep well shaft inspection, and to address these challenges, coal mine safety monitoring robots have been introduced in China. These robots, with their ease of operation, high efficiency, and flexibility, are ideally suited for shaft inspection work.

[0003] However, the equipment currently used in inspection robots, such as ordinary cameras, infrared cameras and cross-section scanners, still has room for improvement in detection accuracy, and the detection methods for common problems such as well shaft deformation, well wall spalling and surface cracks are not yet perfect.

[0004] In practical applications in coal mines, the application of robotics technology to specific environments such as coal mine roadways and vertical shafts has improved the level of health monitoring technology, enabling safe, efficient, intelligent, and unmanned coal mining. At the same time, it monitors and provides early warnings of the status of coal mine infrastructure and equipment, providing safety guarantees for efficient production. This has become an important development trend in the coal mining industry.

[0005] Therefore, developing an intelligent unmanned inspection system for deep wells and using advanced technology to achieve regular unmanned inspections of vertical shafts, ensuring the safety of the shaft passage, enhancing risk prevention and control capabilities, and providing accurate information for the safety of vertical shaft passages are of great significance to the safe production and digital transformation of mining areas.

[0006] For ultra-deep vertical shafts, the inspection intelligent robot must operate stably. Furthermore, ground-penetrating radar may be affected by various factors, such as obstacles like ladders and pipelines, when operating in an air-coupled manner, resulting in blurred detection images. Therefore, more advanced detection methods and systems are required.

[0007] To ensure the accuracy of inspection results, intelligent inspection equipment needs to perform close-range fine detection and comprehensive inspection of blurred areas in the image to provide accurate and effective inspection data.

[0008] This requires intelligent inspection equipment to have high-precision detection capabilities, be able to effectively collect and analyze images in complex environments, and ensure the accuracy and reliability of inspection data. Summary of the Invention

[0009] Therefore, this utility model was made in view of the above problems. The purpose of this utility model is to use an electric push rod to push the ejector plate out through the slide rail, while the ejector plate drives the arc-shaped arm and arc-shaped plate to unfold, so that the arc-shaped arm contacts and supports the well wall, allowing the equipment to stably push the ground-penetrating radar close to the detection point, realizing a close-to-the-detection mode to solve the above problems; this utility model achieves the above objective through the following technical solution:

[0010] A device for stable defect detection inside a well shaft includes: a frame, an extension plate, a support, and a lower platform. The frame has wire rope holes, and a tension wire rope is positioned at the center of the upper surface of the frame. The frame has eight sets of side plates, four of which have curved panels. The bottom of each curved panel has a bottom protrusion plate with a mounting hole. The frame has a hollow middle layer with a central square column at its center. Multiple batteries are mounted on the upper surface of the frame. The frame is mounted on multiple positioning wire ropes through the wire rope holes. A movable... The ground-penetrating radar has a second mounting shaft on the side of the extended plate, sliding plates on both sides of the rear end of the extended plate, a square plate second at the center of the rear end of the extended plate, a third mounting shaft on the square plate second, two sets of arc-shaped arms at both ends of the support, a flexible block at the bottom of each set of arc-shaped arms, a second mounting hole on the inner wall of each set of arc-shaped arms, a fourth mounting shaft at the upper end of each set of arc-shaped arms, a fifth mounting shaft at the lower end of the arc-shaped plate, a third mounting hole at the upper end of the arc-shaped plate, a fourth mounting hole at the end of the electric push unit, and a rod installed inside the electric push unit with a fifth mounting hole at the end of the rod.

[0011] Preferably, the hollow layer has multiple sets of connecting columns inside, which are used to connect the upper and lower ends of the hollow layer. Four sets of side plates with arc panels are equipped with slide rails, and four sets of side plates without arc panels are equipped with fixed ground penetrating radars.

[0012] Preferably, each of the four sides of the central square column is provided with a square plate, and each set of square plates is provided with a mounting shaft.

[0013] Preferably, the slide plate is installed inside the slide rail, the electric pusher is installed on the mounting shaft one through mounting hole four, and the arc plate is installed on the mounting hole one through mounting shaft five.

[0014] Preferably, the outer side of the protruding plate is disposed in the mounting hole 2 via the mounting shaft 2, the inner side of the protruding plate is mounted on the mounting hole 5 via the mounting shaft 3, and the bracket is mounted in the mounting hole 3 via the mounting shaft 4.

[0015] Preferably, the lower stage is equipped with a control module and a communication module, a 3D laser scanner at the bottom of the lower stage, a lower plate below the lower stage, and multiple CCD cameras and light sources installed at the bottom of the lower plate.

[0016] The beneficial effects of this utility model are:

[0017] 1. This utility model utilizes an electric push rod to push the ejector plate out through the slide rail. At the same time, the ejector plate drives the arc-shaped arm and arc plate to unfold, so that the arc-shaped arm contacts and supports the well wall. This allows the equipment to stably push the ground-penetrating radar close to the area to be detected, realizing a close-range detection mode. This enables the comprehensive detection of complex defects in the vertical shaft, as well as the real-time detection of minute defects, ensuring the stability of the device's operation and improving the efficiency and effectiveness of the detection work. Attached Figure Description

[0018] Figure 1 A schematic diagram of the first state of the device provided by this utility model.

[0019] Figure 2 This is a schematic diagram of the second state of the device provided by this utility model.

[0020] Figure 3 A schematic diagram of the device in the explosion state provided by this utility model.

[0021] Figure 4 A first-view diagram illustrating the assembly of the device provided by this utility model.

[0022] Figure 5 A second-view diagram illustrating the assembly of the device provided by this utility model.

[0023] Figure 6 This is a schematic diagram of the electric pusher assembly provided by this utility model.

[0024] Figure 7 This is a first-view schematic diagram of the rack provided for this utility model.

[0025] Figure 8 This is a second-view schematic diagram of the frame provided by this utility model.

[0026] Figure 9 A schematic diagram of the protruding plate provided by this utility model.

[0027] Figure 10 A schematic diagram of the bracket provided by this utility model.

[0028] Figure 11 A schematic diagram of the arc-shaped plate provided by this utility model.

[0029] Figure 12 A schematic diagram of the lower platform provided by this utility model.

[0030] Explanation of reference numerals in the attached figures:

[0031] 10. Frame; 101. Wire rope hole; 102. Pulling wire rope; 11. Side plate; 111. Arc panel; 112. Bottom convex plate; 113. Mounting hole one; 12. Hollow layer; 121. Connecting column; 122. Fixed ground penetrating radar; 123. Slide rail; 13. Middle square column; 131. Square plate one; 132. Mounting shaft one; 14. Battery; 15. Positioning wire rope; 20. Extending plate; 21. Mobile ground penetrating radar; 22. Mounting shaft two; 23. Slide board; 24. Square board two; 241. Mounting shaft three; 30. Bracket; 31. Arc arm; 311. Flexible block; 312. Mounting hole two; 313. Mounting shaft four; 32. Arc plate; 321. Mounting shaft five; 322. Mounting hole three; 33. Electric push unit; 331. Mounting hole four; 34. Rod; 341. Mounting hole five; 40. Lower platform; 41. 3D laser scanner; 42. Lower plate; 43. CCD camera; 44. Light source. Detailed Implementation

[0032] Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will make it easy for those skilled in the art to implement these embodiments; however, the present invention can also be implemented in various different forms, and therefore the present invention is not limited to the embodiments described below; in addition, for the purpose of more clearly describing the present invention, parts not connected to the present invention will be omitted from the drawings.

[0033] like Figure 1 , Figure 2 , Figure 3 As shown, a device for stable detection of defects inside a well shaft includes: a frame 10, an extension plate 20, a support 30, and a lower platform 40.

[0034] Multiple sets of batteries 14 are installed on the upper surface of the frame 10. The frame 10 is installed at multiple sets of positioning steel wire ropes 15 through steel wire rope holes 101. The slide plate 23 is installed in the slide rail 123. The electric pusher 33 is installed at the mounting shaft 132 of the middle square column 13 through mounting hole 4 331. The arc plate 32 is installed at the mounting hole 113 of the arc panel 111 through mounting shaft 5 321.

[0035] like Figure 4 , Figure 5 As shown, the protruding plate 20 is installed in the mounting hole 312 of the bracket 30 via the mounting shafts 22 on both sides, the protruding plate 20 is installed in the mounting hole 341 of the rod 34 via the mounting shaft 341 of the square plate 24, and the bracket 30 is installed in the mounting hole 322 of the two sets of arc plates 32 via the mounting shaft 313.

[0036] like Figure 7 , Figure 8As shown, the frame 10 has multiple sets of through wire rope holes 101, and a tension wire rope 102 is located at the center of the upper end face of the frame 10. The side of the frame 10 has eight sets of side plates 11, of which four sets of side plates 11 have arc-shaped panels 111. Each set of arc-shaped panels 111 has a bottom protrusion 112, and each set of bottom protrusions 112 has a mounting hole 113. The middle layer of the frame 10 has a hollow layer 12, and multiple sets of connecting posts 121 are located inside the hollow layer 12 for connecting the hollow layer 12. 2. At the top and bottom ends, there are four sets of slide rails 123 located at the four sets of side plates 11 with arc panels 111 inside the hollow layer 12. Each set of slide rails 123 is installed at the top and bottom ends of the hollow layer 12. There are four sets of fixed ground penetrating radars 122 located at the four sets of side plates 11 without arc panels 111 inside the hollow layer 12. There is a central square column 13 at the center of the hollow layer 12. The central square column 13 has four faces, each face has a square plate 131, and each set of square plates 131 has a mounting shaft 132.

[0037] like Figure 9 As shown, the upper end of the protruding plate 20 has a mobile ground-penetrating radar 21, the two sides of the protruding plate 20 have two sets of mounting shafts 22, the two sides of the rear end of the protruding plate 20 have two sets of sliding plates 23, the center of the rear end of the protruding plate 20 has two sets of square plates 24, and the two sets of square plates 24 have a mounting shaft 241 between them.

[0038] like Figure 10 As shown, the bracket 30 has two sets of arc arms 31 at both ends, each set of arc arms 31 has a flexible block 311 at the bottom end, the inner walls of the two sets of arc arms 31 have mounting holes 312, and the upper end of each set of arc arms 31 has a mounting shaft 313.

[0039] like Figure 11 As shown, the lower end of the arc plate 32 has a mounting shaft 321, and the upper end of the arc plate 32 has a mounting hole 322.

[0040] like Figure 6 As shown, the electric push part 33 has a mounting hole 331 at its end, and a rod part 34 is installed inside the electric push part 33. The rod part 34 has a mounting hole 341 at its end.

[0041] like Figure 12 As shown, the lower platform 40 is equipped with a control module and a communication module. The control module controls the movement of the entire device, and the communication module transmits data to the receiving end on the ground. The lower platform 40 has a 3D laser scanner 41 at its lower end and a lower plate 42 at its lower end. Multiple CCD cameras 43 and light sources 44 are installed at the bottom of the lower plate 42.

[0042] The basic principle of this utility model:

[0043] like Figure 1As shown, when the device receives the detection command, it pulls the steel wire rope 102 to release the line, thereby causing the frame 10 to move downward along the positioning steel wire rope 15 through the steel wire rope hole 101 to perform detection. At this time, the extension plate 20 retracts at the arc panel 111 of the frame 10, and the bracket 30, arc arm 31, and arc plate 32 retract together to conform to the arc shape of the arc panel 111. The fixed ground penetrating radar 122 and the mobile ground penetrating radar 21 cooperate to perform circular line detection. At the same time, the three-dimensional laser scanner 41, CCD camera 43, and light source 44 work synchronously to perform three-dimensional scanning and image acquisition detection.

[0044] When an unidentified defect is detected, the electric pusher 33 drives the rod 34 to extend, which then engages with the mounting shaft 241 of the extension plate 20 via the mounting hole 341. This causes the slide plate 23 to slide along the slide rail 123, thereby causing the extension plate 20 to slide out. The extension plate 20 moves together with the support 30 via the engagement of the mounting shaft 22 and the mounting hole 212. Simultaneously, due to the engagement of the mounting shaft 321 and the mounting hole 113 of the arc plate 32, and the engagement of the mounting hole 322 and the mounting shaft 413, the extension plate 20 rotates around the mounting hole 322 of the arc plate 32 while moving. The arc plate 32 rotates around the mounting hole 113, causing the flexible block 311 of the support 30 to contact and support the wellbore wall. The extension plate 20, carrying the mobile ground-penetrating radar 21, performs close-range detection, achieving... Figure 2 The working status is shown;

[0045] After the proximity test is completed, the device will respond as follows: Figure 1 As shown in the diagram, the steel wire rope 102 is then pulled up to continue releasing the wire, causing the frame 10 to probe downwards.

[0046] When the bottom of the well is reached, the reverse program is started, the wire rope 102 is pulled up to start winding, and the frame 10 returns upward. When the top of the well is reached, the movement stops.

Claims

1. A device for reliably detecting defects inside a wellbore, comprising: The frame (10), extension plate (20), support (30), and lower platform (40) are characterized in that: the frame (10) is provided with wire rope holes (101), a lifting wire rope (102) is provided at the center of the upper end face of the frame (10), and the side of the frame (10) is provided with eight sets of side plates (11), of which four sets of side plates (11) are provided with arc panels (111), and the bottom of the arc panels (111) is provided with bottom protrusions (112). The bottom convex plate (112) has a mounting hole (113). The middle layer of the frame (10) has a hollow layer (12). The hollow layer (12) has a central square column (13) at its center. Multiple sets of batteries (14) are installed on the upper surface of the frame (10). The frame (10) is installed on multiple sets of positioning steel wire ropes (15) through steel wire rope holes (101). A mobile ground-penetrating radar (21) is installed on the upper end of the protruding plate (20). The side of the protruding plate (20) is provided with a second mounting shaft (22), the rear end of the protruding plate (20) is provided with two sliding plates (23), the center of the rear end of the protruding plate (20) is provided with a second square plate (24), the second square plate (24) is provided with a third mounting shaft (241), the two ends of the bracket (30) are provided with two sets of arc arms (31), the bottom end of each set of arc arms (31) is provided with a flexible block (311), the inner wall of the two sets of arc arms (31) is provided with a second mounting hole (312), the upper end of each set of arc arms (31) is provided with a fourth mounting shaft (313), the lower end of the arc plate (32) is provided with a fifth mounting shaft (321), the upper end of the arc plate (32) is provided with a third mounting hole (322), the end of the electric push part (33) is provided with a fourth mounting hole (331), the inside of the electric push part (33) is provided with a rod part (34), the end of the rod part (34) is provided with a fifth mounting hole (341).

2. The device for stable detection of defects inside a wellbore according to claim 1, characterized in that: The hollow layer (12) is provided with multiple sets of connecting columns (121) inside. The connecting columns (121) are used to connect the upper and lower ends of the hollow layer (12). Four sets of side plates (11) with arc panels (111) are provided with slide rails (123), and four sets of side plates (11) without arc panels (111) are provided with fixed ground penetrating radars (122).

3. The device for stable defect detection inside a wellbore according to claim 1, characterized in that: The four sides of the central square column (13) are provided with square plates (131), and each set of square plates (131) is provided with mounting shafts (132).

4. A device for stably detecting defects inside a wellbore according to claim 2 or 3, characterized in that: The slide plate (23) is installed inside the slide rail (123), the electric pusher (33) is installed on the mounting shaft (132) through the mounting hole four (331), and the arc plate (32) is installed on the mounting hole one (113) through the mounting shaft five (321).

5. The device for stable detection of defects inside a wellbore according to claim 1, characterized in that: The outer side of the protruding plate (20) is set in the mounting hole (312) via the mounting shaft (22), the inner side of the protruding plate (20) is mounted on the mounting hole (341) via the mounting shaft (341), and the bracket (30) is mounted in the mounting hole (322) via the mounting shaft (413).

6. The device for stable detection of defects inside a wellbore according to claim 1, characterized in that: The lower platform (40) is equipped with a control module and a communication module. A three-dimensional laser scanner (41) is installed at the lower end of the lower platform (40). A lower plate (42) is installed below the lower platform (40). Multiple CCD cameras (43) and light sources (44) are installed at the bottom of the lower plate (42).

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