CN111077591A - Rock wall detection and rock sample collection device - Google Patents

Rock wall detection and rock sample collection device Download PDF

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Publication number
CN111077591A
CN111077591A CN201911335138.6A CN201911335138A CN111077591A CN 111077591 A CN111077591 A CN 111077591A CN 201911335138 A CN201911335138 A CN 201911335138A CN 111077591 A CN111077591 A CN 111077591A
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China
Prior art keywords
rock
electric grinder
sleeve
sample collection
rock wall
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CN201911335138.6A
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Chinese (zh)
Inventor
崔子阳
饶建华
陈泽
刘文成
丁飞翔
李康平
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China University of Geosciences
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China University of Geosciences
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Priority to CN201911335138.6A priority Critical patent/CN111077591A/en
Publication of CN111077591A publication Critical patent/CN111077591A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • 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
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
    • 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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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Sampling And Sample Adjustment (AREA)

Abstract

The invention provides a rock wall detection and rock sample collection device, which comprises a hoisting system, a lithology detection system and a rock sample collection system, wherein the hoisting system is used for hoisting rock wall; the hoisting system is connected with the lithology detection system; the lithology detection system comprises a tracked vehicle, a ground penetrating radar and a camera mechanism; rock sample collection system includes the multi freedom arm, the carousel, scraping mechanism and brill grind sampling mechanism, the tracked vehicle is connected to this arm one end, the carousel is connected to the other end, scraping mechanism and brill grind sampling mechanism are fixed in the carousel, it includes the sleeve to bore to grind sampling mechanism, collect the chamber, electric grinder and bistrique, the sleeve rear end is fixed in on the carousel, the front end is connected and is collected the chamber, the electric grinder rear end inserts in the sleeve, and be equipped with the spring between electric grinder and the sleeve, it is equipped with the butt hole to collect the chamber front end, the electric grinder front end is supported and is held in the butt hole and connect the three-jaw chuck, the bistrique is installed on the. The invention has the beneficial effects that: the labor force and the danger of collecting the rock wall sample are reduced, and the rock wall sample detection and collection efficiency is improved.

Description

Rock wall detection and rock sample collection device
Technical Field
The invention relates to the technical field of geological engineering, in particular to a rock wall detection and rock sample collection device.
Background
The sedimentary action in the geological history period leads the rock stratum to be usually in layered distribution, and the rock stratum at different layers are respectively generated in different times and different ancient geographic environments, so that the rock stratum characteristics at different layers are different. In geological research work, in order to continuously and completely research rock strata in a certain time or region, samples are generally collected layer by layer and densely to analyze lithology characteristics of different strata.
At present, a rock wall detection and collection device or mechanism does not appear in scientific work or the market, general scientific research personnel directly climb to a rock wall designated position to collect rock samples, and due to the fact that the rock wall detection and rock sample collection process is limited by geographic environment factors such as caves and cliffs, manual sampling is dangerous and not efficient, and therefore a novel rock wall detection and rock sample collection device is urgently needed.
Disclosure of Invention
The embodiment of the invention provides a rock wall detection and rock sample collection device, aiming at the problems of high rock property detection and rock wall collection difficulty of a cliff, high danger coefficient of manual operation and the like.
The embodiment of the invention provides a rock wall detection and rock sample collection device, which comprises a hoisting system, a lithology detection system and a rock sample collection system, wherein the hoisting system is used for hoisting rock wall;
the hoisting system is arranged on the top of the rock, is connected with the lithology detection system and is used for lifting the lithology detection system along the rock wall;
the lithology detection system comprises a tracked vehicle, a ground penetrating radar and a camera mechanism, wherein the ground penetrating radar and the camera mechanism are arranged on the tracked vehicle;
the rock sample collection system comprises a multi-degree-of-freedom mechanical arm, a rotary table, a scraping mechanism and a drilling, grinding and sampling mechanism, one end of the multi-degree-of-freedom mechanical arm is connected with the crawler, the other end of the multi-degree-of-freedom mechanical arm is connected with the turntable, the scraping mechanism and the drilling and grinding sampling mechanism are respectively fixed on the turntable, the drilling and grinding sampling mechanism comprises a sleeve, a collecting cavity, an electric grinder and a grinding head, the rear end of the sleeve is fixed on the turntable, the front end of the sleeve is connected with the collecting cavity, the rear end of the electric grinder is inserted into the sleeve, a spring is arranged between the rear end of the electric grinder and the sleeve, the front end of the collecting cavity is provided with an abutting hole, the front end of the electric grinder is abutted against the abutting hole and is connected with the three-jaw chuck, the grinding head is arranged on the three-jaw chuck, collect the chamber with be rock specimen storage space between the electric grinder, the bistrique extruded make the electric grinder with form between the butt hole and supply the rock specimen to get into the clearance in rock specimen storage space.
Further, the outer wall of the rear end of the electric grinder is attached to the inner wall of the sleeve, the abutting hole is overlapped with the axis of the sleeve, the front end of the electric grinder is in a stepped shaft shape, the front end of the electric grinder is attached to penetrate through the abutting hole, a shaft shoulder abuts against the edge of the abutting hole, and the abutting hole is aligned to the shaft of the electric grinder through the sleeve.
Furthermore, the number of the springs is four, the rear end of the electric grinder is conical, the springs are tightly attached to the inner wall of the sleeve and are evenly distributed, the rear end of each spring is fixed on the sleeve, and the front end of each spring supports the conical surface at the rear end of the electric grinder.
Furthermore, the lifting system comprises a base, a truss, a retracting mechanism, a steel wire rope and a control box, wherein the truss and the retracting mechanism are fixed on the base, a plurality of idler wheels are arranged on the truss, a hinge is further arranged on the base, the steel wire rope bypasses the hinge and all the idler wheels and is connected with the retracting mechanism, and the control box is connected with the retracting mechanism.
Furthermore, the tracked vehicle comprises a frame and two tracks, two sets of hubs are arranged on two sides of the frame respectively, each track is sleeved on one set of hubs, two driving mechanisms for driving the two sets of hubs are further arranged on the frame, each driving mechanism comprises a stepping motor and a speed reducer, the stepping motor is connected with an input end of the speed reducer, and an output end of the speed reducer is connected with one set of hubs.
Furthermore, the multi-degree-of-freedom mechanical arm is fixed at the front end of the frame, and the ground penetrating radar and the camera shooting mechanism are fixed at the bottom of the frame.
Further, the ground penetrating radar is provided with a power supply module, an interface module and a wireless antenna, the power supply module, the interface module and the wireless antenna are used for supplying power to the ground penetrating radar, the interface module is connected with the camera shooting mechanism, the ground penetrating radar is remotely connected with a PC end through the wireless antenna and is used for transmitting the rock wall data collected by the ground penetrating radar and the image data shot by the roller camera shooting mechanism to the PC end.
Further, the camera shooting mechanism is an industrial camera.
Further, the multi-degree-of-freedom mechanical arm is a four-degree-of-freedom mechanical arm.
The electric control system is respectively connected with the hoisting system, the tracked vehicle, the ground penetrating radar, the camera shooting mechanism, the multi-degree-of-freedom mechanical arm and the electric grinder.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: according to the rock wall detection and rock sample collection device, the rock property detection system and the rock sample collection system are lifted through the lifting system, the rock property detection system detects and shoots the rock wall to obtain the spatial position, structure, form and buried depth of a medium in the rock wall, the rock sample collection system can grind the rock wall through the grinding head to obtain a particle powder rock wall sample, the rock wall sample automatically falls into the collection cavity, automatic collection of the rock wall sample is achieved, in addition, when a harder rock layer is encountered, the shovel scraping mechanism works to scrape rock particles, an electric grinder is assisted to grind and sample the rock, the influence of labor and danger factors for collecting the rock wall sample by scientific research personnel is greatly reduced, and meanwhile, the detection and collection efficiency of the rock wall sample is improved.
Drawings
FIG. 1 is a schematic view of a rock wall detection and rock sample collection apparatus of the present invention;
FIG. 2 is a schematic view of the hoist system 1 of FIG. 1;
FIG. 3 is a schematic diagram of the lithology detection system 2 and the rock sample collection system 3 of FIG. 1;
FIG. 4 is a schematic view of crawler 201 of FIG. 3;
FIG. 5 is a bottom view of the tracked vehicle of FIG. 4;
FIG. 6 is a schematic diagram of the georadar 202 of FIG. 3;
FIG. 7 is a schematic view of the rock sample collection system 3 of FIG. 1;
fig. 8 is a schematic view of the burr sampling mechanism 304 of fig. 7.
In the figure: 1-hoisting system, 101-base, 102-truss, 103-steel wire rope, 104-control box, 105-hinge, 106-roller, 2-lithology detection system, 201-tracked vehicle, 202-ground penetrating radar, 203-camera mechanism, 204-vehicle frame, 205-wheel hub, 206-track, 207-suspension loop, 208-stepping motor, 209-reducer, 210-power module, 211-wireless antenna, 212-interface module, 3-rock sample collection system, 301-multi-degree-of-freedom mechanical arm, 302-turntable, 303-scraper mechanism, 304-drilling and grinding sampling mechanism, 305-mechanical sleeve arm, 306-sleeve, 307-collection cavity, 308-electric grinder, 309-grinding head, 310-spring, 311-three jaw chuck.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a rock wall detection and rock sample collection device, which includes a hoisting system 1, a lithology detection system 2, a rock sample collection system 3, and an electrical control system.
The hoisting system 1 is arranged on the top of a rock, is connected with the lithology detection system 2 and is used for lifting the lithology detection system 2 along the rock wall;
specifically, referring to fig. 2, the hoisting system 1 includes a base 101, a truss 102, a retracting and releasing mechanism, a steel wire rope 103 and a control box 104, the truss 102 and the retracting and releasing mechanism are both fixed on the base 101, the truss 102 is provided with a plurality of rollers 106, the base is further provided with a hinge 105, the hinge 105 is arranged at the front of the base 101, the steel wire rope 102 bypasses the hinge 105 and all the rollers 106 and is connected to the retracting and releasing mechanism, and the control box 104 is connected to the retracting and releasing mechanism. The roller 106 guides the steel cable 102, and the pulling angle of the steel cable 102 can be adjusted by adjusting the opening and closing angle of the hinge 105. The retraction mechanism generally selects a winch, and the control box 104 controls the winch to rotate, and then controls the steel wire rope 102 to pull the lithology detection system 2 to ascend and descend.
Referring to fig. 3, the lithology detection system 2 includes a tracked vehicle 201, and a ground penetrating radar 202 and a camera 203 which are disposed on the tracked vehicle 201, wherein the tracked vehicle 201 is connected to the hoisting system 1;
specifically, referring to fig. 4 and 5, the tracked vehicle 201 includes a frame 204 and two tracks 206, two sets of hubs 205 are respectively disposed on two sides of the frame 204, each track 206 is sleeved on one set of hubs 205, the frame 204 is further provided with two driving mechanisms for driving the two sets of hubs 205, each driving mechanism includes a stepping motor 208 and a speed reducer 209, the stepping motor 208 is connected to an input end of the speed reducer 209, and an output end of the speed reducer 209 is connected to one set of hubs 205. The rear end of the frame 204 is also provided with a hanging ring 207, and the hanging ring 207 is connected with the steel wire rope 102. Track 206 reinforcing is grabbed land fertility and is to the adaptability of unevenness's cliff surface, step motor 208 drive wheel hub 205 rotates, wheel hub 205 drives track 206 rotates with the low-speed, relies on crawler 201's gravity, step motor 208's drive power reaches wire rope 102 pulling force combined action makes crawler 201 goes up and down.
Referring to fig. 6, the ground penetrating radar 202 is fixed at the bottom of the frame 204, the ground penetrating radar 202 is provided with a power supply module 210, an interface module 212 and a wireless antenna 211 for supplying power to the ground penetrating radar 202, and the ground penetrating radar 202 detects and detects depths and thicknesses of different rock strata by transmitting and receiving high-frequency electromagnetic waves and can deduce the spatial position, structure, form and buried depth of a medium inside a rock wall. The interface module 212 is connected with the camera 203, and the ground penetrating radar 202 is remotely connected with a PC end through the wireless antenna 211 and is used for transmitting rock wall data collected by the ground penetrating radar 202 and image data shot by the roller camera 203 to the PC end.
The camera 203 is also fixed to the bottom of the frame 204, in this embodiment, the camera 203 selects an industrial camera which has a light supplement function and is used for collecting rock wall lithology images, and a lighting system is not required to be arranged for assisting in collecting the rock wall lithology images under the condition of insufficient illumination.
Referring to fig. 7, the rock sample collection system 3 includes a multi-degree-of-freedom mechanical arm 301, a turntable 302, a scraping mechanism 303, and a drilling and grinding sampling mechanism 304.
The multi-degree-of-freedom mechanical arm 301 is configured to adjust positions of the spatula mechanism 303 and the drilling and grinding sampling mechanism 304, in this embodiment, the multi-degree-of-freedom mechanical arm 301 is a four-degree-of-freedom mechanical arm, and certainly, other multi-degree-of-freedom mechanical arms may be selected as an actual collection environment. One end of the multi-degree-of-freedom mechanical arm 301 is fixed at the front end of the frame 204, the other end of the multi-degree-of-freedom mechanical arm is fixedly connected with the turntable 302, and the scraping mechanism and the drilling and grinding sampling mechanism are respectively fixed on the turntable 302 through a mechanical sleeve arm 305. The multi-degree-of-freedom mechanical arm 301 may control the turntable 302 to move and control the turntable 302 to rotate. Regarding the positions of the scraping mechanism 303 and the drilling and grinding sampling mechanism 304 on the turntable 302, it is preferable that the scraping mechanism 303 and the drilling and grinding sampling mechanism 304 are directly at an included angle of 60 °, so that the scraping mechanism 303 and the drilling and grinding sampling mechanism 304 do not interfere with each other and avoid obstacles well.
Referring to fig. 8, the drilling and milling sampling mechanism 304 includes a sleeve 306, a collection chamber 307, an electric mill 308 and a milling head 309, the rear end of the sleeve 306 is fixed to the mechanical arm 305 and fixed to the turntable 302 through the mechanical arm 305, the front end of the sleeve 306 is connected to the collection chamber 307, where the sleeve 306 is in threaded connection with the collection chamber 307, and the inner cavity of the collection chamber 307 is cylindrical and has a diameter larger than the diameter of the outer cavity 306 of the sleeve. The rear end of the electric grinder 308 is inserted into the sleeve 306, a spring is arranged between the rear end of the electric grinder 308 and the sleeve 306, an abutting hole is arranged at the front end of the collecting cavity 307, the front end of the electric grinder 308 abuts against the abutting hole and is connected with the three-jaw chuck 311, and the grinding head 309 is clamped and mounted on the three-jaw chuck 311. Different types of grinding heads 309 can be selected according to different properties of the rock wall, and only the grinding heads 309 need to be replaced aiming at different rock walls. A rock sample storage space is formed between the collection cavity 307 and the electric grinder 308, and the grinding head 309 is extruded to push the electric grinder 308 to move backwards, so that a gap for the rock sample to enter the rock sample storage space is formed between the front end of the electric grinder 308 and the abutting hole.
Furthermore, the abutting hole also has a positioning function. Specifically, the outer wall of the rear end of the electric grinder 308 is attached to the inner wall of the sleeve 306, the abutting hole is overlapped with the axis of the sleeve 306, the front end of the electric grinder 308 is in a stepped shaft shape, the front end of the electric grinder 308 is attached to penetrate through the abutting hole, a shaft shoulder abuts against the edge of the abutting hole, the abutting hole is aligned to the shaft of the electric grinder 308 through the sleeve, and the electric grinder 308 is prevented from shaking in the horizontal direction during operation.
In order to make the electric grinder 308 move backwards stably when being pressed and avoid the grinding head 309 from generating violent vibration to damage the electric grinder 308 when grinding harder rock samples, the number of the springs 310 is four, the rear end of the electric grinder 308 is made into a cone shape, four springs 310 are evenly distributed on the inner wall of the sleeve 306, the rear end of each spring 310 is fixed on the sleeve 306, and the front end supports the conical surface at the rear end of the electric grinder 308. This ensures a stable rearward displacement of the grinder 308 when it is under pressure.
The electric control system is respectively connected with the control box 104 of the hoisting system 1, the tracked vehicle 201, the ground penetrating radar 202, the camera 203, the multi-degree-of-freedom mechanical arm 301 and the electric grinder 308. The electrical control system is used for controlling the hoisting system 1 to lift the tracked vehicle 201, the stepping motor 208 of the tracked vehicle 201 to rotate, the ground penetrating radar 202 to be started and stopped, the camera mechanism 203 to be started and stopped, the multi-degree-of-freedom mechanical arm 301 to move and the electric grinder 308 to be started and stopped.
When the rock wall detection and rock sample collection device works, the crawler 201 is lifted to a designated position through the lifting system 1, the ground penetrating radar 202 detects the geological properties behind the rock wall, the camera 203 shoots the lithologic images of the rock wall, and the detected geological data and the lithologic images of the rock wall are transmitted to the PC end for analysis and storage; the multi-degree-of-freedom mechanical arm 301 adjusts the position, so that the grinding head 309 of the drilling and grinding sampling mechanism 304 reaches a sampling position, the grinding head 309 grinds a rock wall to obtain a particle powder rock wall sample, the grinding head 309 pushes the electric grinder 308 to move backwards under the extrusion action of the rock wall on the grinding head 309, the rock wall sample automatically falls into the collection cavity 307, automatic collection of the rock wall sample is achieved, in addition, when a harder rock stratum is encountered, the scraping mechanism 303 works to scrape rock particles to assist the electric grinder 308 in grinding and sampling the rock, the influence of labor force and danger factors for collecting the rock wall sample by scientific researchers is greatly reduced, and meanwhile, the detection and collection efficiency of the rock wall sample is improved.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. The utility model provides a rock wall is surveyed and rock specimen collection system which characterized in that: the device comprises a hoisting system, a lithology detection system and a rock sample acquisition system;
the hoisting system is arranged on the top of the rock, is connected with the lithology detection system and is used for lifting the lithology detection system along the rock wall;
the lithology detection system comprises a tracked vehicle, a ground penetrating radar and a camera mechanism, wherein the ground penetrating radar and the camera mechanism are arranged on the tracked vehicle;
the rock sample collection system comprises a multi-degree-of-freedom mechanical arm, a rotary table, a scraping mechanism and a drilling, grinding and sampling mechanism, one end of the multi-degree-of-freedom mechanical arm is connected with the crawler, the other end of the multi-degree-of-freedom mechanical arm is connected with the turntable, the scraping mechanism and the drilling and grinding sampling mechanism are respectively fixed on the turntable, the drilling and grinding sampling mechanism comprises a sleeve, a collecting cavity, an electric grinder and a grinding head, the rear end of the sleeve is fixed on the turntable, the front end of the sleeve is connected with the collecting cavity, the rear end of the electric grinder is inserted into the sleeve, a spring is arranged between the rear end of the electric grinder and the sleeve, the front end of the collecting cavity is provided with an abutting hole, the front end of the electric grinder is abutted against the abutting hole and is connected with the three-jaw chuck, the grinding head is arranged on the three-jaw chuck, collect the chamber with be rock specimen storage space between the electric grinder, the bistrique extruded make the electric grinder with form between the butt hole and supply the rock specimen to get into the clearance in rock specimen storage space.
2. The apparatus for rock wall detection and rock sample collection as claimed in claim 1, wherein: the electric grinder rear end outer wall with the laminating of sleeve inner wall, butt connect the hole with the coincidence of sleeve axis, the electric grinder front end is the step shaft form, the laminating of electric grinder front end is run through the butt connect the hole, and the shaft shoulder butts butt connect the hole edge, the butt connect the hole with the sleeve is right the electric grinder axle location.
3. The apparatus for rock wall detection and rock sample collection as claimed in claim 1, wherein: the quantity of the springs is four, the rear end of the electric grinder is conical, the springs are tightly attached to the inner wall of the sleeve and are evenly distributed, the rear end of each spring is fixed on the sleeve, and the front end of each spring supports a conical surface at the rear end of the electric grinder.
4. The apparatus for rock wall detection and rock sample collection as claimed in claim 1, wherein: the lifting system comprises a base, a truss, a retraction jack, a steel wire rope and a control box, wherein the truss and the retraction jack are fixed on the base, a plurality of idler wheels are arranged on the truss, a hinge is further arranged on the base, the steel wire rope bypasses the hinge and all the idler wheels and is connected with the retraction jack, and the control box is connected with the retraction jack.
5. The apparatus for rock wall detection and rock sample collection as claimed in claim 1, wherein: the crawler comprises a frame and two tracks, wherein two sets of hubs are arranged on two sides of the frame respectively, each track is sleeved on one set of hubs, two driving mechanisms for driving the two sets of hubs are further arranged on the frame, each driving mechanism comprises a stepping motor and a speed reducer, the stepping motor is connected with the input end of the speed reducer, and the output end of the speed reducer is connected with one set of hubs.
6. The rock wall detection and rock sample collection device of claim 5, wherein: the multi-degree-of-freedom mechanical arm is fixed at the front end of the frame, and the ground penetrating radar and the camera shooting mechanism are fixed at the bottom of the frame.
7. The apparatus for rock wall detection and rock sample collection as claimed in claim 1, wherein: the ground penetrating radar is provided with a power supply module, an interface module and a wireless antenna, wherein the power supply module, the interface module and the wireless antenna are used for supplying power to the ground penetrating radar, the interface module is connected with the camera shooting mechanism, and the ground penetrating radar is remotely connected with a PC (personal computer) end through the wireless antenna and is used for transmitting rock wall data collected by the ground penetrating radar and image data shot by the roller camera shooting mechanism to the PC end.
8. The apparatus for rock wall detection and rock sample collection as claimed in claim 1, wherein: the camera shooting mechanism is an industrial camera.
9. The apparatus for rock wall detection and rock sample collection as claimed in claim 1, wherein: the multi-degree-of-freedom mechanical arm is a four-degree-of-freedom mechanical arm.
10. The apparatus for rock wall detection and rock sample collection as claimed in claim 1, wherein: the electric control system is respectively connected with the hoisting system, the tracked vehicle, the ground penetrating radar, the camera shooting mechanism, the multi-degree-of-freedom mechanical arm and the electric grinder.
CN201911335138.6A 2019-12-23 2019-12-23 Rock wall detection and rock sample collection device Pending CN111077591A (en)

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Application Number Priority Date Filing Date Title
CN201911335138.6A CN111077591A (en) 2019-12-23 2019-12-23 Rock wall detection and rock sample collection device

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Application Number Priority Date Filing Date Title
CN201911335138.6A CN111077591A (en) 2019-12-23 2019-12-23 Rock wall detection and rock sample collection device

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113126083A (en) * 2021-04-29 2021-07-16 深圳安德空间技术有限公司 Ground penetrating radar auxiliary positioning method and positioning system based on field video
CN113419237A (en) * 2021-05-28 2021-09-21 南宁强国科技有限公司 Full-section radar wave flow measurement system and flow measurement method thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113126083A (en) * 2021-04-29 2021-07-16 深圳安德空间技术有限公司 Ground penetrating radar auxiliary positioning method and positioning system based on field video
CN113419237A (en) * 2021-05-28 2021-09-21 南宁强国科技有限公司 Full-section radar wave flow measurement system and flow measurement method thereof

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