CN115598711A - A reconnaissance exploration equipment for underground cavity - Google Patents

Abstract

The invention relates to the technical field of underground cavity exploration, in particular to exploration and detection equipment for an underground cavity, which comprises a walking component, a lifting adjusting component, a cavity sampling component and a clamping component, wherein the cavity sampling component of the equipment can be folded from the middle part by driving through a hydraulic cylinder, and the cavity sampling component can be folded, so that the equipment can be folded to reduce the volume when not used or moved, thereby improving the moving and accommodating convenience of the equipment.

Description

A reconnaissance exploration equipment for underground cavity

Technical Field

The invention relates to the technical field of underground cavity exploration, in particular to exploration and detection equipment for an underground cavity.

Background

At present, because of the action of some large machines and vehicles, the earth surface is influenced by vibration for a long time, and in addition, the underground water level is continuously reduced, so that the pressure of underground cracks, pores and the like is continuously reduced, and finally, the area of some deep gaps or cracks is enlarged, so that the underground cavities of the road are formed, in order to ensure the safe operation of the urban road and eliminate the hidden danger generated by the underground cavities of the road, a municipal department usually uses an exploration detection device, the road surface and a green belt are respectively detected through the device, whether hidden bad geology influencing the road safety exists below the road surface and the green belt is ascertained, and the data obtained by detecting the device is analyzed, so that the reference value is provided for the maintenance of subsequent roads.

However, the existing survey detection equipment has a great defect in the using process, the existing survey detection equipment needs workers to enter a survey area, once collapse occurs at the cavity of the survey area, the injury of the workers can be caused, and the using safety of the equipment is reduced.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides exploration equipment for underground cavities.

The technical scheme adopted by the invention for solving the technical problems is as follows: a reconnaissance detection device for underground cavities comprises a walking component, a lifting adjusting component, a cavity sampling component and a clamping component, wherein the lifting adjusting component is installed at one end of the top of the walking component, the clamping component is installed on one side of the top of the walking component, the cavity sampling component is installed on one side of the lifting adjusting component, the device can move by arranging the walking component, the device can be remotely controlled and used by matching a networking module and a PLC (programmable logic controller) with the walking component, so that workers do not need to enter a survey area and can also detect the survey area, and further personal injury caused by collapse of the survey area can be avoided;

the lifting adjusting assembly comprises a supporting vertical frame, a turnover plate and a lifting plate, wherein a supporting transverse frame is horizontally welded at the top of the supporting vertical frame, the turnover plate is hinged to the top of the supporting transverse frame, two supporting rods are vertically welded at the top of the turnover plate, the lifting plate is in lifting fit with the two supporting rods, a supporting plate is welded on one side, away from the supporting rods, of the lifting plate, the lifting plate is driven by a hydraulic cylinder, so that a cavity sampling assembly of the device can be folded from the middle, the volume of the device can be reduced by folding when the device is not used or moved by folding the cavity sampling assembly, and meanwhile, the inclination angle of a drill cylinder can be adjusted by driving the hydraulic cylinder, so that the device can sample and drill holes more flexibly, and further can detect more complex underground cavities;

the hole sampling assembly comprises a connecting plate, a sample sorting box and a spiral drill bit, the connecting plate is horizontally fixed to the top of the supporting plate, a fixing frame is welded to one end of the top of the connecting plate, a drill cylinder is vertically fixed to one side of the fixing frame, the spiral drill bit is matched in the drill cylinder in a rotating mode, the sample sorting box is fixed to one end of the top of the fixing frame, the center of the bottom of the sample sorting box is connected with the top of the drill cylinder in a penetrating mode, a third motor is vertically installed at the top of the sample sorting box, the bottom of the third motor is connected with the top of the spiral drill bit through a rotating rod, the rotating rod is located in one section of the sample sorting box, a sweeping plate is welded to the periphery of the rotating rod, a first leaking hole and a second leaking hole are formed in the bottom of the sample sorting box respectively, a filter plate with meshes is installed in the second leaking hole, the samples are temporarily stored by using the sample sorting box, the samples are sent into the first leaking hole and the second leaking hole through the sweeping plate, so that the samples are stored in a collecting dish, the automatic sorting function of the samples is achieved, and then the use of the device is more automatic sorting, the fine sorting is achieved, and dust and the later stage of the second leaking hole is removed from the filter plate.

Preferably, the walking subassembly includes the walking chassis, four walking wheels and four first motors, the walking chassis includes the steel sheet and the support steel column of a plurality of two parallels, the vertical welding of a plurality of support steel column is between two parallel steel sheets, four walking wheels are installed respectively in walking chassis four corners, four first motors are all installed between two parallel steel sheets of walking chassis, and four first motors drive four walking wheels respectively, through being equipped with a first motor for each walking wheel, on the one hand, make the walking power of this equipment stronger, and then make the better removal walking of this equipment in more complicated topography, on the other hand, turn to when making this equipment remove and adjust more nimble.

Preferably, the support grudging post is vertical fixed at the undercarriage top of walking, and it has the pneumatic cylinder to articulate on the support grudging post, and the top of pneumatic cylinder is equipped with the hydraulic stem, and the one end that the pneumatic cylinder was kept away from to the hydraulic stem articulates there is the push rod, and push rod horizontal welding is at the returning face plate top.

Preferably, the top level of two bracing pieces is fixed with the roof, normal running fit has the lead screw between roof and the returning face plate, the vertical second motor of drive lead screw pivoted of installing in top of roof, the welding of lifter plate one side has two sliders, two sliders overlap respectively and establish on two bracing pieces, two sliders respectively with two bracing piece sliding fit, the lifter plate is on two bracing pieces through two slider normal running fit, the lifter plate is close to one side welding of slider and has the nut, nut screw-thread fit is on the lead screw.

Preferably, the sample arrangement bottom of the case portion corresponds first small opening department and installs first discharging pipe, and the sample arrangement bottom of the case portion corresponds second small opening department and installs the second discharging pipe, and connecting plate top normal running fit has the carousel, and radians such as the top edge of carousel have placed a plurality of and have collected the ware, and the vertical drive carousel pivoted fifth motor of installing in bottom of supporting plate.

Preferably, mount middle part level is fixed with two fourth motors, the one end of two fourth motors all is connected with the receipts material roller through the pivot, two receipts material rollers correspond with first discharging pipe mouth of pipe and second discharging pipe mouth of pipe respectively, and impartial radian has seted up a plurality of silo on two receipts material rollers, mount one side is located two fourth motor below and installs the funnel, funnel open-top corresponds with two receipts material rollers, funnel bottom opening corresponds with a collection ware on the carousel, through setting up fourth motor and receipts material roller, a silo of receipts material roller is after receiving full sample or impurity, through fourth motor drive, will receive full sample or impurity and pour into in the collection ware, and simultaneously, the rotation of cooperation carousel, place the funnel below in the collection ware of difference, and then make bold sample and impurity better separation deposit, through setting up the apron, can reduce the sample when getting into the funnel scattering of dust, and then reduce the destruction to the environment.

Preferably, the top of the drill cylinder is welded with a cover plate at the periphery close to one end of the sample sorting box, the bottom of the drill cylinder is provided with a notch used for exposing the drill point at the bottom of the spiral drill bit, and the spiral drill bit can be better contacted with the ground through the notch, so that the spiral drill bit can be drilled more conveniently.

Preferably, press from both sides and get the subassembly and include the fixed plate, the one-level arm of force and the second grade arm of force, the fixed plate passes through the bolt fastening and walks the chassis top, the top normal running fit of fixed plate has the fluted disc, lie in the vertical sixth motor of installing in the bottom of the steel sheet of upside in the walking chassis, the top of sixth motor is connected with the gear through the pivot, the gear is located walking chassis top, gear and fluted disc meshing, the articulated cooperation in the one-level arm of force bottom is at the fluted disc top, the one end that the one-level arm of force is close to the fluted disc is installed and is driven one-level arm of force pivoted seventh motor, the bottom and the one end that the fluted disc was kept away from to the one-level arm of force are articulated, the one end that the one-level arm of force was kept away from to the second grade arm of force is installed and is driven tertiary arm of force, tertiary arm of force is close to the one end that the second grade arm of force is kept away from the second grade arm of force and is installed pneumatic clamping jaw.

Preferably, the control box is installed at the walking assembly top, install the networking module that is used for remote control in the control box, PLC controller and battery, press from both sides the tip of getting the subassembly and install distance sensor, press from both sides the position of getting the subassembly tip through the distance sensor location, and then conveniently press from both sides the subassembly and carry out accurate control, anticollision radar is installed to walking assembly's week side, ground penetrating radar is installed to walking assembly's bottom, use with the cooperation of detection radar through using walking assembly, make the location in cavity region simple and convenient more.

Preferably, the working method of the exploration and detection equipment for the underground cavity specifically comprises the following steps:

the method comprises the following steps: transmitting a control instruction to a PLC (programmable logic controller) of the equipment through a networking module, controlling through the PLC, starting a first motor, driving a travelling wheel to rotate through the first motor, moving the equipment to an area to be surveyed by rotating the travelling wheel, and continuously scanning the ground through a ground penetrating radar arranged at the bottom of a travelling component of the equipment to acquire the underground cavity condition of the surveyed area;

step two: the method comprises the steps that after a ground penetrating radar scans an underground cavity, the equipment stops moving, the screw rod is driven by a second motor to rotate, a nut is driven to move up and down by rotating the screw rod, the nut drives a lifting plate to move, the height of a cavity sampling assembly is adjusted by moving the lifting plate, the cavity sampling assembly is slowly moved downwards, when a drill cylinder of the cavity sampling assembly is in contact with the ground, a third motor is started, the third motor drives a spiral drill bit and a sweeping plate to rotate, the ground is drilled by rotating an auger bit, the cavity sampling assembly is slowly moved downwards, the rotary spiral drill bit is slowly drilled into the ground, meanwhile, the spiral drill bit is matched with the drill cylinder, soil and rocks generated by drilling are sent into a sample sorting box, soil and rock samples in the sample sorting box are swept into a first leaking hole and a second leaking hole by the rotating sweeping plate, the soil and rock samples are sent into a collecting vessel by a first discharging pipe and a second discharging pipe, and the soil and rock samples are sent into the collecting vessel by the second motor after the spiral drill bit is downwards drilled to the underground cavity, the bottom of the spiral drill bit and the underground cavity is shot by the spiral drill bit;

step three: drive through the sixth motor, make the gear revolve, the gear is through meshing with the fluted disc, it rotates to drive the clamp and get the subassembly, it rotates to rotate to press from both sides and get the subassembly towards cavity sample assembly, it rotates to drive the one-level arm of force through the seventh motor, it rotates to drive the second grade arm of force through the eighth motor, it rotates to drive the tertiary arm of force through the ninth motor, through rotating the one-level arm of force, second grade arm of force and tertiary arm of force, it gets the collecting vessel to press from both sides through pneumatic clamping jaw, rotate the one-level arm of force once more, second grade arm of force and tertiary arm of force, send the collecting vessel to the top of walking chassis, utilize and press from both sides and get the subassembly, all move the collecting vessel on the cavity sample assembly to the walking chassis, drive through the pneumatic cylinder, make the hydraulic stem remove, the hydraulic stem drives the upset of returning face plate through the push rod, it is ninety degrees to turn over the upset to the returning face plate, make the drill barrel keep the horizontality, it rotates to drive the walking wheel through the first motor once more, shift out the equipment from the cavity region, the operation personnel utilize the earth and rock sample that the equipment collected in the collecting vessel to detect, simultaneously, according to underground shooting content according to the equipment, analyze the underground condition.

The invention has the beneficial effects that:

(1) According to the invention, the equipment can move by arranging the walking component, so that the convenience of moving and transporting the equipment is improved, the equipment can be remotely controlled and used by matching the networking module with the PLC, a worker can also detect a survey area without entering the survey area, and further the occurrence of personnel injury caused by collapse of the survey area can be avoided, so that the equipment is safer to use, the walking component is matched with a detection radar for use, so that the cavity area is simpler and more convenient to locate, the efficiency of detecting underground cavities by the equipment can be effectively improved, on one hand, the walking power of the equipment is stronger, the equipment can move and walk on a more complex terrain, so that the applicability of the equipment to a use environment is improved, on the other hand, the steering adjustment of the equipment during moving is more flexible, and the flexibility of controlling the equipment is improved.

(2) According to the invention, by using the cavity sampling assembly, the equipment can sample in a surveying area and drill a hole in the surveying area, the cavity sampling assembly is matched with the walking assembly for use, and the networking module and the PLC are remotely controlled, so that when the equipment is used for sampling and drilling, workers cannot be damaged by mud fragments splashed by the equipment, the use safety of the equipment is further improved, the samples are temporarily stored by using the sample sorting box, the samples are sent into the first leak hole and the second leak hole through the sweeping plate, and the samples are stored by using the collecting vessel, so that the equipment realizes the automatic sorting function of the samples, the use of the equipment is more automatic, the use convenience of the equipment is improved, the use convenience of the equipment is further improved, by arranging the filter plate in the second leak hole, the dust and fine impurities in the samples in the sample sorting box can be removed from the second leak hole in advance, the later-stage sample screening work is reduced, the convenience of the use of the equipment is further improved, by arranging the fourth motor and the material collecting roller, one material groove of the material collecting roller can be fully collected after the samples or fine impurities are collected, the samples can be removed from the second leak hole, the collecting plate, the environment that the impurities can be better separated, and the large-collecting hopper can be further reduced, and the impurities can be collected in the environment of the hopper, and the environment that the dust can be better separated, and the environment can be further reduced, and the environment that the dust can be further, and the environment that the collected.

(3) According to the invention, the collecting vessel is moved by using the clamping assembly, on one hand, the collecting vessel is heavier in quality after a sample is placed in the collecting vessel, and is moved by using the clamping assembly, so that manual carrying is avoided, manpower is saved, and meanwhile, the situation that personnel are injured by the sample in the collecting vessel is avoided, so that the use safety of the equipment is further improved, on the other hand, when the equipment is operated, the empty collecting vessel can be automatically placed into the cavity sampling assembly through the clamping assembly, and the collecting vessel filled with the sample can be automatically taken down from the cavity sampling assembly, so that the equipment can sample more at one time, further the sampling capacity of the equipment is improved, so that the surveying efficiency and the surveying effect of the equipment are improved, the cavity sampling assembly of the equipment can be folded from the middle part by using the hydraulic cylinder for driving, the cavity sampling assembly can be folded, when the equipment is not used or moved, the volume can be reduced by folding, so that the moving and storage convenience of the equipment is improved, and simultaneously, the inclination angle of the drilling cylinder can be adjusted by using the hydraulic cylinder for driving, so that the equipment can be used more flexibly, and the cavity sampling range of the equipment can be further improved.

Drawings

The invention is further illustrated by the following examples in conjunction with the drawings.

FIG. 1 is a schematic view of the overall structure of the present invention.

FIG. 2 is a schematic view of the walking assembly of the present invention.

Fig. 3 is a schematic structural view of the lifting adjustment assembly of the present invention.

Fig. 4 is an enlarged detail view of the area a in fig. 3.

FIG. 5 is a schematic view of a cavity sampling assembly according to the present invention.

FIG. 6 is a schematic view of the assembly structure of the sample organizer and the auger bit according to the present invention.

FIG. 7 is a bottom view of the sample organizer of the present invention.

Fig. 8 is a schematic view of an assembly structure of a fourth motor and a material receiving roller according to the present invention.

Fig. 9 is a schematic structural view of the gripping assembly of the present invention.

In the figure: 1. a walking assembly; 101. a traveling chassis; 102. a traveling wheel; 103. a first motor; 2. a lift adjustment assembly; 201. a support stand; 202. a supporting cross frame; 203. a turnover plate; 204. a hydraulic cylinder; 205. a hydraulic lever; 206. a push rod; 207. a support bar; 208. a top plate; 209. a screw rod; 210. a second motor; 211. a lifting plate; 212. a slider; 213. a nut; 214. a support pallet; 3. a cavity sampling assembly; 301. a connecting plate; 302. a fixed mount; 303. drilling a barrel; 3031. a notch; 304. sample sorting box; 3041. a first leak hole; 3042. a second leak hole; 3043. a first discharge pipe; 3044. a second discharge pipe; 305. a helical drill bit; 306. sweeping the board; 307. a third motor; 308. a fourth motor; 309. a material receiving roller; 310. a trough; 311. a funnel; 312. a turntable; 313. collecting a dish; 314. a fifth motor; 315. a cover plate; 4. a gripping assembly; 401. a fixing plate; 402. a fluted disc; 403. a sixth motor; 404. a gear; 405. a first-stage force arm; 406. a seventh motor; 407. a secondary force arm; 408. an eighth motor; 409. a third-level force arm; 410. a ninth motor; 411. a pneumatic clamping jaw; 5. and a control box.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 9, the investigation and exploration equipment for underground cavities according to the present invention comprises a walking assembly 1, a lifting adjustment assembly 2, a cavity sampling assembly 3 and a clamping assembly 4, wherein the lifting adjustment assembly 2 is installed at one end of the top of the walking assembly 1, the clamping assembly 4 is installed at one side of the top of the walking assembly 1, the cavity sampling assembly 3 is installed at one side of the lifting adjustment assembly 2, the equipment can move by arranging the walking assembly 1, so as to improve the convenience of moving and transporting the equipment, and the equipment can be moved and transported by a networking module and a PLC controller (model: C200 HX) is matched with the walking component 1 for use, so that the equipment can be remotely operated and used, workers can not enter a survey area and can also detect the survey area, further, the condition that the people are injured due to collapse of the survey area can be avoided, the equipment can be more safely used, the equipment can sample in the survey area and can drill holes in the survey area by using the hole sampling component 3, the hole sampling component 3 is matched with the walking component 1 for use, and the equipment is remotely operated by the networking module and the PLC controller, so that the workers cannot be splashed by soil fragments of the equipment when the equipment is used for sampling and drilling, the safety of the equipment is further improved, the collecting vessel 313 is moved by using the clamping component 4, on one hand, the collecting vessel 313 is heavier after a sample is placed in, the collecting vessel is moved by the clamping component 4, manual moving is avoided, so that manpower is saved, on the other hand, the condition that the people are injured by the sample in the collecting vessel 313 is avoided, the safety of the equipment is further improved, on the other hand, the equipment is automatically clamped into the collecting vessel by the clamping component 313 when the collecting vessel 4, and automatically taking the collecting vessel 313 with the sample from the cavity sampling assembly 3, so that the equipment can sample more samples at one time, and the sampling capacity of the equipment is improved, thereby improving the surveying efficiency and the surveying effect of the equipment;

the lifting adjusting assembly 2 comprises a supporting vertical frame 201, a turnover plate 203 and a lifting plate 211, wherein the top of the supporting vertical frame 201 is horizontally welded with a supporting transverse frame 202, the turnover plate 203 is hinged and matched with the top of the supporting transverse frame 202, the top of the turnover plate 203 is vertically welded with two supporting rods 207, the lifting plate 211 is in lifting fit with the two supporting rods 207, one side of the lifting plate 211, which is far away from the supporting rods 207, is welded with a supporting plate 214, and is driven by a hydraulic cylinder 204, so that a cavity sampling assembly 3 of the device can be folded from the middle part, and the cavity sampling assembly 3 can be folded, so that the volume of the device can be reduced by folding when the device is not used or is moved, thereby improving the moving and accommodating convenience of the device;

the hollow sampling assembly 3 comprises a connecting plate 301, a sample sorting box 304 and a spiral drill 305, wherein the connecting plate 301 is horizontally fixed on the top of a supporting support plate 214, a fixing frame 302 is welded at one end of the top of the connecting plate 301, a drill barrel 303 is vertically fixed on one side of the fixing frame 302, the spiral drill 305 is rotatably matched in the drill barrel 303, the sample sorting box 304 is fixed at one end of the top of the fixing frame 302, the center of the bottom of the sample sorting box 304 is connected and communicated with the top of the drill barrel 303, a third motor 307 is vertically installed on the top of the sample sorting box 304, the bottom of the third motor 307 is connected with the top of the spiral drill 305 through a rotating rod, the rotating rod is positioned at one section of the periphery of the sample sorting box 304 and is welded with a sweeping plate 306, a first leaking hole 3041 and a second leaking hole 3042 are respectively formed in the bottom of the sample sorting box 304, a filter plate with a mesh hole is installed in the second leaking hole 3042 through the sweeping plate 306, the sample is stored in the sample sorting box 304, the sample is automatically sorted by using a collecting dish 313, the sample sorting device 3042, and dust can be automatically removed from the sample sorting device, thereby facilitating the use of the second leaking device 3042.

In an optional implementation manner of this embodiment, the walking assembly 1 includes walking chassis 101, four walking wheels 102 and four first motors 103, walking chassis 101 includes two parallel steel sheets and a plurality of support steel columns, the vertical welding of a plurality of support steel column is between two parallel steel sheets, four walking wheels 102 are installed respectively in walking chassis 101 four corners, four first motors 103 are all installed between two parallel steel sheets of walking chassis 101, and four first motors 103 drive four walking wheels 102 respectively, through being equipped with a first motor 103 for each walking wheel 102, on the one hand, make the walking power of this equipment stronger, and then make this equipment can be in the better removal walking of more complicated topography, thereby improve this equipment to service environment's suitability, on the other hand, turn to when making this equipment remove and adjust more nimble, thereby improve the flexibility that this equipment controlled.

In an optional implementation manner of this embodiment, the supporting vertical frame 201 is vertically fixed on the top of the walking chassis 101, the supporting vertical frame 201 is hinged to a hydraulic cylinder 204, the top of the hydraulic cylinder 204 is provided with a hydraulic rod 205, one end of the hydraulic rod 205, which is far away from the hydraulic cylinder 204, is hinged to a push rod 206, and the push rod 206 is horizontally welded on the top of the turnover plate 203.

In an optional implementation manner of this embodiment, top plates 208 are horizontally fixed to the tops of two support rods 207, a screw 209 is rotatably fitted between the top plates 208 and the turning plate 203, a second motor 210 for driving the screw 209 to rotate is vertically installed at the top of the top plates 208, two sliders 212 are welded to one side of the lifting plate 211, the two sliders 212 are respectively sleeved on the two support rods 207, the two sliders 212 are respectively in sliding fit with the two support rods 207, the lifting plate 211 is in lifting fit with the two support rods 207 through the two sliders 212, nuts 213 are welded to one side of the lifting plate 211 close to the sliders 212, and the nuts 213 are in threaded fit with the screw 209.

In an optional implementation manner of this embodiment, a first discharging pipe 3043 is installed at the bottom of the sample sorting box 304 corresponding to the first leaking hole 3041, a second discharging pipe 3044 is installed at the bottom of the sample sorting box 304 corresponding to the second leaking hole 3042, a rotating disc 312 is rotatably fitted at the top of the connecting plate 301, a plurality of collecting vessels 313 are placed at the top edge of the rotating disc 312 with equal radian, and a fifth motor 314 for driving the rotating disc 312 to rotate is vertically installed at the bottom of the supporting plate 214.

In an optional implementation manner of this embodiment, two fourth motors 308 are horizontally fixed in the middle of the fixing frame 302, one ends of the two fourth motors 308 are connected with the material receiving rollers 309 through the rotating shaft, the two material receiving rollers 309 correspond to the pipe orifices of the first material discharging pipe 3043 and the second material discharging pipe 3044 respectively, and a plurality of troughs 310 are disposed on the two material receiving rollers 309 in equal radian, a funnel 311 is installed below the two fourth motors 308 on one side of the fixing frame 302, the top opening of the funnel 311 corresponds to the two material receiving rollers 309, the bottom opening of the funnel 311 corresponds to one collecting vessel 313 on the rotating disc 312, by setting the fourth motors 308 and the material receiving rollers 309, after the full samples or impurities are received by one trough 310 of the material receiving rollers 309, the full samples or impurities are received and driven by the fourth motors 308, the full samples or impurities are poured into the collecting vessel 313, meanwhile, the rotation of the rotating disc 312 is matched, different collecting vessels 313 are placed below the funnel 311, large samples and the impurities are better separated, thereby further saving the time for storing the samples, by setting the cover plate 315, and further reducing the damage of the environment for the funnel 311, thereby improving the environmental protection of the funnel.

In an optional implementation manner of this embodiment, a cover plate 315 is welded on the top of the drill cylinder 303 near the periphery of one end of the sample sorting box 304, a notch 3031 for exposing the drill tip at the bottom of the auger bit 305 is opened at the bottom end of the drill cylinder 303, and by setting the notch 3031, the auger bit 305 can better contact with the ground, so that the auger bit 305 can drill more conveniently.

In an optional implementation manner of this embodiment, the gripping assembly 4 includes a fixing plate 401, a primary force arm 405, and a secondary force arm 407, the fixing plate 401 is fixed on the top of the walking chassis 101 by bolts, the top of the fixing plate 401 is rotatably fitted with a toothed disc 402, a sixth motor 403 is vertically installed at the bottom of the upper steel plate in the walking chassis 101, the top of the sixth motor 403 is connected with a gear 404 through a rotating shaft, the gear 404 is located above the walking chassis 101, the gear 404 is engaged with the toothed disc 402, the bottom of the primary force arm 405 is hinged and fitted on the top of the toothed disc 402, a seventh motor 406 for driving the rotation of the primary force arm 405 is installed at one end of the primary force arm 405 close to the toothed disc 402, the bottom of the secondary force arm 407 is hinged with one end of the primary force arm 405 far from the toothed disc 402, an eighth motor 408 for driving the rotation of the secondary force arm is installed at one end of the secondary force arm 407 close to the primary force arm 405, a tertiary force arm 409 is hinged with a tertiary force arm 409, a ninth motor 410 for driving the rotation of the tertiary force arm 409 is installed at one end of the tertiary force arm 409 close to the secondary force arm 409 far from the secondary force arm 407, and a pneumatic clamping jaw 411 (type: MHC 2-6D) is installed at one end of the tertiary force arm 409 far from the secondary force arm 407.

In an optional implementation manner of this embodiment, a control box 5 is installed at the top of the walking assembly 1, a networking module for remote control, a PLC controller and a storage battery are installed in the control box 5, a distance sensor (model: GP2Y0a21YK 0F) is installed at an end of the clamping assembly 4, the position of the end of the clamping assembly 4 is located by the distance sensor, so that the clamping assembly 4 is conveniently and accurately controlled, an anti-collision radar is installed on the peripheral side of the walking assembly 1, a ground penetrating radar (model: LTD-2600) is installed at the bottom of the walking assembly 1, and the walking assembly 1 is used in cooperation with the detection radar, so that the location of a cavity area is simpler and more convenient, and the efficiency of the device for detecting underground cavities can be effectively improved.

When the device is used, firstly, a control instruction is transmitted to a PLC controller of the device through a networking module, the PLC controller is used for controlling, the first motor 103 is started, the travelling wheels 102 are driven to rotate through the first motor 103, the device is moved to an area needing to be surveyed by rotating the travelling wheels 102, meanwhile, the ground is continuously scanned through a ground penetrating radar arranged at the bottom of the travelling component 1 of the device to obtain the underground cavity condition of the surveyed area, the device can be moved by arranging the travelling component 1, so that the convenience of moving and transporting the device is improved, the device can be remotely controlled and used by matching the networking module with the PLC controller and using the travelling component 1, a worker does not need to enter the surveyed area and can also detect the surveyed area, and further the occurrence of personal injury caused by collapse of the surveyed area can be avoided, thereby the use of the equipment is safer, the location of the hollow area is simpler and more convenient by using the walking component 1 and the detection radar to match, thereby the efficiency of the equipment for detecting the underground hollow can be effectively improved, on one hand, the walking power of the equipment is stronger by equipping each walking wheel 102 with a first motor 103, thereby the equipment can move and walk better on the complex terrain, thereby the applicability of the equipment to the use environment is improved, on the other hand, the steering adjustment is more flexible when the equipment moves, thereby the control flexibility of the equipment is improved, then, after the ground penetrating radar scans the underground hollow, the equipment stops moving, the lead screw 209 is driven by the second motor 210 to rotate, the nut 213 moves up and down by rotating the lead screw 209, the nut 213 drives the lifting plate 211 to move, the height of the cavity sampling assembly 3 is adjusted by moving the lifting plate 211, the cavity sampling assembly 3 is slowly moved downwards, when the drill barrel 303 of the cavity sampling assembly 3 contacts the ground, the third motor 307 is started, the third motor 307 drives the auger bit 305 and the sweeping plate 306 to rotate, the auger bit 305 is rotated to drill the ground, the cavity sampling assembly 3 is slowly moved downwards, the rotating auger bit 305 is slowly drilled into the ground, meanwhile, the auger bit 305 is matched with the drill barrel 303 to send soil and rock generated by drilling into the sample conditioning box 304, the soil and rock sample in the sample conditioning box 304 is swept into the first leakage hole 3041 and the second leakage hole 3042 by the rotating sweeping plate 306, the soil and rock sample is sent into the collecting vessel 313 by the first discharging pipe 3043 and the second discharging pipe 3044, after the auger bit 305 is drilled downwards to the underground, the cavity sampling assembly 3 is driven by the second motor 210 to lift upwards, so that the bottom of the auger bit 305 and the bottom of the drill barrel 303 come out of the ground, the imaging device shoots the underground cavity through the drill hole drilled by the auger bit 305, the cavity sampling assembly 3 is used, the device can sample in a surveying area and drill a hole in a surveying area, the cavity sampling assembly 3 is matched with the walking assembly 1 for use, and the networking module and the PLC controller are remotely controlled, so that a worker cannot be damaged by mud and soil fragments splashed by the device when the device is used for sampling and drilling, the use safety of the device is further improved, the sample is temporarily stored by using the sample sorting box 304, the sample is sent into the first leakage hole 3041 and the second leakage hole 3042 through the sweeping plate 306, and the sample is stored through the collecting dish 313, so that the device realizes the automatic sorting function of the sample, the convenience of the use of the device is further improved by arranging the filter plate in the second leak 3042, so that dust and fine impurities in the samples in the sample sorting box 304 can be removed from the second leak 3042 in advance, and the later sample screening work is reduced, so that the convenience of the use of the device is further improved, by arranging the fourth motor 308 and the receiving roller 309, after a trough 310 of the receiving roller 309 receives full samples or impurities, the full samples or impurities are poured into the collecting vessel 313 by driving of the fourth motor 308, meanwhile, different collecting vessels 313 are arranged below the funnel 311 by matching with the rotation of the turntable 312, so that large samples and impurities are better separated and stored, the time for sorting the samples in the later period is further saved, by arranging the cover plate 315, the dust dispersion of the samples when entering the funnel 311 can be reduced, further reducing the damage to the environment, thereby improving the environmental protection of the device, finally, driven by the sixth motor 403, the gear 404 rotates, the gear 404 drives the clamping component 4 to rotate by engaging with the fluted disc 402, the rotary clamping component 4 faces the cavity sampling component 3, the seventh motor 406 drives the primary force arm 405 to rotate, the eighth motor 408 drives the secondary force arm 407 to rotate, the ninth motor 410 drives the tertiary force arm 409 to rotate, the pneumatic clamping jaw 411 moves to the collecting vessel 313 by rotating the primary force arm 405, the secondary force arm 407 and the tertiary force arm 409, the pneumatic clamping jaw 411 clamps the collecting vessel 313, rotates the primary force arm 405, the secondary force arm 407 and the tertiary force arm 409 again, the collecting vessel 313 is sent to the top of the walking chassis 101, the collecting vessel 313 on the cavity sampling component 3 is moved to the walking chassis 101 by the clamping component 4, the hydraulic rod 205 is driven by the hydraulic cylinder 204 to move, the hydraulic rod 205 drives the turnover plate 203 to turn over by the push rod 206, the turnover plate 203 is turned for ninety degrees, the drilling barrel 303 is kept in a horizontal state, the travelling wheel 102 is driven by the first motor 103 again to rotate, the device is moved out of a surveying area, an operator uses the device to collect soil and rock samples in the collection vessel 313 for detection, meanwhile, the underground cavity is shot according to the device, the underground cavity condition is analyzed, the collection vessel 313 is moved by using the clamping component 4, on one hand, the collection vessel 313 has heavier quality after the samples are placed in the collection vessel, the manual lifting is avoided by moving the clamping component 4, thereby saving manpower, on the other hand, the situation that the operator is injured by the samples in the collection vessel 313 is avoided, thereby further improving the use safety of the device, on the other hand, when the device is operated, the empty collecting vessel 313 can be automatically placed into the cavity sampling assembly 3 through the clamping assembly 4, the collecting vessel 313 with the sample can be automatically taken down from the cavity sampling assembly 3, the equipment can sample more at one time, the sampling capacity of the equipment is improved, the surveying efficiency and the surveying effect of the equipment are improved, the cavity sampling assembly 3 of the equipment can be folded from the middle part through driving by the hydraulic cylinder 204, the volume of the equipment can be reduced through folding when the equipment is not used or moved through folding by enabling the cavity sampling assembly 3 to be folded, the convenience for moving and containing the equipment is improved, meanwhile, the inclination angle of the drill cylinder 303 can be adjusted through driving by the hydraulic cylinder 204, the angle for sampling and drilling the equipment is more flexible, and the equipment can detect more complex underground cavities, thereby further increasing the range of use of the device.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. The utility model provides an reconnaissance exploration equipment for underground cavity, includes walking subassembly (1), lift adjustment subassembly (2), cavity sampling component (3) and presss from both sides and get subassembly (4), its characterized in that: the lifting adjusting assembly (2) is installed at one end of the top of the walking assembly (1), the clamping assembly (4) is installed on one side of the top of the walking assembly (1), and the cavity sampling assembly (3) is installed on one side of the lifting adjusting assembly (2);

the lifting adjusting assembly (2) comprises a supporting vertical frame (201), a turnover plate (203) and a lifting plate (211), wherein a supporting transverse frame (202) is horizontally welded at the top of the supporting vertical frame (201), the turnover plate (203) is hinged and matched at the top of the supporting transverse frame (202), two supporting rods (207) are vertically welded at the top of the turnover plate (203), the lifting plate (211) is in lifting fit on the two supporting rods (207), and a supporting plate (214) is welded at one side, away from the supporting rods (207), of the lifting plate (211);

the cavity sampling subassembly (3) includes connecting plate (301), sample arrangement case (304) and auger bit (305), connecting plate (301) level is fixed at supporting pallet (214) top, the welding of the top one end of connecting plate (301) has mount (302), the vertical drill barrel (303) that is fixed with in one side of mount (302), auger bit (305) normal running fit is in drill barrel (303).

2. A survey probe apparatus for underground cavities according to claim 1, wherein: the sample arrangement box (304) is fixed at one end of the top of the fixing frame (302), the center of the bottom of the sample arrangement box (304) is connected with the top of the drill cylinder (303) and communicated, a third motor (307) is vertically installed at the top of the sample arrangement box (304), the bottom of the third motor (307) is connected with the top of the spiral drill bit (305) through a rotating rod, the rotating rod is located in the sample arrangement box (304), a sweeping plate (306) is welded on the peripheral side of one section of the sample arrangement box, a first leak hole (3041) and a second leak hole (3042) are respectively formed in the bottom of the sample arrangement box (304), a filter plate with meshes is installed in the second leak hole (3042), a walking assembly (1) comprises a walking chassis (101), four walking wheels (102) and four first motors (103), the walking chassis (101) comprises two parallel steel plates and a plurality of supporting steel columns, the supporting vertical steel columns are welded between the two parallel steel plates, the four walking wheels (102) are respectively installed at four corners of the chassis (101), the four first motors (103) are all installed between the two walking wheels (101), and the four motors (102) drive the four motors respectively drive the four motors (102).

3. A survey probe apparatus for underground cavities according to claim 2, wherein: the supporting vertical frame (201) is vertically fixed at the top of the walking chassis (101), the supporting vertical frame (201) is hinged with a hydraulic cylinder (204), the top of the hydraulic cylinder (204) is provided with a hydraulic rod (205), one end, far away from the hydraulic cylinder (204), of the hydraulic rod (205) is hinged with a push rod (206), and the push rod (206) is horizontally welded at the top of the turnover plate (203).

4. A survey probe apparatus for underground cavities according to claim 1, wherein: top level of two bracing pieces (207) is fixed with roof (208), normal running fit has lead screw (209) between roof (208) and returning face plate (203), the top of roof (208) is vertical installs drive lead screw (209) pivoted second motor (210), two sliders (212) have been welded to lifter plate (211) one side, two sliders (212) are established respectively on two bracing pieces (207), two sliders (212) respectively with two bracing pieces (207) sliding fit, lifter plate (211) are on two bracing pieces (207) through two sliders (212) normal running fit, one side welding that lifter plate (211) is close to slider (212) has nut (213), nut (213) screw-thread fit is on lead screw (209).

5. A survey probe apparatus for underground cavities according to claim 2, wherein: the utility model discloses a set up the top of connecting plate (301) and have the carousel (312), a plurality of collection ware (313) have been placed to the equal radian in top edge of carousel (312), the vertical drive turntable (312) pivoted fifth motor (314) of installing in bottom of sample arrangement case (304) corresponds first small opening (3041) department installs first discharging pipe (3043), sample arrangement case (304) bottom corresponds second small opening (3042) department and installs second discharging pipe (3044), connecting plate (301) top normal running fit.

6. An investigation apparatus for a subsurface cavity according to claim 5, wherein: mount (302) middle part level is fixed with two fourth motor (308), the one end of two fourth motor (308) all is connected with through the pivot and receives material roller (309), two receive material roller (309) correspond with first discharging pipe (3043) mouth of pipe and second discharging pipe (3044) mouth of pipe respectively, and a plurality of silo (310) have been seted up to impartial radian on two receipts material roller (309), mount (302) one side is located two fourth motor (308) below and installs funnel (311), funnel (311) open-top corresponds with two receipts material roller (309), funnel (311) bottom opening corresponds with a collection ware (313) on carousel (312).

7. An investigation apparatus for a subsurface cavity according to claim 2, wherein: the periphery of one end, close to the sample sorting box (304), of the top of the drill cylinder (303) is welded with a cover plate (315), and the bottom end of the drill cylinder (303) is provided with a notch (3031) for exposing a drill point at the bottom of the spiral drill bit (305).

8. A survey probe apparatus for underground cavities according to claim 2, wherein: the clamping assembly (4) comprises a fixing plate (401), a primary force arm (405) and a secondary force arm (407), the fixing plate (401) is fixed at the top of the walking chassis (101) through bolts, a fluted disc (402) is rotatably matched at the top of the fixing plate (401), a sixth motor (403) is vertically installed at the bottom of an upper steel plate in the walking chassis (101), the top of the sixth motor (403) is connected with a gear (404) through a rotating shaft, the gear (404) is positioned above the walking chassis (101), the gear (404) is meshed with the fluted disc (402), the bottom of the primary force arm (405) is hinged and matched at the top of the fluted disc (402), one end of the primary force arm (405) close to the fluted disc (402) is provided with a seventh motor (406) for driving the primary force arm (405) to rotate, the bottom end of the secondary force arm (407) is hinged with one end of the primary force arm (405) far away from the fluted disc (402), one end of the secondary force arm (407) close to the primary force arm (405) is provided with an eighth motor (408) for driving the secondary force arm (407) to rotate, one end of the secondary force arm (407) far away from the primary force arm (405) is hinged with a tertiary force arm (409), one end of the tertiary force arm (409) close to the secondary force arm (407) is provided with a ninth motor (410) for driving the tertiary force arm (409) to rotate, one end of the tertiary force arm (409) far away from the secondary force arm (407) is provided with a pneumatic clamping jaw (411).

9. A survey probe apparatus for an underground cavity according to claim 1, wherein: control box (5) are installed at walking subassembly (1) top, install networking module, PLC controller and the battery that is used for remote control in control box (5), press from both sides the tip of getting subassembly (4) and install distance sensor, and the week side of walking subassembly (1) is installed and is prevented the collision radar, and ground penetrating radar is installed to the bottom of walking subassembly (1).

10. A survey probe apparatus for an underground cavity according to claim 1, wherein: the working method of the exploration and detection equipment for the underground cavity specifically comprises the following steps:

the method comprises the following steps: the device comprises a networking module, a PLC controller, a first motor (103), a traveling wheel (102), a ground penetrating radar and a ground detecting radar, wherein the networking module is used for transmitting an operation command to the PLC controller of the device, the PLC controller is used for controlling the device, the first motor (103) is started, the traveling wheel (102) is driven by the first motor (103) to rotate, the device is moved to an area to be surveyed, meanwhile, the ground penetrating radar is continuously scanned through the ground penetrating radar arranged at the bottom of a traveling assembly (1) of the device, and the underground cavity condition of the surveyed area is obtained;

step two: after the ground penetrating radar scans an underground cavity, the device stops moving, the device is driven by a second motor (210), a screw rod (209) rotates, a nut (213) moves up and down by rotating the screw rod (209), the nut (213) drives a lifting plate (211) to move, the height of a cavity sampling assembly (3) is adjusted by moving the lifting plate (211), the cavity sampling assembly (3) moves downwards, when a drill cylinder (303) of the cavity sampling assembly (3) contacts the ground, a third motor (307) is started, the third motor (307) drives a spiral drill bit (305) and a sweeping plate (306) to rotate, the ground is drilled by rotating the spiral drill bit (305), the rotating spiral drill bit (305) is driven to drill into the ground, meanwhile, the spiral drill bit (305) is matched with the drill cylinder (303), soil and rocks generated by drilling are conveyed into a sample sorting box (304), the soil and the rock are conveyed into a first sample discharge pipe (3041) and a second sample discharge pipe (3044) through a rotating sweeping plate (306), the soil sample discharge pipe (3044) and a second discharge pipe (3044) which drives a soil sample discharge pipe (3044) to drill into the underground through a hole and a second motor (3044) to collect soil and a soil sample discharge pipe (3044) after the soil, enabling the bottom of the auger bit (305) and the bottom of the drill barrel (303) to come out of the ground, and shooting the underground cavity through the drill hole drilled by the auger bit (305) by an imaging device;

step three: driven by a sixth motor (403), a gear (404) is rotated, the gear (404) is meshed with a fluted disc (402) to drive a clamping component (4) to rotate, the clamping component (4) is rotated towards a cavity sampling component (3), a first-stage force arm (405) is driven to rotate by a seventh motor (406), a second-stage force arm (407) is driven to rotate by an eighth motor (408), a third-stage force arm (409) is driven to rotate by a ninth motor (410), the collecting vessel (313) is moved to the collecting vessel (313) by rotating the first-stage force arm (405), the second-stage force arm (407) and the third-stage force arm (409), the collecting vessel (313) is moved to the top of a walking chassis (101) by the clamping component (4), the collecting vessel (313) on the cavity sampling component (3) is completely moved to the walking chassis (101) by the pneumatic clamping jaw (411), the hydraulic rod (205) is moved by a hydraulic cylinder (204), the hydraulic rod (205) is moved, the turnover plate (205) is driven by a turnover motor (203) to turn over the turnover plate (303), the equipment is removed from the survey area and the operator uses the equipment to inspect samples of soil and rock collected in a collection dish (313) and, based on the equipment's contents of the subsurface cavity, analyze the subsurface cavity condition.

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