A long-term monitoring apparatus for a surrounding rock fracture evolution process triggered by multiple-source dynamic disturbances, comprising a machine body framework, a borehole wall surrounding rock image acquisition module, a borehole wall multiple-source vibration monitoring module, an in-borehole walking module, and a monitoring signal storage and transmission module, wherein the borehole wall surrounding rock image acquisition module is disposed at a foremost end of the machine body framework;
- the borehole wall multiple-source vibration monitoring module is disposed on the machine body framework behind the borehole wall surrounding rock image acquisition module;
- the in-borehole walking module is disposed on the machine body framework behind the borehole wall multiple-source vibration monitoring module;
- and the monitoring signal storage and transmission module is disposed at a rearmost end of the machine body framework and the monitoring signal storage and transmission module is connected to a computer outside a borehole via a cable or wireless network;
- wherein the borehole wall multiple-source vibration monitoring module comprises a sensor lifting actuator and a triaxial vibration monitoring sensor assembly, wherein the sensor lifting actuator is disposed on the machine body framework, and the triaxial vibration monitoring sensor assembly is disposed on the sensor lifting actuator;
- wherein the sensor lifting actuator comprises a first electric push rod, a first translation slide rod, a first connecting rod, a lifting support frame, a first lifting slide rod, and a second lifting slide rod, wherein the first electric push rod is horizontally fixed to a bottom portion of the machine body framework, a power output shaft end of the first electric push rod is hinged to a middle portion of the first translation slide rod, and the first translation slide rod is perpendicularly disposed relative to the first electric push rod;
- the machine body framework is provided with a horizontal slide groove;
- an end of the first translation slide rod is located in the horizontal slide groove and the first translation slide rod has a linear translation degree of freedom along the horizontal slide groove;
- the first connecting rod is a parallel double-rod structure, a lower end of the first connecting rod is hinged to the first translation slide rod, and an upper end of the first connecting rod is hinged to a middle portion of the lifting support frame;
- the lifting support frame is horizontally disposed, and the triaxial vibration monitoring sensor assembly is mounted above the lifting support frame;
- the first lifting slide rod is horizontally mounted at a front end of the lifting support frame, the second lifting slide rod is horizontally mounted at a rear end of the lifting support frame, and the first lifting slide rod, the second lifting slide rod, and the first translation slide rod are arranged in parallel;
- the machine body framework is provided with a first vertical slide groove and a second vertical slide groove;
- an end of the first lifting slide rod is located in the first vertical slide groove and the first lifting slide rod has a linear lifting degree of freedom along the first vertical slide groove;
- and an end of the second lifting slide rod is located in the second vertical slide groove and the second lifting slide rod has a linear lifting degree of freedom along the second vertical slide groove;
- wherein the in-borehole walking module comprises a lower walking motor, a lower walking wheel, a first upper walking motor, a first upper walking wheel, a second upper walking motor, a second upper walking wheel, and an upper walking wheel lifting actuator, wherein the lower walking motor is horizontally fixed to a bottom portion of the machine body framework, and the lower walking wheel is mounted on a motor shaft of the lower walking motor;
- the upper walking wheel lifting actuator is disposed above the machine body framework;
- the first upper walking motor and the second upper walking motor are arranged side by side on the upper walking wheel lifting actuator;
- the first upper walking wheel is mounted on a motor shaft of the first upper walking motor;
- the second upper walking wheel is mounted on a motor shaft of the second upper walking motor;
- and a first lower driven wheel is disposed at a front end of the machine body framework, and a second lower driven wheel is disposed at a rear end of the machine body framework;
- wherein the upper walking wheel lifting actuator comprises a second electric push rod, a second translation slide rod, a horizontal slide rail, a second connecting rod, a first rocker, a second rocker, and a third connecting rod, wherein the second electric push rod is horizontally arranged above the machine body framework, a power output shaft of the second electric push rod is hinged to a middle portion of the second translation slide rod, and the second translation slide rod is perpendicularly disposed relative to the second electric push rod;
- the horizontal slide rail is a parallel double-rail structure, the horizontal slide rail is disposed on the machine body framework on two sides of the second electric push rod, an end of the second translation slide rod is located in the horizontal slide rail, and the second translation slide rod has a linear translation degree of freedom along the horizontal slide rail;
- the first rocker is a parallel double-rod structure, a lower end of the first rocker is hinged to the machine body framework, the first rocker is adjacent to the borehole wall multiple-source vibration monitoring module, and the first upper walking motor is fixedly mounted at an upper end of the first rocker, the second rocker is a parallel double-rod structure, a lower end of the second rocker is hinged to the machine body framework, the second rocker is adjacent to the monitoring signal storage and transmission module, and the second upper walking motor is fixedly mounted to an upper end of the second rocker;
- the second connecting rod is a parallel double-rod structure, a lower end of the second connecting rod is hinged to the middle portion of the second translation slide rod, and an upper end of the second connecting rod is hinged to a middle portion of the second rocker;
- the third connecting rod is a parallel double-rod structure, a front end of the third connecting rod is hinged to a middle portion of the first rocker, and a rear end of the third connecting rod is hinged to the middle portion of the second rocker;
- and the first rocker, the third connecting rod, the second rocker, and the machine body framework form a parallelogram mechanism.