CN110480596B - Novel drilling image acquisition robot and application method thereof - Google Patents
Novel drilling image acquisition robot and application method thereof Download PDFInfo
- Publication number
- CN110480596B CN110480596B CN201910898535.8A CN201910898535A CN110480596B CN 110480596 B CN110480596 B CN 110480596B CN 201910898535 A CN201910898535 A CN 201910898535A CN 110480596 B CN110480596 B CN 110480596B
- Authority
- CN
- China
- Prior art keywords
- image acquisition
- drilling
- self
- cleaning
- protective shell
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a novel drilling image acquisition robot and a using method thereof, which aim to solve the problems existing in the existing drilling image acquisition process. The product comprises a self-feeding device, a cleaning device, a collecting device, a connecting device and a control device. The self-feeding device is provided with 8 self-rotation anti-slip rubber wheels with adjustable supporting angles, and a high-torque motor is arranged in the self-feeding device and can drive the self-feeding device to move in the middle of a drilling hole; the cleaning device can clean the protective shell of the protective lens in the drill hole, so that the image acquisition precision is improved; the control device is provided with the control keys and the function keys, can control the advancing speed, the gesture and the light source brightness during image acquisition, and stores the acquired information in real time. The method is suitable for drilling detection of the roadway roof of the coal mine, has the characteristics of simple operation, high acquisition efficiency and high acquisition precision, and the acquired data can truly reflect the deformation and crushing characteristics of surrounding rocks of the roadway roof.
Description
Technical Field
The invention relates to the field of coal mine rock stratum detection, in particular to a novel drilling image acquisition robot.
Background
Coal is used as an important energy fuel and chemical raw material, and plays an important role in national economy development and people's life. In order to mine coal resources to the maximum extent and save production cost, most coal beds are mined in a roof-cutting pressure-relief gob-side entry retaining mode.
Coal mining tends to cause fracture, caving, and deformation of the overburden and the underburden. The height of the falling zone of the working face and the deformation characteristic of the top plate are important parameters for gob-side entry retaining support, so that the detection of the surrounding rock of the top plate of the roadway has strong guiding significance on the safe production of the working face. In addition, the existing roof cutting and pressure relief mode is mainly implemented by adopting a presplitting blasting mode, the rock stratum thickness and lithology have great influence on blasting results, blastholes after blasting need to be detected, whether blasting cutting lines are penetrated or not is detected, the blasting effect is judged, and the charging structure is adjusted. The current practice is still to drill holes in the roof strata for inspection to obtain image data.
According to the method, in the coal seam exploitation process, the imaging equipment is used for drilling and detecting the roof strata, so that the method is a necessary means for guaranteeing safe production, and has the characteristics of intuitiveness and simplicity. However, in the practical application process, a plurality of problems also occur. Firstly, most tunnel roof strata have crevice water, the hole is moist, and the camera lens of conventional peeping instrument is deep into the drilling and forms a layer of water smoke in the camera lens, leads to image acquisition distortion, and the camera lens in the deep drilling can only be withdrawn after being cleaned, and then is put into the drilling again for testing. Secondly, if part of rock stratum on the hole wall is soft rock such as mudstone, the soft rock disintegrates and breaks when meeting water, so that the workload of drilling and dredging is increased; in addition, if the lens is shielded by the rock debris mud in the detection process, the lens is withdrawn from the drill hole for cleaning. At present, a commonly used acquisition lens of a peeping instrument needs to be pushed into a drill hole by one connecting rod connected end to end, so that the workload and the labor intensity are increased, in the acquisition process, an important data is the depth of recording image acquisition, a special wire roll or a special device is needed to record the length of a pushing rod or a cable in the drill hole, the use is very inconvenient, and if accidents such as hole collapse and the like are met, the lens card cannot be taken out in the drill hole, so that the instrument is scrapped.
The problems are that all on-site detection personnel meet actual conditions, if the on-site detection personnel meet poor drilling geological conditions, the rock debris in the holes needs to be repeatedly dredged and the instrument lens needs to be cleaned, and the physical strength and the energy of the personnel are greatly consumed. As is well known, the coal mine tunnel has high humidity, high concentration of coal dust and high noise, the working condition is extremely poor, the existing instruments and means are utilized, each time of drilling detection is used for filling on-site detection personnel to reversely clean the lens without help of octanoic acid, the reality that the lens is easily shielded by water vapor and debris residues is not solved, the acquired image is not clear, namely, manpower and material resources are wasted, and a good detection effect is not achieved.
The invention of application number 2019100052189 provides a single operator operable drill peeping instrument. This appearance is peeped in drilling includes probe, push rod, formation of image host computer and metal frame, and the probe of making a video recording sets up in the tip of push rod, and metal frame is equipped with the depth counter pulley, promotes the push rod and makes the probe of making a video recording to the drilling in remove, changes the appearance is peeped in drilling but need use the push rod to advance the camera to the drilling, and a plurality of push rods pass through screwed joint and screw interface connection, lead to gathering image pause and acquisition time to become long, and the camera lens does not have any antifog processing and anticollision protection, and application condition is limited.
The invention with the application number of 2016105853264 discloses a self-adaptive centering and anti-fouling device for a camera of a mining drilling peeping instrument, which comprises a probe rod, a camera, a cable, a buckle, a fixed disk, a positioning nut and an elastic steel wire, wherein the main purpose is that the camera is positioned in the center of a drilling hole and is prevented from touching the wall of the drilling hole, but when a lens is pushed to mudstone and a crushing area, the elastic steel wire is embedded into the crushing area, so that the lens cannot be pushed, the surface of the lens is condensed by water vapor, cannot be cleaned in the drilling hole, and only an orifice can be withdrawn for cleaning, thereby wasting time.
Related studies and improvements are also underway.
Disclosure of Invention
An embodiment of the present invention is to provide the novel drilling image acquisition robot, so as to solve the problems set forth in the background art.
In order to achieve the above purpose, the embodiment of the novel drilling image acquisition robot provides the following technical scheme:
a novel drilling image acquisition robot comprises a self-feeding device 1, a cleaning device 2, an acquisition device 3, a connecting device 4 and a control device 5; the self-advancing device 1 is arranged outside the connecting device and provides advancing power for the novel drilling image acquisition robot; the cleaning device 2 is arranged between the acquisition device 3 and the connecting device 4, and can clean the protective shell 32 of the novel drilling image acquisition robot so as to ensure the definition of image acquisition; the acquisition device 3 is arranged at the upper part of the connecting device 4 and is a rock stratum image acquisition part of the novel drilling image acquisition robot; the connecting device 4 connects all parts of the novel drilling image acquisition robot together; the control device 5 can send instructions to control the novel drilling image acquisition robot to implement an image acquisition function.
As a further scheme of the novel drilling image acquisition robot embodiment: the self-feeding device 1 comprises a self-rotation type anti-skid rubber wheel 11, a screw rod bracket 12, a supporting rod 13, a bracket moving motor 14 and a power cable 15; the outer side of the self-rotation type anti-slip rubber wheel 11 is a contact layer made of wear-resistant anti-slip rubber, the outer side of the self-rotation type anti-slip rubber wheel 11 is in close contact with a rock wall, a high torque motor in the self-rotation type anti-slip rubber wheel 11 is powered by a power cable 15, the self-rotation type anti-slip rubber wheel can rotate under the power on state to drive a novel drilling image acquisition robot to move in a drilling hole, 8 self-rotation type anti-slip rubber wheels 11 are distributed on the upper part and the lower part of a connecting device, the number of rotation turns of the self-rotation type anti-slip rubber wheels 11 are recorded in the rotation process and converted into depth, the depth is stored in a storage module 57, and the average value recorded by the 8 self-rotation type anti-slip rubber wheels 11 is the drilling depth; the screw rod bracket 12 is a stainless steel rod with threads on the surface, one end of the screw rod bracket is connected with the screw rod bracket interface 41, and the other end of the screw rod bracket is connected with the autorotation anti-slip rubber wheel 11; the support rod 13 is a short round rod made of stainless steel, one end of the short round rod is connected with the support moving motor 14, the other end of the short round rod is connected with the support rod interface 42 in a hinged manner, and the short round rod can rotate; the support moving motor 14 is connected to the screw rod support 12, and when the screw rod support 12 is electrified, the support moving motor 14 can move on the surface of the screw rod support 12 to control the contact angle between the self-rotation type anti-slip rubber wheel 11 and the rock wall, so that the screw rod support is suitable for drilling holes with different sizes, the self-rotation type anti-slip rubber wheel 11 is ensured to be always in close contact with the rock wall, and idle running is prevented; the power cable 15 supplies the rack moving motor 14 with electric power.
As a further scheme of the novel drilling image acquisition robot embodiment: the cleaning device 2 comprises a cleaning liquid storage bin 21, a cleaning liquid spray head 22, a cleaning ring moving mechanism 23, a cleaning liquid feeding pipe 24 and a cleaning ring 25; the cleaning liquid storage bin 21 is positioned in the connecting device and is used for containing cleaning liquid, and is made of plastic, and the lower end of the cleaning liquid storage bin is provided with an interface connected with a cleaning liquid feeding pipe 24; the cleaning solution spray head 22 is a spray head on the cleaning ring 25, and the lower end of the cleaning solution spray head is connected with the cleaning solution delivery pipe 24, so that the cleaning solution can be uniformly sprayed onto the protective shell 32 to clean the protective shell 32; the cleaning ring moving mechanism 23 is positioned at the lower part of the cleaning ring 25, the upper end of a lifting rod 231 of the cleaning ring moving mechanism 23 is connected with the cleaning ring 25, the lower end of the lifting rod is fixed on the surface of the connecting device, and after the cleaning liquid spray head 22 sprays the cleaning liquid, a motor 232 of the cleaning ring moving mechanism 23 is electrified to drive the cleaning ring 25 to move up and down so as to clean the surface of the protective shell 32; the cleaning liquid feeding pipe 24 is a connecting pipe for connecting the cleaning liquid storage bin 21 and the cleaning liquid spray head 22; the cleaning ring 25 is a ring made of rubber, and the high edge of the inner side of the ring is low, so that cleaning liquid can flow to the lower part along the cleaning ring 25 in the cleaning process.
As a further scheme of the novel drilling image acquisition robot embodiment: the cleaning ring moving mechanism 23 comprises a lifting rod 231, a motor 232 and a screw shaft 233, wherein the lifting rod 231 is an aluminum alloy rod body with a groove on the surface, the groove is meshed with the protruding portion of the screw shaft 233, the motor 232 is positioned on the upper portion of the cleaning ring moving mechanism 23 and can receive a cleaning instruction sent by the operation processing module 56 to rotate forwards and reversely, the screw shaft 233 is connected with the motor 232, the rotating direction of the screw shaft 233 is consistent with that of the motor 232, the protruding portion is arranged on the surface of the screw shaft and can be meshed with the groove of the lifting rod 231, the lifting rod 231 is driven to move vertically in the rotating process, and the lifting rod 231 drives the cleaning ring 25 to move up and down so as to clean the surface of the protective shell 32.
As a further scheme of the novel drilling image acquisition robot embodiment: the acquisition device 3 comprises a panoramic lens 31, a protective shell 32, an LED illuminating lamp 33, a conical protective cap 34 and a built-in azimuth angle measuring instrument 35; the panoramic lens 31 is an information acquisition lens at the inner side of the protective shell 32 and can acquire images in the direction of the drill hole rock wall 360; the protective shell 32 is made of toughened glass through high-temperature processing, an electric heating wire is arranged in the protective shell 32, the electric heating wire heats the protective shell 32 in the process of image acquisition in a drill hole, water vapor is prevented from condensing on the surface of the protective shell, and acquisition precision is improved; the LED illuminating lamp 33 provides a light source for the panoramic lens 31, and the brightness of the LED illuminating lamp 33 is adjustable; the conical protective cap 34 is positioned at the front end of the protective shell 32, so as to protect the protective shell 32 from being impacted by hard rock, thereby ensuring the safety of the panoramic lens 31; the built-in azimuth measuring instrument 35 is installed below the panoramic lens 31, and can collect drilling azimuth information at the same time.
As a further scheme of the novel drilling image acquisition robot embodiment: the connecting device 4 comprises a screw rod bracket interface 41, a support rod interface 42, a rotating shaft 43, a cable interface 44, a cable 45 and a shell 46; the screw rod support interface 41 is positioned outside the shell 46, provides an attachment point for the screw rod support 12, connects the screw rod support 12 and the shell 46 together through the rotating shaft 43, and the screw rod support 12 can rotate around the screw rod support interface 41; the support rod interface 42 is positioned outside the shell 46 to provide an attachment point for the support rod 13, the support rod 13 and the shell 46 are connected together through the rotating shaft 43, and the support rod 13 can rotate around the support rod interface 42; the cable interface 44 is an interface between the connecting device and the cable 45; the cable 45 is a four-copper-core outer-clamping steel strand cable, comprises a power supply and a signal transmission line, one end of the cable 45 is connected with the cable interface 44, the other end of the cable 45 is connected with the main cable socket 51, the cable has the functions of power supply and signal transmission, the strength of the cable is high, the flexibility is good, the surface is attached with a wear-resistant plastic layer, and the length of the cable is selected according to the drilling depth and the testing requirement.
As a further scheme of the novel drilling image acquisition robot embodiment: the control device 5 comprises a main cable jack 51, a power interface 52, an operation key area 53, a function key area 54, a high-definition display screen 55, an operation processing module 56 and a storage module 57; the main cable jack 51 is an interface between the control device and the cable 45, and plays roles in power supply and signal transmission; the power interface 52 is the interface between the control device and the underground power supply, and provides electric energy for a novel drilling image acquisition robot; the operation key area 53 can control the starting-up, advancing speed, advancing direction and supporting angle of the screw rod bracket 12 of a novel drilling image acquisition robot; the functional key area 54 can control the heating of the protecting shell 32, the spraying of the cleaning liquid spray head 22 and the movement of the cleaning ring moving mechanism 23 of the novel drilling image acquisition robot; the high-definition display screen 55 can display parameters such as drilling images, travelling speed, drilling azimuth, drilling depth and the like in real time; the operation processing module 56 can send the instructions of the operation key area 53 and the function key area 54 to the corresponding parts to realize the function operation, and process and store the advancing and collected data; the storage module 57 is a data acquisition and storage unit, has a large-capacity storage function, and can record and store data with a hole depth of more than 1000 m.
The application method of the novel drilling image acquisition robot comprises the following specific steps of:
(1) Connecting the cable interface 44 with the main cable socket 51 by using the cable 45, and starting up;
(2) The novel drilling image acquisition robot is placed in a peeping hole, and the angle of a bracket moving motor 14 and a screw rod bracket 12 is adjusted by using a control device 5 so that the autorotation anti-slip rubber wheel 11 is contacted with a drilling rock wall;
(3) Setting the traveling speed of the self-rotation type anti-slip rubber wheel 11 by using the control device 5, turning on the heating function of the protective shell 32, starting acquisition after 10 seconds, and storing acquired drilling image data and azimuth data in the storage module 57;
(4) If the protective shell 32 is shielded by rock scraps, mud and the like, suspending collection, using the control device 5 to control the cleaning liquid spray head 22 to spray mist cleaning liquid to the protective shell 32, and controlling the cleaning ring 25 to clean and wipe the protective shell 32, and continuing collection after wiping is finished;
(5) When the conical protective cap 34 of the novel drilling image acquisition robot reaches the bottom of the hole, the acquisition is finished, all acquired data are stored in the storage module 57, the novel drilling image acquisition robot is controlled by the control device 5 to withdraw from the hole, and the drilling information acquisition is completed.
Compared with the prior art, the novel drilling image acquisition robot embodiment has the beneficial effects that:
a novel drilling image acquisition robot have 8 rotation formula antiskid rubber wheels, divide into upper and lower two sets of altogether, every group sets up 4, rotation formula antiskid rubber wheel outside is the contact layer of making for wear-resisting antiskid rubber, through support mobile motor adjustment, can will a novel drilling image acquisition robot and rock wall in close contact with, and can arrange the panoramic lens in drilling central authorities, guarantee the collection effect.
A novel drilling image acquisition robot use eight rotation anti-skidding rubber wheels to rotate in the borehole pore wall, drive collection device and remove in the drilling, saved the work of connecting rod, saved the time, guaranteed to gather image continuity and integrality, operation processing module will rotation anti-skidding rubber wheels number of turns turn into drilling degree of depth and save with image data is synchronous, can clearly gather the country rock deformation and broken characteristic in the different degree of depth scope of tunnel roof.
A novel drilling image acquisition robot independently be equipped with the belt cleaning device, when the protecting crust was sheltered from by detritus and mud, use washing liquid and cleaning ring to wash the protecting crust, avoid taking out the repeatability work of wiping with the camera lens from the drilling in, improve collection efficiency.
A novel drilling image acquisition robot's panoramic lens outside be equipped with the protecting crust, can protect the camera lens not by dirty, block dust and steam erosion in the drilling, still have the electrical heating function, avoid steam to condense at the protecting crust surface, make the acquisition image more clear.
The novel drilling image acquisition robot uses the control device to control the starting-up, the advancing speed, the advancing direction and the supporting angle of the screw rod support of the drilling image acquisition robot, is simple and convenient to operate and has complete functions.
A novel drilling image acquisition robot use's cable conductor be four copper core outer clamp steel strand wires cable, contain power and signal transmission line, not only can be for novel drilling image acquisition robot provide the electric energy transmission signal, cable conductor intensity is high, the pliability is good, can take place when the hole accident of collapsing in the drilling, rescue out the danger with the robot from downthehole through traction cable conductor.
Drawings
Fig. 1 is a block diagram of each part of the novel drilling image acquisition robot.
Fig. 2 is a combined diagram of the self-feeding device, the cleaning device, the collecting device and the connecting device of the novel drilling image collecting robot.
Fig. 3 is a detailed view of a cleaning device and a collecting device of the novel drilling image collecting robot.
Fig. 4 is a detailed view of the self-advancing device and the connecting device of the novel drilling image acquisition robot.
Fig. 5 is a detailed view of a control device of the novel drilling image acquisition robot.
Fig. 6 is a top view of the self-advancing device of the novel drilling image acquisition robot.
Fig. 7 is a top view of a cleaning ring of the novel borehole image acquisition robot.
Fig. 8 is an internal structural diagram of the cleaning ring moving mechanism of the novel drilling image acquisition robot.
Wherein: 1-a self-feeding device; 11-autorotation anti-slip rubber wheels; 12-screw rod brackets; 13-supporting rods; 14-a bracket moving motor; 15-a power cable; 2-a cleaning device; 21-a cleaning liquid storage bin; 22-cleaning solution spray head; 23-a purge ring movement mechanism; 231-lifting rod; 232-an electric motor; 233-screw shaft; 24-a cleaning liquid feeding pipe; 25-cleaning ring; 3-a collection device; 31-panoramic lens; 32-protecting shell; 33-LED lighting lamp; 34-a conical protective cap; 35-built-in azimuth measuring instrument; 4-connecting means; 41-a screw support interface; 42-a support rod interface; 43-rotating shaft; 44-cable interface; 45-cable wires; 46-a housing; 5-a control device; 51-a master cable socket; 52-a power interface; 53-operating a key area; 54-function key area; 55-high definition display screen; 56-an operation processing module; 57-memory module.
Description of the embodiments
The technical scheme of the novel drilling image acquisition robot is further described in detail below with reference to the specific embodiments.
The novel drilling image acquisition robot comprises a self-feeding device 1, a cleaning device 2, an acquisition device 3, a connecting device 4 and a control device 5; the self-advancing device 1 is arranged outside the connecting device and provides advancing power for the novel drilling image acquisition robot; the cleaning device 2 is arranged between the acquisition device 3 and the connecting device 4, and can clean the protective shell 32 of the novel drilling image acquisition robot so as to ensure the definition of image acquisition; the acquisition device 3 is arranged at the upper part of the connecting device 4 and is a rock stratum image acquisition part of the novel drilling image acquisition robot; the connecting device 4 connects all parts of the novel drilling image acquisition robot together; the control device 5 can send instructions to control the novel drilling image acquisition robot to implement an image acquisition function.
For convenient use, the self-feeding device 1 comprises a self-rotation type anti-skid rubber wheel 11, a screw rod bracket 12, a supporting rod 13, a bracket moving motor 14 and a power cable 15; the outer side of the self-rotation type anti-slip rubber wheel 11 is a contact layer made of wear-resistant anti-slip rubber, the outer side of the self-rotation type anti-slip rubber wheel 11 is in close contact with a rock wall, a high torque motor in the self-rotation type anti-slip rubber wheel 11 is powered by a power cable 15, the self-rotation type anti-slip rubber wheel can rotate under the power on state to drive a novel drilling image acquisition robot to move in a drilling hole, 8 self-rotation type anti-slip rubber wheels 11 are distributed on the upper part and the lower part of a connecting device, the number of rotation turns of the self-rotation type anti-slip rubber wheels 11 are recorded in the rotation process and converted into depth, the depth is stored in a storage module 57, and the average value recorded by the 8 self-rotation type anti-slip rubber wheels 11 is the drilling depth; the screw rod bracket 12 is a stainless steel rod with threads on the surface, one end of the screw rod bracket is connected with the screw rod bracket interface 41, and the other end of the screw rod bracket is connected with the autorotation anti-slip rubber wheel 11; the support rod 13 is a short round rod made of stainless steel, one end of the short round rod is connected with the support moving motor 14, the other end of the short round rod is connected with the support rod interface 42 in a hinged manner, and the short round rod can rotate; the support moving motor 14 is connected to the screw rod support 12, and when the screw rod support 12 is electrified, the support moving motor 14 can move on the surface of the screw rod support 12 to control the contact angle between the self-rotation type anti-slip rubber wheel 11 and the rock wall, so that the screw rod support is suitable for drilling holes with different sizes, the self-rotation type anti-slip rubber wheel 11 is ensured to be always in close contact with the rock wall, and idle running is prevented; the power cable 15 supplies the rack moving motor 14 with electric power.
Further, the cleaning device 2 comprises a cleaning liquid storage bin 21, a cleaning liquid spray head 22, a cleaning ring moving mechanism 23, a cleaning liquid feeding pipe 24 and a cleaning ring 25; the cleaning liquid storage bin 21 is positioned in the connecting device and is used for containing cleaning liquid, and is made of plastic, and the lower end of the cleaning liquid storage bin is provided with an interface connected with a cleaning liquid feeding pipe 24; the cleaning solution spray head 22 is a spray head on the cleaning ring 25, and the lower end of the cleaning solution spray head is connected with the cleaning solution delivery pipe 24, so that the cleaning solution can be uniformly sprayed onto the protective shell 32 to clean the protective shell 32; the cleaning ring moving mechanism 23 is positioned at the lower part of the cleaning ring 25, the upper end of a lifting rod 231 of the cleaning ring moving mechanism 23 is connected with the cleaning ring 25, the lower end of the lifting rod is fixed on the surface of the connecting device, and after the cleaning liquid spray head 22 sprays the cleaning liquid, a motor 232 of the cleaning ring moving mechanism 23 is electrified to drive the cleaning ring 25 to move up and down so as to clean the surface of the protective shell 32; the cleaning liquid feeding pipe 24 is a connecting pipe for connecting the cleaning liquid storage bin 21 and the cleaning liquid spray head 22; the cleaning ring 25 is a ring made of rubber, and the high edge of the inner side of the ring is low, so that cleaning liquid can flow to the lower part along the cleaning ring 25 in the cleaning process.
Further, the cleaning ring moving mechanism 23 includes a lifting rod 231, a motor 232 and a screw shaft 233, the lifting rod 231 is an aluminum alloy rod body with a groove on the surface, the groove is meshed with the protruding portion of the screw shaft 233, the motor 232 is located at the upper portion of the cleaning ring moving mechanism 23 and can receive a cleaning command sent by the operation processing module 56 to rotate forward and backward, the screw shaft 233 is connected with the motor 232 and is consistent with the motor 232 in rotation direction, the surface of the screw shaft is provided with a protruding portion which can be meshed with the groove of the lifting rod 231, in the rotation process, the lifting rod 231 is driven to move vertically, and the lifting rod 231 drives the cleaning ring 25 to move up and down to clean the surface of the protective shell 32.
Further, the acquisition device 3 comprises a panoramic lens 31, a protective shell 32, an LED illuminating lamp 33, a conical protective cap 34 and a built-in azimuth angle measuring instrument 35; the panoramic lens 31 is an information acquisition lens at the inner side of the protective shell 32 and can acquire images in the direction of the drill hole rock wall 360; the protective shell 32 is made of toughened glass through high-temperature processing, an electric heating wire is arranged in the protective shell 32, the electric heating wire heats the protective shell 32 in the process of image acquisition in a drill hole, water vapor is prevented from condensing on the surface of the protective shell, and acquisition precision is improved; the LED illuminating lamp 33 provides a light source for the panoramic lens 31, and the brightness of the LED illuminating lamp 33 is adjustable; the conical protective cap 34 is positioned at the front end of the protective shell 32, so as to protect the protective shell 32 from being impacted by hard rock, thereby ensuring the safety of the panoramic lens 31; the built-in azimuth measuring instrument 35 is installed below the panoramic lens 31, and can collect drilling azimuth information at the same time.
Further, the connecting device 4 comprises a screw rod bracket interface 41, a support rod interface 42, a rotating shaft 43, a cable interface 44, a cable 45 and a shell 46; the screw rod support interface 41 is positioned outside the shell 46, provides an attachment point for the screw rod support 12, connects the screw rod support 12 and the shell 46 together through the rotating shaft 43, and the screw rod support 12 can rotate around the screw rod support interface 41; the support rod interface 42 is positioned outside the shell 46 to provide an attachment point for the support rod 13, the support rod 13 and the shell 46 are connected together through the rotating shaft 43, and the support rod 13 can rotate around the support rod interface 42; the cable interface 44 is an interface between the connecting device and the cable 45; the cable 45 is a four-copper-core outer-clamping steel strand cable, comprises a power supply and a signal transmission line, one end of the cable 45 is connected with the cable interface 44, the other end of the cable 45 is connected with the main cable socket 51, the cable has the functions of power supply and signal transmission, the strength of the cable is high, the flexibility is good, the surface is attached with a wear-resistant plastic layer, and the length of the cable is selected according to the drilling depth and the testing requirement.
Further, the control device 5 includes a main cable jack 51, a power interface 52, an operation key area 53, a function key area 54, a high definition display 55, an operation processing module 56, and a storage module 57; the main cable jack 51 is an interface between the control device and the cable 45, and plays roles in power supply and signal transmission; the power interface 52 is an interface between the control device and a downhole power supply, and provides electric energy for the novel drilling image acquisition robot; the operation key area 53 can control the starting-up, advancing speed, advancing direction and supporting angle of the screw rod bracket 12 of the novel drilling image acquisition robot; the functional key area 54 can control the heating of the protecting shell 32, the spraying of the cleaning liquid spray head 22 and the movement of the cleaning ring moving mechanism 23 of the novel drilling image acquisition robot; the high-definition display screen 55 can display parameters such as drilling images, travelling speed, drilling azimuth, drilling depth and the like in real time; the operation processing module 56 can send the instructions of the operation key area 53 and the function key area 54 to the corresponding parts to realize the function operation, and process and store the advancing and collected data; the storage module 57 is a data acquisition and storage unit, has a large-capacity storage function, and can record and store data with a hole depth of more than 1000 m.
The application method of the novel drilling image acquisition robot comprises the following specific steps of:
(1) Connecting the cable interface 44 with the main cable socket 51 by using the cable 45, and starting up;
(2) The novel drilling image acquisition robot is placed in a peeping hole, and the angle of a bracket moving motor 14 and a screw rod bracket 12 is adjusted by using a control device 5 so that the autorotation anti-slip rubber wheel 11 is contacted with a drilling rock wall;
(3) Setting the traveling speed of the self-rotation type anti-slip rubber wheel 11 by using the control device 5, turning on the heating function of the protective shell 32, starting acquisition after 10 seconds, and storing acquired drilling image data and azimuth data in the storage module 57;
(4) If the protective shell 32 is shielded by rock scraps, mud and the like, suspending collection, using the control device 5 to control the cleaning liquid spray head 22 to spray mist cleaning liquid to the protective shell 32, and controlling the cleaning ring 25 to clean and wipe the protective shell 32, and continuing collection after wiping is finished;
(5) When the conical protective cap 34 of the novel drilling image acquisition robot reaches the bottom of the hole, the acquisition is finished, all acquired data are stored in the storage module 57, the novel drilling image acquisition robot is controlled by the control device 5 to withdraw from the hole, and the drilling information acquisition is completed.
The above description is only a preferred embodiment of the novel drilling image acquisition robot, and is not intended to limit the invention, but any modifications, equivalent substitutions, improvements, etc. within the spirit and principles of the present invention should be included in the scope of the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (2)
1. The novel drilling image acquisition robot is characterized by comprising a self-feeding device (1), a cleaning device (2), an acquisition device (3), a connecting device (4) and a control device (5); the self-feeding device (1) is arranged outside the connecting device (4), the cleaning device (2) is arranged between the collecting device (3) and the connecting device (4), and the control device (5) can send an instruction to control the novel drilling image collecting robot to realize an image collecting function; the self-feeding device (1) comprises a self-rotation type anti-slip rubber wheel (11), a screw rod bracket (12), a supporting rod (13), a bracket moving motor (14) and a power cable (15); the support moving motor (14) can move on the surface of the screw rod support (12) after being electrified, so that the contact angle between the self-rotation type anti-slip rubber wheel (11) and the rock wall is controlled, the drilling machine is suitable for drilling holes with different sizes, the self-rotation type anti-slip rubber wheel (11) is controlled to be in close contact with the rock wall, and the average value of the rotation number of turns of the self-rotation type anti-slip rubber wheel (11) can be converted into the drilling depth; the cleaning device (2) comprises a cleaning liquid storage bin (21), a cleaning liquid spray head (22), a cleaning ring moving mechanism (23), a cleaning liquid conveying pipe (24) and a cleaning ring (25); the cleaning solution spray head (22) can uniformly spray the cleaning solution on the surface of the protective shell (32), the cleaning ring (25) moves up and down on the protective shell (32) to clean the surface of the protective shell (32), the image acquisition definition is ensured, and the cleaning solution can flow to the lower part along the cleaning ring (25); the acquisition device (3) comprises a panoramic lens (31), a protective shell (32) and a conical protective cap (34); the panoramic lens (31) can acquire images of the drill hole in the direction of the rock wall 360; an electric heating wire is arranged in the protective shell (32) and can heat the protective shell (32) to prevent water vapor from condensing on the surface of the protective shell; the connecting device (4) comprises a screw rod bracket interface (41), a support rod interface (42), a rotating shaft (43), a cable interface (44) and a cable (45); the screw rod support interface (41) provides an attachment point for the screw rod support (12), and the screw rod support (12) can rotate around the screw rod support interface (41); the cable (45) plays roles of power supply and signal transmission; the control device (5) comprises a main cable jack (51), an operation key area (53), a function key area (54), an operation processing module (56) and a storage module (57), wherein the operation processing module (56) can send instructions of the operation key area (53) and the function key area (54); the control device (5) is connected with the connecting device (4) through a cable (45).
2. A method for using the novel drilling image acquisition robot as claimed in claim 1, which is characterized by comprising the following specific steps:
firstly, a cable wire (45) is used for connecting a cable wire interface (44) with a main cable socket (51), and the machine is started;
secondly, the novel drilling image acquisition robot is placed in a peeping hole, and a control device (5) is used for adjusting the angles of a bracket moving motor (14) and a screw rod bracket (12) so that the autorotation anti-slip rubber wheel (11) is in contact with a drilling rock wall;
setting the advancing speed of the self-rotating anti-slip rubber wheel (11) by using the control device (5), opening the heating function of the protective shell (32), starting to collect after 10 seconds, and storing the collected drilling image data and azimuth angle data in the storage module (57);
fourthly, if the protective shell (32) is shielded by rock scraps and mud, suspending collection, using the control device (5) to control the cleaning solution spray head (22) to spray mist cleaning solution to the protective shell (32), and controlling the cleaning ring (25) to clean and wipe the protective shell (32), and continuing collection after wiping is finished;
and fifthly, when the conical protective cap (34) of the novel drilling image acquisition robot reaches the bottom of the hole, the acquisition is finished, all acquired data are stored in the storage module (57), the novel drilling image acquisition robot is controlled to withdraw from the hole by using the control device (5), and the drilling information acquisition is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910898535.8A CN110480596B (en) | 2019-09-23 | 2019-09-23 | Novel drilling image acquisition robot and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910898535.8A CN110480596B (en) | 2019-09-23 | 2019-09-23 | Novel drilling image acquisition robot and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110480596A CN110480596A (en) | 2019-11-22 |
| CN110480596B true CN110480596B (en) | 2023-08-22 |
Family
ID=68558978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910898535.8A Active CN110480596B (en) | 2019-09-23 | 2019-09-23 | Novel drilling image acquisition robot and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110480596B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111810123B (en) * | 2020-07-08 | 2023-04-25 | 神华神东煤炭集团有限责任公司 | Drilling imaging system |
| CN115256414B (en) * | 2022-07-21 | 2023-07-14 | 中国矿业大学 | Mining drilling robot and coupling operation method thereof with geological and roadway model |
| CN115853502B (en) * | 2023-02-22 | 2023-06-09 | 北京阿玛西换热设备制造有限公司 | Drilling depth measuring instrument |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070027430A (en) * | 2005-09-06 | 2007-03-09 | 정선구 | Micro robot for the in side pipe inspection |
| CN205793028U (en) * | 2016-05-30 | 2016-12-07 | 中国科学院武汉岩土力学研究所 | Intelligentized digital motor boring panorama camera device |
| CN206174949U (en) * | 2016-11-23 | 2017-05-17 | 中国石油大学(华东) | Appearance washing, defogging device are peeied at in drilling |
| CN107956469A (en) * | 2017-12-26 | 2018-04-24 | 江苏煤炭地质勘探二队 | A kind of Intelligent supersonic imaging logging device for Seam Gas Prospecting |
| CN208010330U (en) * | 2018-01-17 | 2018-10-26 | 重庆汇博实验仪器有限公司 | The electronic aggregation in deep-well rock stratum is imaged detection probe |
| CN108798637A (en) * | 2018-06-07 | 2018-11-13 | 山东科技大学 | Detection method and its propulsion device are pried through in the pinpoint drilling of one kind |
| CN208310755U (en) * | 2018-05-04 | 2019-01-01 | 武汉声赫科技有限公司 | A kind of imaging device of the detection bore path based on quaternary number |
| CN109162699A (en) * | 2018-11-05 | 2019-01-08 | 中国矿业大学 | It is a kind of to adapt to the prying through probe from advancing and pry through method of different bore diameters |
| CN109751042A (en) * | 2018-12-14 | 2019-05-14 | 苏交科集团检测认证有限公司 | A kind of fixed device of borehole camera hole location |
-
2019
- 2019-09-23 CN CN201910898535.8A patent/CN110480596B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070027430A (en) * | 2005-09-06 | 2007-03-09 | 정선구 | Micro robot for the in side pipe inspection |
| CN205793028U (en) * | 2016-05-30 | 2016-12-07 | 中国科学院武汉岩土力学研究所 | Intelligentized digital motor boring panorama camera device |
| CN206174949U (en) * | 2016-11-23 | 2017-05-17 | 中国石油大学(华东) | Appearance washing, defogging device are peeied at in drilling |
| CN107956469A (en) * | 2017-12-26 | 2018-04-24 | 江苏煤炭地质勘探二队 | A kind of Intelligent supersonic imaging logging device for Seam Gas Prospecting |
| CN208010330U (en) * | 2018-01-17 | 2018-10-26 | 重庆汇博实验仪器有限公司 | The electronic aggregation in deep-well rock stratum is imaged detection probe |
| CN208310755U (en) * | 2018-05-04 | 2019-01-01 | 武汉声赫科技有限公司 | A kind of imaging device of the detection bore path based on quaternary number |
| CN108798637A (en) * | 2018-06-07 | 2018-11-13 | 山东科技大学 | Detection method and its propulsion device are pried through in the pinpoint drilling of one kind |
| CN109162699A (en) * | 2018-11-05 | 2019-01-08 | 中国矿业大学 | It is a kind of to adapt to the prying through probe from advancing and pry through method of different bore diameters |
| CN109751042A (en) * | 2018-12-14 | 2019-05-14 | 苏交科集团检测认证有限公司 | A kind of fixed device of borehole camera hole location |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110480596A (en) | 2019-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110480596B (en) | Novel drilling image acquisition robot and application method thereof | |
| CN102704927B (en) | Comprehensive mechanization stone drift heading machine set | |
| CN205205768U (en) | Inspection of tramway clearance in pit car | |
| CN105443037A (en) | Anchor rod jacking drilling machine and anchor rod jacking drilling carriage with same | |
| CN214303682U (en) | Drilling equipment for engineering geological exploration | |
| US6446738B1 (en) | Blasthole drill including an improved operator's cab | |
| CN211193864U (en) | Novel drilling image acquisition robot | |
| CN102704928A (en) | Rotatable retractable cutting device for comprehensive mechanized stone head tunneling machine set | |
| CN219139055U (en) | Colliery mechanical exploitation equipment with dust fall structure | |
| CN111496816A (en) | Inspection robot system for shield tunneling machine and inspection method thereof | |
| JP2017089150A (en) | Boring robot | |
| CN115450559A (en) | Portable drilling equipment of sensor for rock burst on-line monitoring | |
| CN215109004U (en) | Spraying dust removal equipment for coal mine electromechanical fully mechanized mining support | |
| CN201218053Y (en) | Pressure-discharging drill rig with remote control | |
| CN207063907U (en) | Rig with slopes operation locking device | |
| CN214365858U (en) | Engineering geological drilling machine | |
| CN112792010A (en) | Geophysical logging cable cleaning device | |
| CN110080783A (en) | A kind of tunnel equipment of the foot section brought jumbolter | |
| CN217765571U (en) | Mine geological exploration sampling device | |
| CN215375826U (en) | Detection mechanism for determining coal seam trend by detecting bottom coal | |
| CN218669352U (en) | Mining downhole prying trolley | |
| CN212693307U (en) | Geological survey device with angle adjusting function | |
| CN219241919U (en) | Rectangular pipe jacking tunneling machine shell soil backing prevention device | |
| CN202690044U (en) | Comprehensive mechanized rock roadway tunneling unit | |
| CN220687239U (en) | Exploration drill bit convenient to clearance surface mud piece |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |