CN110398390A - A kind of detection sampling equipment for the natural grotto in underground - Google Patents
A kind of detection sampling equipment for the natural grotto in underground Download PDFInfo
- Publication number
- CN110398390A CN110398390A CN201910600613.1A CN201910600613A CN110398390A CN 110398390 A CN110398390 A CN 110398390A CN 201910600613 A CN201910600613 A CN 201910600613A CN 110398390 A CN110398390 A CN 110398390A
- Authority
- CN
- China
- Prior art keywords
- mounting base
- drill bit
- probe
- underground
- driving motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
Abstract
The invention discloses a kind of detection sampling equipments for the natural grotto in underground, including power supply and the drone body connected to power supply, sealing control cabinet, camera, detector for three-dimensional appearance, gas detecting instrument, sampling manipulator and headlamp, sealing control cabinet is fixed on the downside of drone body, on-chip power is in sealing control cabinet, detector for three-dimensional appearance and camera are installed on the both ends on the upside of drone body, and sampling manipulator, gas detecting instrument and headlamp are mounted on the downside of sealing control cabinet.The present invention has evaded the various risks of artificial detection, has also opened a way in advance for subsequent artefacts' exploration by conjunction with various zawn detection devices, entering in the natural grotto in underground drone body by remote controlled drone ontology.
Description
Technical field
The present invention relates to geological prospecting apparatus fields more particularly to a kind of detection sampling for the natural grotto in underground to set
It is standby.
Background technique
Currently, mainly carrying various detection devices by several scouts in the exploration process of the natural grotto in underground
In tripping in grotto, the exploration of the size, moulding mechanism, topography and geomorphology, biotic population and geology type of grotto is carried out, is existed as follows
Problem: since the hole wall of natural grotto is very smooth, internal there are various uncontrollable, unknown risk factors, under normal circumstances
Scout hardly enters, even if venture enters, there is also unexpected risk occurs.Simultaneously as the geology machine of zawn
Structure is extremely complex, the presence of underground opening, tomography, causes exploration efficiency also very low, moreover scout also needs to carry and survey
Equipment is visited, the feasibility of its exploration is further decreased.
Summary of the invention
It is an object of that present invention to provide a kind of full-automatic detection samplings for the natural grotto in underground by remote operation
Equipment, to solve the above problems.
To achieve the above object, the present invention discloses a kind of detection sampling equipment for the natural grotto in underground, including power supply
With connect to power supply drone body, sealing control cabinet, camera, detector for three-dimensional appearance, gas detecting instrument, sampler
Tool hand and headlamp, the sealing control cabinet are fixed on the downside of the drone body, and the on-chip power is in the sealing
In control cabinet, the detector for three-dimensional appearance and camera are installed on the both ends on the upside of the drone body, the gas
Detector and headlamp are mounted on the both ends of the sealing control cabinet, and the sampling manipulator is mounted on the sealing control cabinet
Downside.
It further, further include that one and the symmetrically arranged brill of the sampling manipulator take sampling device, the brill takes sample
Device includes drill bit, drill bit driving motor, drill bit oscillating motor, drill bit oscillating motor mounting base and the installation of drill bit driving motor
Seat, the drill bit oscillating motor mounting base is removable to be mounted on the sealing control cabinet, the drill bit driving motor mounting base
It is pivotally connected with the drill bit oscillating motor mounting base, and the drill bit driving motor mounting base is by being mounted on the drill bit oscillating motor
Drill bit oscillating motor in mounting base drives rotation, and the drill bit and the drill bit driving motor mounting base are pivotally connected, and the drill bit
It is rotated by the drill bit driving motor driving being mounted in the drill bit driving motor mounting base, setting center in the drill bit
Hole is provided with the through slot for penetrating into centre bore on the outer wall of the drill bit.
Further, the distal opening setting of the centre bore of the drill bit, while being provided with clamping face on the outer wall of end
Or connection screw thread.
Further, the sampling manipulator include clamping jaw, end cap, mounting cylinder, slide bar, upper slide bar seat and downslide pole socket and
Telescoping drive mechanism, the end cap are mounted on one end of the mounting cylinder, and the other end of the mounting cylinder and the sealing control
Case connection, the upper slide bar seat and drop shot seat are located at the two sides of end cap, and the slide bar and the end cap are sliding, and the slide bar
Both ends are connect with upper slide bar seat and downslide pole socket respectively, and one end of the clamping jaw and the end cap are hinged, the other end and it is described on
Slider block is hinged, and the downslide pole socket is driven to move up and down for the telescoping drive mechanism so that the clamping jaw opens and closes up.
Further, the flexible actuator includes clamping jaw driving motor and lead screw, and the clamping jaw driving motor is fixed in
In the mounting cylinder, the lead screw is connect with the downslide pole socket screw-driven, and one end of the lead screw and the end cap are pivotally connected,
The output shaft of the other end and the clamping jaw driving motor is coaxially connected.
It further, further include a mounting cylinder mounting base and mounting cylinder beat driving motor, the mounting cylinder mounting base peace
On the sealing control cabinet, the mounting cylinder and the mounting cylinder mounting base are pivotally connected, and by being mounted on the mounting cylinder
Fitted tube beat driving motor in mounting base drives rotation.
Further, the detector for three-dimensional appearance includes extension rod, sonar range finding probe, probe mounting base, probe
Rotating electric machine and probe mounting base beat motor, the sonar range finding probe is mounted in the probe mounting base, and passes through peace
Probe rotating electric machine in the probe mounting base drives rotation, one end pivot of the probe mounting base and the extension rod
Connect, and beat and the probe mounting base beat motor driven by being mounted on the extension rod, the extension rod it is another
End is equipped with the camera.
Further, the probe mounting base rotate to it is parallel with the extension rod when, the sonar range finding probe extends
To the outside of the drone body, the probe mounting base rotate to it is vertical with the extension rod when, sonar ranging spy
Head height is in the drone body.
Further, one is additionally provided in the drone body for delivering the tote box of article.
Further, the camera is infrared camera, and the headlamp is automatic rotation searchlight.
Compared with the prior art, the advantages of the present invention are as follows:
The present invention by by drone body in conjunction with various zawn detection devices, can by camera and headlamp
To observe the geology appearance and biotic population construction of zawn, zawn can be surveyed and drawn by detector for three-dimensional appearance
Space construction, the constituent of air of zawn can be monitored by gas detecting instrument, can analyze underground by sampling manipulator
The geologic structure of grotto and formation mechenism etc., being entered in the natural grotto in underground by remote controlled drone ontology can be completed various survey
Spy and transport task, have evaded the various risks and poor efficiency of artificial detection, also open a way in advance for subsequent artefacts' exploration.
Below with reference to accompanying drawings, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is that the first axle of the detection sampling equipment disclosed by the embodiments of the present invention for the natural grotto in underground measures meaning
Figure；
Fig. 2 is that the second axis of the detection sampling equipment disclosed by the embodiments of the present invention for the natural grotto in underground measures meaning
Figure；
Fig. 3 is that the third axis of the detection sampling equipment disclosed by the embodiments of the present invention for the natural grotto in underground measures meaning
Figure；
Fig. 4 is the axonometric schematic diagram of sampling manipulator disclosed by the embodiments of the present invention；
Fig. 5 is the axonometric schematic diagram of drill bit disclosed by the embodiments of the present invention.
Marginal data:
1, drone body；2, control cabinet is sealed；3, camera；4, detector for three-dimensional appearance；5, gas detecting instrument；6,
Sampling manipulator；7, headlamp；8, it bores and takes sampling device；9, drill bit；10, drill bit driving motor；11, drill bit oscillating motor；12,
Drill bit oscillating motor mounting base；13, drill bit driving motor mounting base；14, centre bore；15, work department；16, through slot；17, it illuminates
Lamp rotating electric machine；18, clamping jaw；19, end cap；20, mounting cylinder；21, slide bar；22, upper slide bar seat；23, downslide pole socket；24, clamping jaw
Driving motor；25, lead screw；26, mounting cylinder mounting base；27, mounting cylinder beat driving motor；28, extension rod；29, sonar ranging
Probe；30, probe mounting base；31, probe rotating electric machine；32, probe mounting base beat motor；33, tote box；34, clamping face.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
As Figure 1-Figure 5, the invention discloses a kind of detection sampling equipments for the natural grotto in underground, including power supply
With connect to power supply drone body 1, sealing control cabinet 2, camera 3, detector for three-dimensional appearance 4, gas detecting instrument 5,
Sampling manipulator 6 and headlamp 7, sealing control cabinet 2 are control centre, including processor and radio receiving transmitting module (Wireless transceiver
Various survey datas) etc., sealing control cabinet 2 is fixed on the downside of drone body 1, and on-chip power is in sealing control cabinet 2, and three
Dimension Shape measure device 4 and camera 3 are installed on the both ends of 1 upside of drone body, and headlamp 7 and gas detecting instrument 5 are installed
On the two sides of sealing control cabinet 2, gas detecting instrument 5 is mounted on the downside of sealing control cabinet 2, passes through camera 3 and illumination
Lamp 7 can observe the biotic population construction of zawn, can detecte the space of zawn by detector for three-dimensional appearance 4
Construction, the constituent of air of zawn can be monitored by gas detecting instrument 5, can analyze underground rock by sampling manipulator 6
The geologic structure in hole and formation mechenism etc. have been evaded artificial to be entered in the natural grotto in underground by remote controlled drone ontology 1
The various risks of detection are also opened a way for subsequent artefacts' exploration in advance.
It in the present embodiment, further include one and sampling mechanical in order to be sampled to the rock inside natural grotto palisades
The symmetrically arranged brill of hand 6 takes sampling device 8, and it includes drill bit 9, drill bit driving motor 10, drill bit oscillating motor that brill, which takes sampling device 8,
11, drill bit oscillating motor mounting base 12 and drill bit driving motor mounting base 13, the removable installation of drill bit oscillating motor mounting base 12
On sealing control cabinet 2, drill bit driving motor mounting base 13 and drill bit oscillating motor mounting base 12 are pivotally connected, and the drill bit driving electricity
Machine mounting base 13 is rotated by the driving of drill bit oscillating motor 11 being mounted in drill bit oscillating motor mounting base 12, drill bit 9 and brill
Head driving motor mounting base 13 is pivotally connected, and the drill bit 9 drives electricity by the drill bit being mounted in drill bit driving motor mounting base 13
The driving rotation of machine 10, drill bit 9 is interior to be arranged centre bore 14, and (the tool of through slot 16 for penetrating into centre bore 14 is provided on the outer wall of drill bit 9
Body is the work department 15 far from drill bit 9), drill bit 9 is fluted drill, is pierced inside palisades by drill bit 9, and rock dust can be with
Through slot 16 enters centre bore 14, and drill bit 9 to be removed can be poured out by the opening of 14 end of centre bore of drill bit 9, into
Row analytical test, the end of drill bit 9 are provided with clamping face 34 or connection screw thread for connecting with drill bit driving motor 10.
In order to realize the sampling to rock in grotto or biological sample, in the present embodiment, sampling manipulator 6 simulates people
The clamping mode of hand be arranged, including clamping jaw 18, end cap 19, mounting cylinder 20,23 and of slide bar 21, upper slide bar seat 22 and downslide pole socket
Telescoping drive mechanism, end cap 19 are mounted on one end of mounting cylinder 20, and the other end of mounting cylinder 20 is connect with sealing control cabinet 2, on
Slider block 22 and downslide pole socket 23 are located at the two sides of end cap 19, and slide bar 21 and end cap 19 are sliding, and the both ends difference of the slide bar 21
It being connect with upper slide bar seat 22 and downslide pole socket 23, one end of clamping jaw 18 and end cap 19 are hinged, and the other end and upper slide bar seat 22 are hinged,
Telescoping drive mechanism driving downslide pole socket 23 moves up and down so that clamping jaw 18 opens and closes up, and the hand of the similar people of formation is the same to be taken
Playing function, and then can preferably grab the object in grotto.
Specifically, flexible actuator includes clamping jaw driving motor 24 and lead screw 25, lead screw 25 and 23 screw thread of downslide pole socket are passed
It is dynamic to connect, it is provided on downslide pole socket 23 and is consolidated with the matched internal screw thread of 25 external screw thread of lead screw, clamping jaw driving motor 24 by bolt
Dingan County is in mounting cylinder 20, and one end of the lead screw 25 and end cap 19 are pivotally connected, the output of the other end and clamping jaw driving motor 24
Axis is coaxially connected, to convert the rotary motion of clamping jaw driving motor 24 to the fortune up and down of 23 driving slider 21 of downslide pole socket
It is dynamic.
It in the present embodiment, further include a mounting cylinder mounting base 26 and mounting cylinder beat driving motor 27, mounting cylinder installation
Seat 26 is mounted on sealing control cabinet 2, and mounting cylinder 20 and mounting cylinder mounting base 26 are pivotally connected, and by being mounted on mounting cylinder mounting base
Mounting cylinder beat driving motor 27 on 26 drives rotation, so that sampling manipulator 6 can be realized the switching of wide-angle, improves
Its flexibility grabbed.
In the present embodiment, detector for three-dimensional appearance 4 includes extension rod 28, sonar range finding probe 29, probe mounting base
30, probe rotating electric machine 31 and probe mounting base beat motor 32, sonar range finding probe 29 are mounted in probe mounting base 30, and
Probe rotating electric machine 31 by being mounted in the probe mounting base 30 drives rotation, probe mounting base 30 and 28 pivot of extension rod
It connects, and the probe mounting base beat motor 32 by being mounted on the extension rod 28 drives and beat, when needing to detect natural rock
When the internal morphology of hole, control driving drone body 1 enters, if it is vertical natural grotto, then mounting base of popping one's head in beat motor
32 driving probe mounting bases 30 arrive vertical position, and then drone body 1 starts steadily to decline to the bottom of natural grotto, this
When probe rotating electric machine 31 drive sonar range finding probe 29 to rotate 360 ° scanning, and then be transferred to ground for topographic data is scanned
The work station in face, and if it is in face of laterally natural grotto, then natural grotto driving probe mounting base 30 is controlled to parallel position
It sets, then drone body 1 starts the steady advance to natural grotto, and sonar range finding probe 29 rotates 360 ° scanning at this time
The topographic data of lateral mill tailings can be obtained, similar, it is inclined that oblique natural grotto only needs accordingly to control probe mounting base
Pendulum motor 32 drives probe mounting base 30 to respective angles.
In the present embodiment, when probe mounting base rotation 30 goes to parallel with extension rod 28, sonar range finding probe 29 is extended to
The outside of drone body 1, when the probe rotation of mounting base 30 is extremely vertical with extension rod 28, sonar range finding probe 29 is higher than unmanned plane
Ontology 1 avoids in drone body 1 components to the interference effect of the issued sonar of sonar range finding probe 29.
In the present embodiment, one is additionally provided in drone body 1 for delivering the tote box 33 of article, thus facilitate to
The inside and outside transport of grotto, meanwhile, camera 3 is infrared camera, and headlamp 7 and camera 3 are mounted on the same side, specially automatically
Searchlight is rotated, 1 motion profile front region of drone body can be illuminated by headlamp rotating electric machine 17.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of detection sampling equipment for the natural grotto in underground, which is characterized in that including power supply and the nothing connected to power supply
Man-machine ontology (1), sealing control cabinet (2), camera (3), detector for three-dimensional appearance (4), gas detecting instrument (5), sampler
Tool hand (6) and headlamp (7), sealing control cabinet (2) are fixed on the downside of the drone body (1), in the power supply
It is placed in the sealing control cabinet (2), the detector for three-dimensional appearance (4) and camera (3) are installed on the unmanned plane sheet
Both ends on the upside of body (1), the gas detecting instrument (5) and headlamp (7) are mounted on the both ends of sealing control cabinet (2), institute
State the downside that sampling manipulator (6) is mounted on sealing control cabinet (2).
2. the detection sampling equipment according to claim 1 for the natural grotto in underground, which is characterized in that further include one with
The symmetrically arranged brill of sampling manipulator (6) takes sampling device (8), and the brill takes sampling device (8) and includes drill bit (9), bores
Head driving motor (10), drill bit oscillating motor (11), drill bit oscillating motor mounting base (12) and drill bit driving motor mounting base
(13), the drill bit oscillating motor mounting base (12) is removable is mounted on the sealing control cabinet (2), the drill bit driving electricity
Machine mounting base (13) and the drill bit oscillating motor mounting base (12) are pivotally connected, and the drill bit driving motor mounting base (13) passes through peace
Drill bit oscillating motor (11) on the drill bit oscillating motor mounting base (12) drives rotation, the drill bit (9) with it is described
Drill bit driving motor mounting base (13) pivot joint, and the drill bit (9) is by being mounted on the drill bit driving motor mounting base (13)
Drill bit driving motor (10) drive rotation, centre bore (14) are set in the drill bit (9), are set on the outer wall of the drill bit (9)
It is equipped with the through slot (16) for penetrating into centre bore (14).
3. the detection sampling equipment according to claim 2 for the natural grotto in underground, which is characterized in that the drill bit
(9) distal opening of centre bore (14) is arranged, and clamping face (34) or connection screw thread are provided on the outer wall of end.
4. the detection sampling equipment according to claim 3 for the natural grotto in underground, which is characterized in that the sampler
Tool hand (6) include clamping jaw (18), end cap (19), mounting cylinder (20), slide bar (21), upper slide bar seat (22) and downslide pole socket (23) and
Telescoping drive mechanism, the end cap (19) are mounted on one end of the mounting cylinder (20), the other end of the mounting cylinder (20) with
Sealing control cabinet (2) connection, the upper slide bar seat (22) and downslide pole socket (23) are located at the two sides of end cap (19), the cunning
Bar (21) and the end cap (19) are sliding, and the both ends of the slide bar (21) connect with upper slide bar seat (22) and downslide pole socket (23) respectively
It connects, hingedly, the other end and the upper slide bar seat (22) are hingedly, described flexible for one end and the end cap (19) of the clamping jaw (18)
The downslide pole socket (23) is driven to move up and down for driving mechanism so that the clamping jaw (18) opens and closes up.
5. the detection sampling equipment according to claim 4 for the natural grotto in underground, which is characterized in that the flexible drive
Moving part includes clamping jaw driving motor (24) and lead screw (25), and the clamping jaw driving motor (24) is fixed in the mounting cylinder (20)
Interior, the lead screw (25) connect with downslide pole socket (23) screw-driven, and one end of the lead screw (25) and the end cap
(19) it is pivotally connected, the other end and the output shaft of the clamping jaw driving motor (24) are coaxially connected.
6. the detection sampling equipment according to claim 5 for the natural grotto in underground, which is characterized in that further include a peace
Fitted tube mounting base (26) and mounting cylinder beat driving motor (27), the mounting cylinder mounting base (26) are mounted on the sealing control
On case (2), the mounting cylinder (20) and the mounting cylinder mounting base (26) are pivotally connected, and by being mounted on the mounting cylinder mounting base
(26) the mounting cylinder beat driving motor (27) on drives rotation.
7. -6 any detection sampling equipment for the natural grotto in underground according to claim 1, which is characterized in that described
Detector for three-dimensional appearance (4) includes extension rod (28), sonar range finding probe (29), probe mounting base (30), probe electric rotating
Machine (31) and probe mounting base beat motor (32), the sonar range finding probe (29) are mounted on the probe mounting base (30)
On, and the driving rotation of the probe rotating electric machine (31) by being mounted in the probe mounting base (30), the probe mounting base
(30) it is pivotally connected with the one end of the extension rod (28), and the probe mounting base beat by being mounted on the extension rod (28)
Motor (32) drives and beat, the other end of the extension rod (28) are equipped with the camera (3).
8. the detection sampling equipment according to claim 7 for the natural grotto in underground, which is characterized in that the probe peace
When dress seat (30) rotation is extremely parallel with the extension rod (28), the sonar range finding probe (29) extends to the drone body
(1) outside, when the probe mounting base (30) rotates extremely vertical with the extension rod (28), the sonar range finding probe (29)
Higher than the drone body (1).
9. -6 any detection sampling equipment for the natural grotto in underground according to claim 1, which is characterized in that described
One is additionally provided in drone body (1) for delivering the tote box (33) of article.
10. -6 any detection sampling equipment for the natural grotto in underground according to claim 1, which is characterized in that institute
Stating camera (3) is infrared camera, and the headlamp (7) is automatic rotation searchlight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600613.1A CN110398390A (en) | 2019-07-04 | 2019-07-04 | A kind of detection sampling equipment for the natural grotto in underground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910600613.1A CN110398390A (en) | 2019-07-04 | 2019-07-04 | A kind of detection sampling equipment for the natural grotto in underground |
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| Publication Number | Publication Date |
|---|---|
| CN110398390A true CN110398390A (en) | 2019-11-01 |
Family
ID=68322668
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910600613.1A Pending CN110398390A (en) | 2019-07-04 | 2019-07-04 | A kind of detection sampling equipment for the natural grotto in underground |
Country Status (1)
| Country | Link |
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| CN (1) | CN110398390A (en) |
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| CN112320518A (en) * | 2020-05-28 | 2021-02-05 | 中国矿业大学 | Modular inspection robot for deep well shaft |
| WO2024040945A1 (en) * | 2022-08-26 | 2024-02-29 | 华能澜沧江水电股份有限公司 | Automatic inspection and intelligent corrosion defect detection method and device for spillway tunnel |
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Application publication date: 20191101 |
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