SERPENTINE INSPECTION ROBOT MECHANISM FOR LIFTING CAGE GUIDE DRIVEN BY MAGNETIC WHEELS

    公开(公告)号:US20210078165A1

    公开(公告)日:2021-03-18

    申请号:US16095717

    申请日:2017-06-23

    Abstract: The invention relates to a serpentine inspection robot mechanism for lifting cage guide driven by magnetic wheels, comprising a magnetic wheel drive part and a pitching yawing part, wherein the magnetic wheel drive part comprises a worm and gear transmission mechanism (I) and a magnetic wheel driving mechanism (II), and the pitching yawing part comprises a pitching yawing mechanism (III). Magnetic wheels are driven by the worm and gear transmission mechanism (I) and the magnetic wheel driving mechanism (II), while the pitching and yawing control of the robot are realized by the pitching yawing mechanism (III). The serpentine robot driven by the magnetic wheels (22) resolves the problems that the efficiency of ordinary serpentine robot is low, and it is difficult for the simple-wheel-type robot to span the large gap and to reach some concealed corners, with the cage guide of the lifting machine sucked by the magnetic wheels (22).

    METHOD FOR CLASSIFYING PHREATIC LEAKAGE DISASTER LEVEL IN SHALLOW COAL SEAM MINING

    公开(公告)号:US20200378258A1

    公开(公告)日:2020-12-03

    申请号:US16609738

    申请日:2019-01-25

    Abstract: A method for classifying a phreatic leakage disaster level in shallow coal seam mining includes the following steps: S1. arranging a monitoring hole in a coal mine working face and burying a telemetering water level gauge to perform water level monitoring; S2. monitoring a ground elevation, calculating a ground subsidence amount, and collecting drilling footage information; S3. plotting variation relationship curves of drilling footage and phreatic water level as well as drilling footage and ground subsidence according to monitored information, respectively; and S4. comparing the curves with a no-leakage graph, a slight-leakage graph, and a heavy-leakage graph, and determining a leakage level; and S5. further classifying a studied area as an environmental disaster area or an environmentally friendly area.

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