CN111077591B - Rock wall detection and rock sample collection device - Google Patents
Rock wall detection and rock sample collection device Download PDFInfo
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- CN111077591B CN111077591B CN201911335138.6A CN201911335138A CN111077591B CN 111077591 B CN111077591 B CN 111077591B CN 201911335138 A CN201911335138 A CN 201911335138A CN 111077591 B CN111077591 B CN 111077591B
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- 239000011435 rock Substances 0.000 title claims abstract description 117
- 238000001514 detection method Methods 0.000 title claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 230000000149 penetrating effect Effects 0.000 claims abstract description 29
- 238000005070 sampling Methods 0.000 claims abstract description 21
- 238000005553 drilling Methods 0.000 claims abstract description 18
- 238000007790 scraping Methods 0.000 claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 238000001125 extrusion Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000002245 particle Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005755 formation reaction Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- 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 acquisition device, which comprises a hoisting system, a lithology detection system and a rock sample acquisition system, wherein the hoisting system is connected with the rock wall detection and rock sample acquisition system; the hoisting system is connected with the lithology detection system; the lithology detection system comprises a crawler, a ground penetrating radar and a camera shooting mechanism; the rock sample collection system comprises a multi-degree-of-freedom mechanical arm, a rotary table, a scraping mechanism and a drilling and grinding sampling mechanism, wherein one end of the mechanical arm is connected with the crawler, the other end of the mechanical arm is connected with the rotary table, the scraping mechanism and the drilling and grinding sampling mechanism are fixed on the rotary table, 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 rotary table, 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 electric grinder and the sleeve, the front end of the collecting cavity is provided with a butt hole, the front end of the electric grinder is propped against the butt hole and is connected with a three-jaw chuck, and the grinding head is arranged on the three-jaw chuck. The invention has the beneficial effects that: the labor force and the danger of collecting the rock wall samples are reduced, and the detection and collection efficiency of the rock wall samples is improved.
Description
Technical Field
The invention relates to the technical field of geological engineering, in particular to a rock wall detection and rock sample acquisition device.
Background
The sedimentary action in the geological history period causes the rock stratum to be often layered and spread, and the rock stratum at different layers is generated in different times and different paleogeographic environments respectively, so that the rock characteristics of the rock stratum at different layers are different. In geologic research work, in order to continuously and completely study rock formations in an era or region, it is often necessary to collect samples layer by layer and densely to analyze lithology characteristics of different rock formations.
At present, a rock wall detection and acquisition device or mechanism does not appear in scientific work or market, and general scientific researchers directly climb to a designated position of a rock wall to acquire a rock sample, and because the rock wall detection and the rock sample acquisition are limited by geographic environment factors such as caverns, cliffs and the like, manual sampling is dangerous and not efficient, and therefore a novel rock wall detection and rock sample acquisition device is urgently needed.
Disclosure of Invention
Aiming at the problems of high difficulty in cliff lithology detection and rock wall acquisition, high risk coefficient of manual operation and the like, the embodiment of the invention provides a rock wall detection and rock sample acquisition device.
The embodiment of the invention provides a rock wall detection and rock sample acquisition device, which comprises a hoisting system, a lithology detection system and a rock sample acquisition system;
The hoisting system is arranged on the roof of the rock and 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 crawler, a ground penetrating radar and a camera shooting mechanism which are arranged on the crawler, and the crawler is connected with the hoisting system;
The rock sample collection system comprises a multi-degree-of-freedom mechanical arm, a rotary table, a scraping mechanism and a drilling and grinding sampling mechanism, wherein 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 rotary table, the scraping mechanism and the drilling and grinding sampling mechanism are respectively fixed on the rotary table, 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 rotary table, 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 to the abutting hole and connected with the three-jaw chuck, the grinding head is installed on the three-jaw chuck, a rock sample storage space is formed between the collecting cavity and the electric grinder, and the grinding head is extruded to enable the rock sample to enter a gap for the rock sample storage space between the abutting hole.
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 coincident 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 and penetrates through the abutting hole, the shaft shoulder abuts against the edge of the abutting hole, and the abutting hole and the sleeve are positioned on the shaft of the electric grinder.
Further, the number of the springs is four, the rear end of the electric grinder is conical, the four springs are uniformly distributed close to the inner wall of the sleeve, the rear end of each spring is fixed on the sleeve, and the front end of each spring supports the conical surface of the rear end of the electric grinder.
Further, the lifting system comprises a base, a truss, a retraction mechanism, a steel wire rope and a control box, wherein the truss and the retraction mechanism are both fixed on the base, a plurality of rollers are arranged on the truss, a hinge is further arranged on the base, the steel wire rope bypasses the hinge and all the rollers and is connected with the retraction mechanism, and the control box is connected with the retraction mechanism.
Further, the tracked vehicle comprises a frame and two tracks, two groups of hubs are respectively arranged on two sides of the frame, each track is sleeved on one group of hubs, two driving mechanisms for driving the two groups 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 group of hubs.
Further, 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 module, an interface module and a wireless antenna 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 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.
Further, the imaging mechanism is an industrial camera.
Further, the multi-degree-of-freedom mechanical arm is a four-degree-of-freedom mechanical arm.
Further, the multifunctional ground penetrating radar lifting system further comprises an electric control system which is respectively connected with the lifting system, the tracked vehicle, the ground penetrating radar, the 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 beneficial effects that: according to the rock wall detection and rock sample collection device, the rock wall is detected and imaged by the rock property detection system and the rock sample collection system which are lifted through the lifting system, so that the space position, the structure, the shape and the buried depth of a medium in the rock wall are obtained, 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 realized, in addition, when a harder rock stratum is encountered, the scraping mechanism works to scrape rock particles, the electric grinder is assisted to grind and sample the rock, the influence of the labor force and the risk factors of scientific researchers for collecting the rock wall sample is greatly reduced, and meanwhile, the detection and collection efficiency of the rock wall sample is improved.
Drawings
FIG. 1 is a schematic diagram of a rock wall detection and rock sample collection device of the present invention;
Fig. 2 is a schematic view of the hoisting system 1 of fig. 1;
FIG. 3 is a schematic view of the lithology detection system 2 and the rock sample acquisition 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 crawler of FIG. 4;
FIG. 6 is a schematic diagram of the ground penetrating radar 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 diagram of the drill sampling mechanism 304 of fig. 7.
In the figure: 1-lifting system, 101-base, 102-truss, 103-wire rope, 104-control box, 105-hinge, 106-roller, 2-lithology detection system, 201-tracked vehicle, 202-ground penetrating radar, 203-camera mechanism, 204-frame, 205-hub, 206-track, 207-hanging ring, 208-stepping motor, 209-decelerator, 210-power module, 211-wireless antenna, 212-interface module, 3-multi-degree of freedom mechanical arm, 302-turntable, 303-spatula mechanism, 304-drilling and grinding sampling mechanism, 305-mechanical arm, 306-sleeve, 307-collecting cavity, 308-electric grinder, 309-grinding head, 310-spring, 311-three-jaw chuck.
Detailed Description
For the purpose of making 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 lifting 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 roof of the rock and is connected with the lithology detection system 2, and is used for lifting the lithology detection system 2 along the rock wall;
specifically, please refer to fig. 2, the lifting system 1 includes a base 101, a truss 102, a retraction jack, a wire rope 103 and a control box 104, the truss 102 and the retraction jack are both fixed on the base 101, a plurality of rollers 106 are disposed on the truss 102, a hinge 105 is further disposed on the base, the hinge 105 is disposed on the front portion of the base 101, the wire rope 102 bypasses the hinge 105 and all the rollers 106 and is connected with the retraction jack, and the control box 104 is connected with the retraction jack. The roller 106 plays a guiding role on the steel wire rope 102, and the traction angle of the steel wire rope 102 can be adjusted by adjusting the opening and closing angle of the hinge 105. The jack typically selects a winch, and the control box 104 controls the winch to rotate, and then controls the wire rope 102 to pull the lithology detection system 2 to lift.
Referring to fig. 3, the lithology detecting system 2 includes a crawler 201, a ground penetrating radar 202 and a camera 203 which are disposed on the crawler 201, and the crawler 201 is connected with the lifting system 1;
Specifically, referring to fig. 4 and 5, the crawler 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, two driving mechanisms for driving the two sets of hubs 205 are further disposed on the frame 204, each driving mechanism includes a stepper motor 208 and a speed reducer 209, the stepper 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. The crawler 206 enhances the grip force and the adaptability to the uneven rock wall surface, the stepping motor 208 drives the hub 205 to rotate, the hub 205 drives the crawler 206 to rotate at a low speed, and the crawler 201 is lifted by the combined action of the driving force of the stepping motor 208 and the pulling force of the steel wire rope 102 by means of the gravity of the crawler 201.
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 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 the depth and thickness of different rock strata by transmitting and receiving high-frequency electromagnetic waves, and can infer the spatial position, structure, form and buried depth of the medium inside the rock wall. The interface module 212 is connected to the camera 203, and the ground penetrating radar 202 is remotely connected to a PC end through the wireless antenna 211, so as to transmit the rock wall data collected by the ground penetrating radar 202 and the image data captured by the roller camera 203 to the PC end.
The camera 203 is also fixed at the bottom of the frame 204, in this embodiment, the camera 203 selects an industrial camera with a light supplementing function, so as to collect the lithology image of the rock wall, and under the condition of insufficient illumination, the illumination system is not required to be set for assisting in collecting the lithology image of the rock wall.
Referring to fig. 7, the rock sample collection system 3 includes a multi-degree-of-freedom mechanical arm 301, a turntable 302, a spatula mechanism 303 and a drilling and grinding sampling mechanism 304.
The multi-degree-of-freedom mechanical arm 301 is used for adjusting the positions of the spatula mechanism 303 and the drilling and grinding sampling mechanism 304, and in this embodiment, the multi-degree-of-freedom mechanical arm 301 selects a four-degree-of-freedom mechanical arm, which can also select other multi-degree-of-freedom mechanical arms in the 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 rotary table 302, and the scraping mechanism and the drilling and grinding sampling mechanism are respectively fixed on the rotary table 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 sampling mechanism 304 on the turntable 302, preferably, the scraping mechanism 303 and the drilling and sampling mechanism 304 directly form an included angle of 60 degrees, so that the scraping mechanism 303 and the drilling and sampling mechanism 304 do not interfere with each other and well avoid barriers.
Referring to fig. 8, the drilling and grinding sampling mechanism 304 includes a sleeve 306, a collecting cavity 307, an electric grinder 308 and a grinding head 309, wherein the rear end of the sleeve 306 is fixed on the mechanical sleeve arm 305, and is fixed on the turntable 302 through the mechanical sleeve arm 305, the front end of the sleeve 306 is connected with the collecting cavity 307, here, the sleeve 306 is in threaded connection with the collecting cavity 307, and the inner cavity of the collecting cavity 307 is cylindrical and has a diameter larger than the diameter of the outer 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 installed on the three-jaw chuck 311 through clamping. Different types of graters 309 may be selected according to different properties of the rock wall, and only the graters 309 need to be replaced for different rock walls. A rock sample storage space is formed between the collecting cavity 307 and the electric grinder 308, and the grinding head 309 is pressed to push the electric grinder 308 backward, 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.
Further, 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 and penetrates through the abutting hole, the shaft shoulder abuts against the edge of the abutting hole, the abutting hole and the sleeve are located on the shaft of the electric grinder 308, and horizontal shaking of the electric grinder 308 during operation is prevented.
In order to enable the electric grinder 308 to stably move backwards when being pressed, the grinding head 309 is prevented from generating severe 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, the four springs 310 are uniformly distributed close to 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 of the rear end of the electric grinder 308. So that the electric grinder 308 is stable and moves backward when being pressed.
The electric control system is respectively connected with the control box 104 of the lifting system 1, the crawler 201, the ground penetrating radar 202, the camera 203, the multi-degree-of-freedom mechanical arm 301 and the electric grinder 308. The electric control system is used for controlling the lifting system 1 to lift the crawler 201, rotating the stepping motor 208 of the crawler 201, starting and stopping the ground penetrating radar 202, starting and stopping the camera shooting mechanism 203, moving the mechanical arm 301 with multiple degrees of freedom, and starting and stopping the electric grinder 308.
When the rock wall detection and rock sample collection device works, the crawler 201 is lifted to a designated position by the lifting system 1, the ground penetrating radar 202 detects geological properties behind the rock wall, the camera shooting mechanism 203 shoots rock wall lithology images, and detected geological data and the rock wall lithology images are transmitted to a 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 the sampling position, then the grinding head 309 grinds the rock wall to obtain a particle powder rock wall sample, the grinding head 309 pushes the electric grinder 308 backwards due to the extrusion action of the rock wall to the grinding head 309, the rock wall sample automatically falls into the collecting cavity 307, automatic collection of the rock wall sample is achieved, in addition, when harder rock stratum is met, the scraping mechanism 303 works to scrape rock particles, the electric grinder 308 is assisted to grind and sample the rock, the influence of labor force and risk 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, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the claimed application.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. A rock wall detection and rock sample collection device, characterized in that: the system comprises a hoisting system, a lithology detection system and a rock sample acquisition system;
The hoisting system is arranged on the roof of the rock and 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 crawler, a ground penetrating radar and a camera shooting mechanism which are arranged on the crawler, and the crawler is connected with the hoisting system;
The rock sample collection system comprises a multi-degree-of-freedom mechanical arm, a turntable, a scraping mechanism and a drilling and grinding sampling mechanism, wherein 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 a three-jaw chuck, the grinding head is mounted on the three-jaw chuck, a rock sample storage space is formed between the collecting cavity and the electric grinder, and a gap for a rock sample to enter the rock sample storage space is formed between the electric grinder and the abutting hole due to extrusion of the grinding head;
The outer wall of the rear end of the electric mill 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 mill is in a stepped shaft shape, the front end of the electric mill is attached to and penetrates through the abutting hole, a shaft shoulder abuts against the edge of the abutting hole, and the abutting hole and the sleeve position the electric mill shaft;
The number of the springs is four, the rear end of the electric grinder is conical, the four springs are tightly attached to the inner wall of the sleeve and are uniformly distributed, the rear end of each spring is fixed on the sleeve, and the front end of each spring supports the conical surface of the rear end of the electric grinder.
2. A rock wall detection and rock sample collection device according to claim 1, wherein: the lifting system comprises a base, a truss, a retraction mechanism, a steel wire rope and a control box, wherein the truss and the retraction mechanism are both fixed on the base, a plurality of rollers are arranged on the truss, a hinge is further arranged on the base, the steel wire rope bypasses the hinge and all the rollers and is connected with the retraction mechanism, and the control box is connected with the retraction mechanism.
3. A rock wall detection and rock sample collection device according to claim 1, wherein: the crawler comprises a frame and two crawler belts, two groups of hubs are respectively arranged on two sides of the frame, each crawler belt is sleeved on one group of hubs, two driving mechanisms for driving the two groups 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 group of hubs.
4. A rock wall detection and rock sample collection apparatus according to claim 3, 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.
5. A rock wall detection and rock sample collection device according to claim 1, wherein: the ground penetrating radar is provided with a power module, an interface module and a wireless antenna, wherein the power module is 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 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 camera shooting mechanism to the PC end.
6. A rock wall detection and rock sample collection device according to claim 1, wherein: the camera shooting mechanism is an industrial camera.
7. A rock wall detection and rock sample collection device according to claim 1, wherein: the multi-degree-of-freedom mechanical arm is a four-degree-of-freedom mechanical arm.
8. A rock wall detection and rock sample collection device according to claim 1, wherein: the ground penetrating radar system further comprises an electric control system, wherein the electric control system is respectively connected with the lifting system, the tracked vehicle, the ground penetrating radar, the camera shooting mechanism, the multi-degree-of-freedom mechanical arm and the electric grinder.
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| CN201911335138.6A CN111077591B (en) | 2019-12-23 | 2019-12-23 | Rock wall detection and rock sample collection device |
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| CN201911335138.6A CN111077591B (en) | 2019-12-23 | 2019-12-23 | Rock wall detection and rock sample collection device |
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| 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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| CN211426832U (en) * | 2019-12-23 | 2020-09-04 | 中国地质大学（武汉） | Rock wall detection and rock sample collection device |
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| US8881587B2 (en) * | 2011-01-27 | 2014-11-11 | Schlumberger Technology Corporation | Gas sorption analysis of unconventional rock samples |
| CN209043637U (en) * | 2018-10-22 | 2019-06-28 | 吕文超 | A kind of mining geology collection of rock sample device |
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