CN116203649B - Goaf connectivity detection device - Google Patents
Goaf connectivity detection device Download PDFInfo
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- CN116203649B CN116203649B CN202310474459.4A CN202310474459A CN116203649B CN 116203649 B CN116203649 B CN 116203649B CN 202310474459 A CN202310474459 A CN 202310474459A CN 116203649 B CN116203649 B CN 116203649B
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- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 230000008093 supporting effect Effects 0.000 claims abstract description 21
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims description 5
- 238000010276 construction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 238000004904 shortening Methods 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 44
- 239000010720 hydraulic oil Substances 0.000 description 11
- 238000005553 drilling Methods 0.000 description 10
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application relates to a goaf connectivity detection device, and relates to the technical field of goaf detection devices, comprising a loading vehicle; the articulated arm is articulated at one side of the top of the loading vehicle; the multistage telescopic cylinder is arranged on the articulated arm and comprises a piston rod and a cylinder body, wherein the piston rod and the cylinder body are provided with multistage telescopic rod bodies; the three-dimensional laser scanner is arranged at the end part of the piston rod and used for entering the goaf through a detection hole drilled on the ground above the goaf to perform space scanning; the detection device also comprises a stabilizing mechanism arranged on the piston rod, and the stabilizing mechanism comprises: the support frames are provided with a plurality of support frames, and are respectively arranged on a rod body at the tail end of the piston rod far away from the cylinder body, and one end of the support frames is abutted against the inner wall of the detection hole; the telescopic frame is hinged between two adjacent supporting frames. The method has the advantages of effectively exploring connectivity of the goaf, improving exploration precision, shortening exploration period and saving construction cost.
Description
Technical Field
The application relates to the technical field of goaf detection devices, in particular to a goaf connectivity detection device.
Background
Goaf is a "void" created below the earth's surface by artificial excavation or natural geological movement. For road engineering, especially for high-grade highway engineering, it is important to ensure the safety of highway operation period, especially the requirements of bridge, tunnel and other structural engineering on deformation are very strict, such engineering is located above the goaf to be treated, and the goaf, especially the multilayer goaf, is likely to be activated due to factors such as upper load, thereby causing foundation instability, endangering highway engineering safety, and being a major consideration in engineering.
At present, the goaf is detected by a drilling method at home and abroad, the accurate distribution characteristics of the goaf at a certain position can be directly revealed through drilling, and the drilling of the small goaf is generally distributed at equal intervals throughout the hall.
For the related art, the inventor finds that adjacent goafs are often mutually communicated, but because the goafs are difficult to find underground, if the connectivity of the goafs can be effectively explored, the diffusion radius of drilling holes can be calculated, the drilling hole arrangement can be effectively reduced within a certain range, and the exploration precision is improved.
Disclosure of Invention
In order to effectively probe connectivity of a goaf and improve investigation accuracy, the goaf connectivity detection device is provided.
The goaf connectivity detection device provided by the application adopts the following technical scheme:
a goaf connectivity detection device, comprising:
a loading vehicle;
the articulated arm is articulated at one side of the top of the loading vehicle;
the multistage telescopic cylinder is arranged on the articulated arm and comprises a piston rod and a cylinder body, wherein the piston rod and the cylinder body are provided with multistage telescopic rod bodies;
the three-dimensional laser scanner is arranged at the end part of the piston rod and used for entering the goaf through a detection hole drilled on the ground above the goaf to perform space scanning.
Through adopting above-mentioned technical scheme, after drilling the detection hole in goaf top ground, remove the detection hole department with the loading vehicle, adjust articulated arm angle and make the piston rod of multistage telescopic cylinder just to the detection hole, three-dimensional laser scanner just can descend into the detection hole, and then advance the regional in the goaf and carry out goaf space scanning, obtain the space model of goaf, compare through position and model between two goafs, just can obtain the connectivity condition between two goafs, rationally set up the arrangement of drilling, can improve the reconnaissance precision, shorten reconnaissance cycle, practice thrift construction cost.
Optionally, the detection device further includes a stabilizing mechanism disposed on the piston rod, the stabilizing mechanism including:
the support frames are provided with a plurality of support frames, and are respectively arranged on a rod body at the tail end of the piston rod far away from the cylinder body, and one end of the support frames is abutted against the inner wall of the detection hole;
the telescopic frame is hinged between two adjacent supporting frames;
the support frame closest to the three-dimensional laser scanner is fixedly connected with the tail end rod body; the support frame farthest from the three-dimensional laser scanner is fixedly connected with the end part of the adjacent rod body of the tail rod body; the rest support frames are connected with the tail end rod body in a sliding way.
Through adopting above-mentioned technical scheme, can improve three-dimensional laser scanner's stability at the during operation, because three-dimensional laser scanner can rotate at the during operation, piston rod length is longer, produces easily to rock, influences three-dimensional laser scanner's scanning acquisition accuracy. The support frame can establish the support between pore wall and piston rod, reduces the vibration displacement that the piston rod produced when three-dimensional laser scanner during operation. When the piston rod stretches, the support frames can be automatically pulled out in sequence through the telescopic frame, and the tail end rod body is uniformly supported; when the piston rod is shortened, the support rods can be automatically concentrated through the telescopic frame, and the effective telescopic length of the piston rod is not affected.
Optionally, the support frame includes:
the sliding ring is sleeved on the piston rod in a sliding manner;
the support rod is radially connected with the sliding ring along the piston rod;
the guide piece is arranged at the end part of the support rod and is abutted with the inner wall of the detection hole;
the support rods are circumferentially provided with at least three support rods at intervals along the sliding ring.
Through adopting above-mentioned technical scheme, the support frame can slide on the piston rod steadily, and at least three bracing piece can guarantee its supporting effect to the piston rod.
Optionally, the expansion bracket includes:
the sliding sleeve is sleeved on the supporting rod in a sliding way;
the shear type connecting rod assembly is hinged between the adjacent sliding sleeves;
the guide ring is sleeved on the tail end rod body in a sliding manner and is hinged with the scissor type connecting rod assembly.
By adopting the technical scheme, the telescopic frame can be uniformly stretched and contracted, and meanwhile, offset deformation is not easy to generate.
Optionally, the support bar includes:
the outer rod is arranged in the sliding sleeve in a sliding penetrating way, one end of the outer rod is connected with the sliding ring, and the outer rod is provided with a first oil cavity, a second oil cavity and an oil-gas mixing pressure cavity, the opening of the first oil cavity faces the guide piece, the second oil cavity is arranged outside the first oil cavity, and the oil-gas mixing pressure cavity is arranged near one end of the sliding ring; a communication hole is arranged between the first oil cavity and the second oil cavity and is close to one side of the mixed pressure cavity; the first oil cavity is connected with the oil-gas mixed pressure cavity through two overflow valves with different directions; a balance plug is arranged in the oil-gas mixing pressure cavity in a sliding way; a piston ring connected with a sliding sleeve is arranged in the second oil cavity in a sliding way;
and one end of the inner rod is slidably arranged in the first oil cavity in a penetrating way, and the other end of the inner rod is connected with the guide piece.
By adopting the technical scheme, when the piston rod stretches, the supporting frame is sequentially pulled open, the sliding sleeve moves along the direction towards the piston rod, the piston ring presses hydraulic oil into the first oil cavity from the second oil cavity, the inner rod is ejected out by the hydraulic oil, and the guide piece is propped against the inner wall of the detection hole by the inner rod and then stops moving; the piston ring continues to move, the oil pressure in the first oil cavity is increased, hydraulic oil can enter the oil-gas mixing cavity through the overflow valve, the balance plug is pushed and compresses air, the guide piece can still keep a state of abutting against the hole wall and cannot excessively squeeze the hole wall, and the guide piece can automatically adapt to bulges or depressions on the hole wall; when the piston rod contracts, the support frame gathers together, the sliding sleeve can move along the direction away from the piston rod, the piston rings synchronously move, the pressure drop in the second oil cavity is reduced, hydraulic oil in the first oil cavity can flow to the second oil cavity, hydraulic oil in the oil-gas mixed pressure cavity can flow to the first oil cavity, the inner rod returns to the initial position again, the guide piece is separated from the inner wall of the detection hole, the supporting state of the piston rod is relieved, and the three-dimensional laser scanner is convenient to withdraw from the detection hole.
Optionally, a spring is arranged between the balance plug and the inner wall of the oil-gas mixing pressure cavity.
By adopting the technical scheme, the spring applies elasticity to the balance plug, so that air in the oil-gas mixed pressure cavity is not easy to be excessively compressed to cause the balance function failure.
Optionally, a limiting ring is fixedly connected to the circumferential side wall of the outer rod.
Through adopting above-mentioned technical scheme, the stop collar is used for restricting the removal of slip cap to reduce the piston rod when the extension, the condition of its structural failure that a certain expansion bracket is excessively stretched and is led to reduces the condition that the expansion bracket is difficult to shrink when the piston rod shrink.
Optionally, the guide member includes:
the rotating seat is connected with the supporting rod;
the mounting plate is rotationally connected with the rotating seat;
the crawler wheel is rotationally connected to the mounting plate.
Through adopting above-mentioned technical scheme, the track wheel can walk on the inner wall of detection hole, can not blocked, and the mounting panel can rotate simultaneously, can make the track wheel adapt to the different angles at the uneven level of pore wall, improves stabilizing mean's suitability.
Optionally, the loading vehicle includes:
a walking unit;
a rotating part rotatably connected to the walking part;
the vehicle body part is connected to the rotating part in a sliding way;
and the driving assembly is arranged on the vehicle body and is used for driving the vehicle body to move on the rotating part.
Through adopting above-mentioned technical scheme, the rotatory adjustable position of rotation portion makes multistage telescopic cylinder towards the detection hole axis, uses drive assembly to drive automobile body portion again and removes, until the piston rod is vertical just to the detection hole.
Optionally, the driving assembly includes:
the screw is rotationally connected to the vehicle body part and is in threaded connection with the rotating part;
the guide rod is arranged on the vehicle body part in parallel with the screw rod and penetrates through the rotating part in a sliding manner;
and the driving motor is arranged on the vehicle body and used for driving the screw rod to rotate.
By adopting the technical scheme, the driving motor drives the screw to rotate, so that the vehicle body can be controlled to move on the rotating part.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the three-dimensional laser scanner can descend into the detection hole, further enters the goaf area to perform goaf space scanning to obtain a space model of the goaf, connectivity between the two goafs can be obtained by comparing the positions and the model of the two goafs, drilling arrangement is reasonably arranged, and investigation efficiency can be improved;
2. the support frame can establish support between the hole wall and the piston rod, so that vibration displacement of the piston rod generated when the three-dimensional laser scanner works is reduced; when the piston rod stretches, the support frames can be automatically pulled out in sequence through the telescopic frame, and the tail end rod body is uniformly supported; when the piston rod is shortened, the support rods can be automatically concentrated through the telescopic frame, and the effective telescopic length of the piston rod is not affected;
3. when the piston rod stretches, the stabilizing mechanism can automatically support the inner wall of the detection hole, so that the guide piece can keep a state of propping against the hole wall and can not excessively squeeze the hole wall, and the guide piece can automatically adapt to the bulge or the depression of the hole wall; when the piston rod is contracted, the stabilizing mechanism can automatically release the supporting state of the piston rod, so that the three-dimensional laser scanner can be conveniently withdrawn from the detection hole;
4. the spring applies elasticity to the balance plug, so that air in the oil-gas mixed pressure cavity is not easy to be excessively compressed to cause the balance function to be invalid;
5. the crawler wheel can walk on the inner wall of the detection hole, can not be clamped, and meanwhile, the mounting plate can rotate, so that the crawler wheel can adapt to different angles of uneven hole walls, and the applicability of the stabilizing mechanism is improved.
Drawings
FIG. 1 is a schematic overall structure of an embodiment of the present application;
FIG. 2 is a schematic diagram of another view of an embodiment of the present application;
FIG. 3 is a schematic view of a connection structure of a stabilizing mechanism and a piston rod according to an embodiment of the present application;
FIG. 4 is a schematic cross-sectional view of a support stand according to an embodiment of the present disclosure;
in the figure, 1, a loading vehicle; 11. a walking unit; 12. a rotating part; 13. a vehicle body section; 14. a drive assembly; 141. a screw; 142. a guide rod; 143. a driving motor; 2. an articulated arm; 3. a multi-stage telescopic cylinder; 31. a piston rod; 32. a cylinder; 4. a three-dimensional laser scanner; 5. a stabilizing mechanism; 51. a support frame; 511. a slip ring; 512. a support rod; 5121. an outer rod; 51211. a first oil chamber; 51212. a second oil chamber; 51213. an oil-gas mixing pressure cavity; 51214. a communication hole; 51215. an overflow valve; 51216. a balance plug; 51217. piston rings; 51218. a spring; 51219. a synchronizing lever; 5122. an inner rod; 5123. a limiting ring; 513. a guide member; 5131. a rotating seat; 5132. a mounting plate; 5133. track wheels; 52. a telescopic frame; 521. a sliding sleeve; 522. a scissor linkage assembly; 523. a guide ring.
Detailed Description
The present application is described in further detail below with reference to fig. 1-4.
The application provides a goaf connectivity detection device, refer to fig. 1 and 2, and include loading wagon 1, articulated arm 2, multistage telescopic cylinder 3, three-dimensional laser scanner 4 and stabilizing mean 5. The articulated arm 2 is articulated on the loading vehicle 1; the multistage telescopic cylinder 3 is arranged on the articulated arm 2, and can reach a vertically downward state through the rotation of the articulated arm 2; the three-dimensional laser scanner 4 is arranged at the telescopic end part of the multistage telescopic cylinder 3; the stabilizing mechanism 5 is arranged at the telescopic end of the telescopic cylinder.
After drilling single detection hole to goaf upper ground, can send into the goaf through detecting the hole with three-dimensional laser scanner 4 through multistage telescopic jar 3, three-dimensional laser scanner 4 scans the goaf and obtains the space data of goaf, carries out above-mentioned operation to another goaf again, through the condition of comparing the data of two goafs and the position of two detection holes, just can obtain connectivity between two goafs, according to the condition result of connectivity, just can rationally set up the arrangement of drilling, and then improve reconnaissance efficiency.
The loading vehicle 1 includes a traveling portion 11, a turning portion 12, a vehicle body portion 13, and a drive assembly 14. The traveling unit 11 moves by means of a crawler belt, and can adapt to various terrain conditions. The rotating portion 12 is rotatably connected to the traveling portion 11, and is rotatable. The driving unit 14 is provided on the vehicle body 13, the vehicle body 13 is in an inverted U shape, and an inner bottom wall of the opening is slidably provided on the rotating portion 12. The drive assembly 14 includes a screw 141, a guide rod 142, and a drive motor 143. The screw 141 is rotatably connected to the inside of the opening of the body 13. The guide rods 142 are fixedly connected to the body 13 parallel to the screw rods 141, one for each screw rod 141. The driving motor 143 is mounted on the body 13, and drives the shaft connecting screw 141 for driving the screw 141 to rotate, and the screw 141 is screwed with the rotating portion 12.
The articulated arm 2 is articulated at one end top of the vehicle body 13, a hydraulic cylinder is arranged between the articulated arm and the vehicle body 13, and an included angle between the articulated arm 2 and the vehicle body 13 can be adjusted through the expansion and the contraction of the hydraulic cylinder. The multistage telescopic cylinder 3 comprises a piston rod 31 and a cylinder body 32, the cylinder body 32 is arranged on one side, far away from the hinge shaft, of the hinge arm 2, the piston rod 31 is telescopic and comprises a multistage rod body, and the tail end rod body far away from the cylinder body 32 is connected with the three-dimensional laser scanner 4. The multi-stage telescopic steel can be a hydraulic cylinder, an air cylinder or an electric cylinder, and in the embodiment of the application, the multi-stage telescopic cylinder 3 adopts the hydraulic cylinder.
Referring to fig. 3 and 4, the stabilizing mechanism 5 is disposed on the distal rod body of the piston rod 31, and is used for supporting between the piston rod 31 and the wall of the detection hole, reducing the vibration generated by the piston rod 31 when the three-dimensional laser scanner 4 works, and improving the scanning accuracy of the three-dimensional laser scanner 4. The stabilizing mechanism 5 comprises a plurality of supporting frames 51 and a plurality of telescopic frames 52, and the supporting frames 51 are arranged on the tail end rod body in a sliding manner to play a role in supporting the tail end rod body; the telescopic frame 52 is connected between two adjacent support frames 51. The support frame 51 closest to the cylinder 32 is welded to the end of the adjacent rod body of the distal rod body, and the support frame 51 farthest from the cylinder 32 is welded to the distal rod body, so that the support frame 51 can be sequentially moved by the expansion bracket 52 when the piston rod 31 expands and contracts.
The telescoping frame 52 includes a sliding sleeve 521, a scissor linkage assembly 522, and a guide ring 523. The guide ring 523 is slidably sleeved on the end rod body, the guide ring 523 is radially slidably sleeved on the support frame 51 along the piston rod 31, the scissor type connecting rod assembly 522 is formed by hinging a plurality of hinging rods, two ends of the scissor type connecting rod assembly are respectively hinged with a sliding sleeve 521, a hinging shaft on one side of the middle of the scissor type connecting rod assembly is hinged with the guide ring 523, and when the two sliding sleeves 521 are mutually close to or far away from each other, the telescopic frame 52 is contracted or stretched.
The support bracket 51 includes a sliding ring 511, a support rod 512, and a guide 513. The sliding ring 511 is a ring with a rectangular section and is sleeved on the tail end rod body in a sliding manner; the support rod 512 is radially penetrated on the sliding ring 511 along the sliding ring 511 and welded with the sliding ring 511; the guide 513 is disposed at an end of the support rod 512 away from the sliding ring 511, and is used for abutting against the hole wall of the detection hole. In each supporting frame 51, at least three groups of the combination of the supporting rod 512 and the guide member 513 are arranged along the circumferential direction of the sliding ring 511, and four groups of the combination of the supporting rod 512 and the guide member 513 are arranged in the embodiment of the present application.
The support rod 512 includes an outer rod 5121, an inner rod 5122, and a stopper ring 5123. The inner rod 5122 has one end connected to the guide 513 and the other end slidably inserted into the outer rod 5121. One end of the outer rod 5121 is connected with the sliding ring 511, the other end is coaxially provided with a first oil cavity 51211, and the first oil cavity 51211 penetrates the outer rod 5121 along the direction away from the sliding ring 511 so as to enable the inner rod 5122 to slide. An annular second oil chamber 51212 is further arranged between the circumferential side wall of the outer rod 5121 and the first oil chamber 51211, the second oil chamber 51212 is coaxial with the first oil chamber 51211 and penetrates the outer rod 5121 in a direction away from the sliding ring 511, and the depth of the second oil chamber 51212 is the same as that of the first oil chamber 51211. The first oil chamber 51211 and the second oil chamber 51212 are provided with communication holes 51214 communicating with each other at one end near the sliding ring 511, and the communication holes 51214 are provided in two, symmetrical with respect to the central axis of the first oil chamber 51211. The outer tube is close to the one end of sliding ring 511 and is equipped with oil gas pressure chamber 51213, and oil gas pressure chamber 51213 does not communicate outside outer rod 5121, is equipped with two overflow valves 51215 with first oil pocket 51211 between, and the installation direction of two overflow valves 51215 is opposite. The balance plug 51216 is arranged in the oil-gas mixing pressure cavity 51213 along the axial sliding of the outer rod 5121, the oil-gas mixing pressure cavity 51213 on the side, close to the first oil cavity 51211, of the balance plug 51216 is used for storing hydraulic oil, the oil-gas mixing pressure cavity 51213 on the side, close to the sliding ring 511, of the balance plug 51216 is used for storing air, and a spring 51218 is arranged between the balance plug 51216 and the inner wall, close to the sliding ring 511, of the oil-gas mixing pressure cavity 51213. The second oil chamber 51212 is internally provided with an annular piston ring 51217 in a sliding manner, the piston ring 51217 is connected with the sliding sleeve 521 through a U-shaped synchronizing rod 51219, the synchronizing rod 51219 bypasses from the outer rod 5121 towards one end of the guide member 513, and the two ends of the synchronizing rod 51219 are respectively connected with the piston ring 51217 and the sliding sleeve 521, so that the piston ring 51217 and the sliding sleeve 521 can synchronously move, and the two synchronizing rods 51219 are symmetrically arranged about the central axis of the outer rod 5121.
When the piston rod 31 is extended, the supporting frames 51 are sequentially pulled open, the sliding sleeve 521 moves along the direction towards the piston rod 31, the piston ring 51217 synchronously moves to press hydraulic oil into the first oil cavity 51211 from the second oil cavity 51212, the inner rod 5122 is ejected by the hydraulic oil, and the inner rod 5122 abuts against the inner wall of the detection hole to stop moving; the piston ring 51217 continues to move, the oil pressure in the first oil cavity 51211 is increased, hydraulic oil can enter the oil-gas mixed pressure cavity 51213 through the overflow valve 51215, the balance plug 51216 is pushed and compresses the air and the spring 51218, the guide member 513 can still keep a state of abutting against the hole wall and cannot excessively squeeze the hole wall, and the guide member can automatically adapt to the bulge or the recess on the hole wall; when the piston rod 31 is contracted, the supporting frame 51 is gathered, the sliding sleeve 521 moves along the direction away from the piston rod 31, the piston ring 51217 moves synchronously, the pressure drop in the second oil cavity 51212 is reduced, the hydraulic oil in the first oil cavity 51211 flows to the second oil cavity 51212, the hydraulic oil in the oil-gas mixed pressure cavity 51213 flows to the first oil cavity 51211, the inner rod 5122 returns to the initial position again, the guide member 513 is separated from the inner wall of the detection hole, the supporting state of the piston rod 31 is released, and the three-dimensional laser scanner 4 is conveniently withdrawn from the detection hole.
The stopper 5123 is welded to the outer rod 5121 to limit the minimum distance between the sliding sleeve 521 and the end of the outer rod 5121 adjacent to the sliding ring 511, so as to prevent the scissor linkage 522 from being excessively stretched due to the excessive approach of the sliding sleeve 521 to the sliding ring 511, and the scissor linkage 522 may be difficult to shrink when the two sliding sleeves 521 move in opposite directions after the scissor linkage 522 is excessively stretched due to the friction between the sliding sleeve 521 and the outer rod 5121.
The guide 513 includes a rotating seat 5131, a mounting plate 5132, and a track roller 5133. The rotating seat 5131 is welded to the end of the inner rod 5122, and the mounting plate 5132 is a rectangular plate with the middle portion hinged to the rotating seat 5131. The track wheels 5133 are respectively disposed at both sides of the mounting plate 5132 for contacting with the inner side walls of the sensing holes. The crawler wheel 5133 can walk on the inner wall of the detection hole, can not be blocked, and meanwhile, the mounting plate 5132 can rotate, so that the crawler wheel 5133 can adapt to different angles of uneven hole walls, and the applicability of the stabilizing mechanism 5 is improved.
The implementation principle of the embodiment of the application is as follows: after a detection hole is drilled on the ground above the goaf, the loading vehicle 1 is moved to the vicinity of the detection hole, the articulated arm 2 is rotated to the vertical downward direction of the piston rod 31 of the multi-stage telescopic cylinder 3, the rotating part 12 is rotated to the direction of the articulated arm 2 to the central axis of the detection hole, the driving assembly 14 is started, the vehicle body 13 is moved, and the multi-stage telescopic cylinder 3 is aligned with the center of the detection hole; extending the multistage telescopic cylinder 3, enabling the three-dimensional laser scanner 4 to enter the goaf through the detection hole, expanding the support assembly to support the tail end rod body, enabling the three-dimensional laser scanner 4 to operate, and scanning out the space data of the goaf; and then the operation is carried out on the other goaf, and the connectivity condition between the two goafs can be obtained by comparing the space data of the two goafs with the positions of the two detection holes.
The embodiments of this embodiment are all preferred embodiments of the present application, and are not intended to limit the scope of the present application, in which like parts are denoted by like reference numerals. Therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (3)
1. A goaf connectivity detection device, comprising:
a loading vehicle (1);
the articulated arm (2) is articulated at one side of the top of the loading vehicle (1);
the multistage telescopic cylinder (3) is arranged on the articulated arm (2) and comprises a piston rod (31) provided with a multistage telescopic rod body and a cylinder body (32);
the three-dimensional laser scanner (4) is arranged at the end part of the piston rod (31) and is used for entering the goaf through a detection hole drilled on the ground above the goaf to perform space scanning;
the detection device further comprises a stabilizing mechanism (5) arranged on the piston rod (31), and the stabilizing mechanism (5) comprises:
the support frames (51) are provided with a plurality of support frames, and are respectively arranged on the rod bodies at the tail ends of the piston rods (31) far away from the cylinder bodies (32), and one ends of the support frames are abutted against the inner walls of the detection holes;
the telescopic frames (52) are hinged between two adjacent supporting frames (51);
the support frame (51) closest to the three-dimensional laser scanner (4) is fixedly connected with the tail end rod body; the support frame (51) farthest from the three-dimensional laser scanner (4) is fixedly connected with the end part of the adjacent rod body of the tail rod body; the rest support frames (51) are in sliding connection with the tail end rod body;
the support frame (51) includes:
a sliding ring (511) which is sleeved on the piston rod (31) in a sliding way;
a support rod (512) radially connected to the sliding ring (511) along the piston rod (31);
a guide (513) arranged at the end of the support rod (512) and abutted against the inner wall of the detection hole;
at least three support rods (512) are arranged at intervals along the circumferential direction of the sliding ring (511);
the expansion bracket (52) comprises:
a sliding sleeve (521) which is sleeved on the supporting rod (512);
a scissor linkage assembly (522) hinged between adjacent sliding sleeves (521);
the guide ring (523) is sleeved on the tail end rod body in a sliding manner and is hinged with the scissor type connecting rod assembly (522);
the support bar (512) includes:
an outer rod (5121) which is arranged in the sliding sleeve (521) in a sliding way, one end of the outer rod is connected with the sliding ring (511), a first oil cavity (51211) which is provided with an opening facing the guide piece (513), a second oil cavity (51212) which is arranged outside the first oil cavity (51211) and an oil-gas mixing pressure cavity (51213) which is arranged near one end of the sliding ring (511); a communication hole (51214) is arranged between the first oil cavity (51211) and the second oil cavity (51212) and is close to one side of the oil-gas mixing pressure cavity (51213); the first oil cavity (51211) is connected with the oil-gas mixed pressure cavity (51213) through two overflow valves (51215) with different directions; a balance plug (51216) is arranged in the oil-gas mixing pressure cavity (51213) in a sliding way; a piston ring (51217) connected with the sliding sleeve (521) is arranged in the second oil cavity (51212) in a sliding way;
an inner rod (5122) with one end sliding through the first oil cavity (51211) and the other end connected with the guide piece (513);
a spring (51218) is arranged between the balance plug (51216) and the inner wall of the oil-gas mixing pressure cavity (51213);
a limiting ring (5123) is fixedly connected to the circumferential side wall of the outer rod (5121);
the guide (513) comprises:
a rotating seat (5131) connected with the supporting rod (512);
a mounting plate (5132) rotatably connected to the rotary seat (5131);
the crawler wheel (5133) is rotatably connected to the mounting plate (5132).
2. A goaf connectivity detection apparatus as claimed in claim 1, wherein the loading vehicle (1) comprises:
a walking unit (11);
a rotating part (12) rotatably connected to the traveling part (11);
a body (13) slidably connected to the rotating unit (12);
and a driving assembly (14) provided on the vehicle body (13) for driving the vehicle body (13) to move on the rotating part (12).
3. A goaf connectivity detection apparatus as claimed in claim 2, wherein the drive assembly (14) comprises:
a screw (141) rotatably connected to the body (13) and screwed to the rotating part (12);
a guide rod (142) which is arranged on the vehicle body part (13) in parallel to the screw rod (141) and slides through the rotating part (12);
and a drive motor (143) provided on the vehicle body (13) for driving the screw (141) to rotate.
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