CN103397902B - Intelligent rescue machine used for vertical shaft - Google Patents
Intelligent rescue machine used for vertical shaft Download PDFInfo
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- CN103397902B CN103397902B CN201310368596.6A CN201310368596A CN103397902B CN 103397902 B CN103397902 B CN 103397902B CN 201310368596 A CN201310368596 A CN 201310368596A CN 103397902 B CN103397902 B CN 103397902B
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Abstract
An intelligent rescue machine used for a vertical shaft comprises a controller II, a cable IV and an intelligent robot arm III, wherein the intelligent robot arm comprises a power supply input port (25), an optical transceiver transmitter (28), two supporting arms (41 and 43), two mechanical arms (18 and 29), two mechanical gripers (7 and 38), two pulling arms (13 and 34), a tension sensor (42), a lead screw (40), a motor (44), a speed reducer (45), a video camera (37), a programmable logic controller (35), a forward relay (15) and an inverted relay (16), wherein an optical transceiver receiver (50) of the controller II are connected with the optical transceiver transmitter (28) of the intelligent robot arm III through an optical cable. Buttons such as a clamping button a1, an opening button a2, a stopping button d1, a stopping button d2, a tension display button and the like which are used for controlling the mechanical arms and arranged in a touch screen (55) of the controller II are operated, so that the actions of the intelligent robot arm are controlled, and the rescue purpose is achieved.
Description
Technical field
The present invention relates to a kind of machinery of shaft rescue, be especially applicable to (bore about 550mm) rescue of minor-caliber shaft.
Background technology
At present, be engaged in the work of shaft rescue, rescue mode comparatively is early: employing hangs upside down rescuer and sues and labours to by the personnel of rescuing, and this method has following defect: one is the restriction by well head caliber size, and the vertical shaft rescuer less for bore is difficult to down sometimes; Two is limit by well depth, and some wells are very dark, adopts the method hanging upside down rescuer undesirable, sometimes unfeasible.The method adopting excavator to cut the earth around well is rescued, and there is the shortcoming often causing personnel in the pit's death because rescue time is long, also can be faced with the danger of landslide simultaneously.Recently, also have methods such as adopting hook or lasso to sue and labour, but rescue effect is all not fully up to expectations.In a word, a kind of safe, reliable, quick, light desirable shaft rescue equipment is not also had at present.
Summary of the invention
The object of the invention is to want to provide a kind of new shaft rescue equipment, adopt this equipment to rescue, rescue work can be made safe, reliable, quick, light.
The technical scheme adopted for realizing above-mentioned purpose of the present invention is: the intelligent rescuing machine of a kind of vertical shaft, containing controller II, cable IV, described controller II is containing electrical socket I, optical transmitter and receiver receiver, touch-screen, video-frequency monitor, it is characterized in that, also containing Intelligent robotic manipulator III, in the touch-screen of controller II, being provided with the clamping button a controlling mechanical arm
1and open button a
2, display pulling force pulling force display b, control mechanical arm clamping time stop stop button I d
1, control stop button II d that mechanical arm stops when opening
2, pulling force set-point hurdle G and counting display field N, described Intelligent robotic manipulator III is containing shell, electrical socket, optical transmitter and receiver emitter, brace I, brace II, two mechanical arms, two mechanical grippers, torque arm I, torque arm II, pulling force sensor, leading screw, motor, reductor, video camera, programmable logic controller, rotate forward relay, reversion relay, the upper end of two mechanical arms respectively with brace I, brace II movable joint connects, the lower end of two mechanical arms is connected with two mechanical grippers respectively, pulling force sensor is connected with brace I and brace II, two ends of torque arm I and torque arm II are connected with two mechanical arm movable joints respectively, torque arm I and torque arm II are connected with leading screw respectively, leading screw is connected with reductor, reductor is connected with motor, pulling force sensor, rotating forward relay and reversion relay are all connected with programmable logic controller by wire, and video camera is connected with optical transmitter and receiver emitter by video line, the optical transmitter and receiver receiver of controller II is connected with the optical transmitter and receiver emitter of Intelligent robotic manipulator III by optical cable, and the electrical socket I of controller II is connected by cable with the electrical socket of Intelligent robotic manipulator III.
Preferred embodiment is install a three-terminal regulator block in Intelligent robotic manipulator III, and three-terminal regulator block is connected with electrical socket and optical transmitter and receiver emitter.
Most preferred embodiment of the present invention for being also provided with torque arm axle sleeve I, torque arm shaft sleeve II, brace cover I, brace cover II in Intelligent robotic manipulator III, torque arm I and torque arm II are socketed with torque arm axle sleeve I, torque arm shaft sleeve II respectively, and brace I, brace II overlap I respectively with brace, brace is overlapped II and is socketed.
Described torque arm axle sleeve I, torque arm shaft sleeve II, brace cover I, brace cover II are all installed on shell.
Most preferred embodiment of the present invention for arrange a upper cover, shelf and base plate in Intelligent robotic manipulator III, upper cover is installed on case body, upper cover, shelf and base plate are all connected with housing, optical transmitter and receiver emitter is fixed on upper cover or shelf, video camera is installed on base plate, programmable logic controller, rotating forward relay and reversion relay are all installed on shelf, and three-terminal regulator block is installed on shelf.
Most preferred embodiment of the present invention is be provided with loudspeaker and Mike on the base plate of Intelligent robotic manipulator III, audio frequency adjusting knob is provided with upper covering, Mike on Intelligent robotic manipulator III base plate is connected with optical transmitter and receiver emitter by tone frequency channel wire, optical transmitter and receiver emitter tone frequency channel wire is connected with audio-frequency amplifier by audio frequency adjusting knob, and audio-frequency amplifier tone frequency channel wire is connected with loudspeaker; Also loudspeaker, Mike and audio frequency adjusting knob is provided with in controller II, Mike in controller II is connected with optical transmitter and receiver receiver by tone frequency channel wire, optical transmitter and receiver receiver tone frequency channel wire is connected with its audio-frequency amplifier by audio frequency adjusting knob, and audio-frequency amplifier tone frequency channel wire is connected with its loudspeaker.Like this, the two-party conversation of the upper and lower personnel of vertical shaft is achieved easily.
Most preferred embodiment of the present invention is for setting up a turntable I, and to facilitate Intelligent robotic manipulator III lifting in the shaft or decline, this turntable I is containing bobbin winoler, and bobbin winoler is wound with rope, and the rope of turntable I is connected with Intelligent robotic manipulator III.
The present invention also can arrange support on turntable, for supporting the bobbin winoler of turntable I; The bobbin winoler of turntable I is also provided with handle, for around, put the rope be wound on bobbin winoler, the rope that bobbin winoler is wound around is preferably wire rope.
Most preferred embodiment of the present invention is cover to be provided with suspension ring in Intelligent robotic manipulator III, to facilitate and the connection of rope that is wound around on the bobbin winoler of turntable I.
The present invention preferably arranges compressed air pipe clamp on shell, and this compressed air pipe clamp can external compressed air container.
The most preferred embodiment of described controller II is for be also provided with electrical socket II and power switch, and electrical socket II is connected with power switch by wire, and the other end of power switch is connected with wire with electrical socket I.
Output port of power source in controller II preferably adopts electrical socket I.Power input port in Intelligent robotic manipulator III preferably also adopts electrical socket, is convenient to application operating like this.
Described connection cable adopts cable and optical cable, and the electric current be connected with power supply transmits and adopts cable, and between optical transmitter and receiver emitter and optical transmitter and receiver receiver, signal transmits and adopts optical cable.
Programmable logic controller of the present invention has desired data acquisition function, with counter in described motor, thus has tally function.
When programmable logic controller does not have information needed acquisition function, the present invention can arrange collector on the shelf, and pulling force sensor is connected with collector by holding wire, and collector is connected with programmable logic controller.The analog signal processing collecting pulling force sensor output is become data-signal by collector, touch-screen is arrived through data flat cable, programmable logic controller, optical transmitter and receiver emitter, optical cable, optical transmitter and receiver receiver, compare with pulling force set-point in control program, when the pulling force sensor value of thrust detected is equal with pulling force set-point, motor stops.The Main Function of collector gathers coherent signal, when programmable logic controller has information needed acquisition function, then do not need collector.
When in motor without tally function time, the present invention can arrange counter gear piece on the output shaft of reductor, reductor arranges optoelectronic switch, counter gear piece and optoelectronic switch associated, optoelectronic switch is connected with programmable logic controller by holding wire, or arrange counter on motor output shaft, this counter is the aggregate of counter gear piece and optoelectronic switch.Optoelectronic switch sends pulse signal under counter gear piece rotary action, the numerical value of this pulse signal and motor rotations, torque arm I, the shift value of torque arm II, the clamping degree of mechanical arm becomes corresponding relation with opening width, pulse signal is through programmable logic controller, optical transmitter and receiver emitter, optical cable, optical transmitter and receiver receiver arrives touch-screen, application program counts the pulse signal received, when motor rotates forward, count value is just, torque arm I, torque arm II moves inward, mechanical arm clamps, when reaching the upper limit count value of setting, torque arm I, torque arm II stops moving inward, mechanical arm clamping stops, during motor reversal, count value is negative, torque arm I, torque arm II outwards movement, and mechanical arm opens, and when reaching the lower limit count value of setting, torque arm I, torque arm II stop outside movement, and mechanical arm opens stopping.Upper limit count value and lower limit count value, determine according to actual conditions during programming, how to be programmed for the general knowledge in the sector, the inventive point of non-invention, just no longer describes here.
Most preferred embodiment of the present invention is altogether containing four major parts: one is turntable I, for promoting or decline Intelligent robotic manipulator; Two is Intelligent robotic manipulator III, is rescued personnel for holding; Three is controllers II, for controlling Intelligent robotic manipulator III action, reception vision signal, double-directional speech dialogue; Four is cables IV, comprises cable and optical cable, and cable is used for powering to Intelligent robotic manipulator, and optical cable is used for the signals such as transmission of video, two way audio, data, control.
The present invention has following advantage:
1, equipment is light, easy to carry.Intelligent robot arm in equipment of the present invention, cable, controller, turntable, wire rope and power supply, can split carrying, to in-site installation of suing and labouring.
2, quick for installation.The said equipment only needs a few minutes just can install after reaching the spot.
3, simple to operate.Whole operating process only need input a corresponding value of thrust, and then several button is opened, clamps and stops in operation.
4, safe and reliable.Intelligent robot arm has two pairs of handgrips, and the personnel that will be rescued firmly escort in a safe space, can not be scratched upper carrying in process by the borehole wall.
5, Quick rescue.Speed is the important index of rescue work, and whole rescue operations only needs the time of tens minutes.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, further detailed description is done to the present invention, but described embodiment should not explained in a restricted way.
As seen from Figure 1, the present invention contains turntable I, controller II, Intelligent robotic manipulator III, cable IV 4 part.Turntable I is containing bobbin winoler 2, and bobbin winoler 2 is wound with rope 3, bobbin winoler 2 is supported by support 4, and bobbin winoler 4 is also provided with handle 1, for around, put rope 3.The shaven head 48 of the optical transmitter and receiver receiver 50 of controller II is connected with the shaven head 24 of the optical transmitter and receiver emitter 28 of Intelligent robotic manipulator III by optical cable 6, the output port of power source 51 of controller II is connected by cable 5 with the power input port 25 of Intelligent robotic manipulator III, and the rope 3 of turntable I is connected with the suspension ring 23 in Intelligent robotic manipulator III.
Fig. 2-Fig. 7 gives structural representation and the control principle drawing of the first embodiment of Intelligent robotic manipulator III.
As can be seen from Fig. 2-Fig. 4, Intelligent robotic manipulator III is containing suspension ring 23, shell 39, audio frequency adjusting knob 21, power input port 25, optical transmitter and receiver emitter 28, 7805 three-terminal regulator blocks 59, upper cover 22, shelf 30, base plate 9, brace I 41, brace II 43, brace cover I 20, brace cover II 26, two mechanical arms 18, 29, two mechanical grippers 7, 38, torque arm I 13, torque arm II 34, pulling force sensor 42, leading screw 40, torque arm axle sleeve I 12, torque arm shaft sleeve II 32, motor 44, reductor 45, loudspeaker 36, Mike 10, video camera 37, programmable logic controller 35, rotate forward relay 15, reversion relay 16, power input port 25 adopts electrical socket (hereinafter referred to as electrical socket 25), motor 44 is provided with counter 46, this counter 46 is counter gear piece 65 and the aggregate of optoelectronic switch 66, because being provided with counter 46 on motor 44, makes motor have tally function, shelf 30 is provided with through wires hole 11 and through wires hole 17, optical transmitter and receiver emitter 28 is provided with shaven head 24, and suspension ring 23 are fixed on upper cover 22, audio frequency adjusting knob 21, electrical socket 25 is connected with upper cover 22 screw respectively, and optical transmitter and receiver emitter 28 is fixed on shelf 30, upper cover 22, shelf 30 and base plate 9 are connected by screw with shell 39, two mechanical arms 18, the upper end of 29 is respectively by movable joint 19, 27 with brace I 41, brace II 43 connects, brace I 41, brace II 43 overlaps I 20 with brace respectively, brace cover II 26 socket, brace cover I 20, brace cover II 26 is all connected with shell 39, two mechanical arms 18, the lower end of 29 respectively with two mechanical grippers 7, 38 connect, torque arm I 13, one end of torque arm II 34 is respectively by movable joint 14, 33 and two mechanical arms 18, 29 connect, and the other end is connected with leading screw 40, and leading screw 40 2 end is anti-silk, and pulling force sensor 42 is arranged at brace I 41, between brace II 43, and with brace I 41, brace II 43 is connected, torque arm I 13, torque arm II 34 respectively with torque arm axle sleeve I 12, torque arm shaft sleeve II 32 is socketed, torque arm axle sleeve I 12, torque arm shaft sleeve II 32 is all connected with shell 39, and leading screw 40 is connected with reductor 45 key, and reductor 45 is connected with motor 44 key, and reductor 45 is connected by screw with shelf 30.Loudspeaker 36, Mike 10, video camera 37 are installed on base plate 9 respectively by screw, programmable logic controller 35, rotating forward relay 15, reversion relay 16 are all installed on shelf 30 by screw, compressed air pipe clamp 8 is connected with shell 39 electric welding, three-terminal regulator block 59 is installed on shelf 30, and it is connected with electrical socket 25 and optical transmitter and receiver emitter 28.
In Fig. 5, the electrical socket II 51 of controller II, output port of power source 49, power switch 57, loudspeaker 52, optical transmitter and receiver receiver 50, touch-screen 55, video-frequency monitor 54, audio frequency adjusting knob 56, Mike 47 are connected with the upper cover 53 of controller respectively.Output port of power source 49 adopts electrical socket I (hereinafter referred to as electrical socket I 49), is provided with the clamping button a controlling mechanical arm in touch-screen 55
1and open button a
2, control mechanical arm clamping time stop stop button I d
1, control stop button II d that mechanical arm stops when opening
2, display torque arm pulling force pulling force display field b(be used for comparing with pulling force set-point, stop clamping when the two is equal), according to being rescued the pulling force set-point hurdle G of personnel's body weight determination pulling force size, being used for showing the counting display field N of torque arm I 13, torque arm II 34 shift value.
As can be seen from Fig. 1 and Fig. 6,7, cable IV comprises cable 5 and optical cable 6, power supply D and the electrical socket II 51 be positioned on controller II upper cover 53 patch, one end of cable 5 and controller II electrical socket I 49 grafting, electrical socket 25 grafting on the other end and Intelligent robotic manipulator III upper cover 22; One end of optical cable 6 is connected by shaven head 24 with optical transmitter and receiver emitter 28, and the other end is connected by shaven head 48 with optical transmitter and receiver receiver 50.
Fig. 6, Fig. 7 give the control principle drawing of Intelligent robotic manipulator III and controller II, which show the schematic diagram of the automatically controlled part of the present invention.
The outer power supply mode of power acquisition of the present invention, namely by fire-fighting generator or on-the-spot neighbouring alternating current 220V Power supply, 220V alternating current, after transformation, rectification, voltage stabilizing, exports the direct current of+12V and+24V.Controller II has electrical socket I 49 and electrical socket II 51, dc source D inserts electrical socket II 51, and through power switch 57 to another electrical socket I 49, power switch 57 powers also to after connecting controller II.Electrical socket I 49 is inserted in one end of three-core cable 5, and the electrical socket 25 that the other end inserts Intelligent robotic manipulator III is powered to Intelligent robotic manipulator III.Intelligent robotic manipulator III and controller II are respectively equipped with 7805 three-terminal regulator blocks 59,60, supply direct current+5v voltage to respectively the optical transmitter and receiver receiver 50 of the optical transmitter and receiver emitter 28 in Intelligent robotic manipulator III and controller II.
In Fig. 6, the input i0 of programmable logic controller 35 is connected with holding wire with the output of the optoelectronic switch 66 in counter 46; The power input of Mike 10,7805 three-terminal voltage-stabilizing 59, audio-frequency amplifier 61, pulling force sensor 42, video camera 37 is connected with the 0V ,+12V of electrical socket 25 respectively with wire; The output of pulling force sensor 42 is connected with input a+, a-wire of programmable logic controller 35; Rotate forward relay 15 and reverse relay 16 coil one end wire respectively with 0V(power supply) be connected, the other end is held with output Q0.0 and Q0.1 of programmable logic controller 56 respectively with wire and is connected; The output of Mike 10 is connected with the audio frequency input tone frequency channel wire of optical transmitter and receiver emitter 28; The output of 7805 three-terminal voltage-stabilizings 59 is connected with+5V power supply input the wire of optical transmitter and receiver emitter 28; PM with the PL+ end of programmable logic controller 35 is connected with+24V with the 0V of electrical socket 25 respectively; 485 control mouth C of optical transmitter and receiver emitter 28 control mouth C control line with 485 of programmable logic controller 35 and are connected; The audio output port of optical transmitter and receiver emitter 28 is connected with tone frequency channel wire with audio frequency adjusting knob 21; Audio frequency adjusting knob 21 is connected with tone frequency channel wire with the input of audio-frequency amplifier 61; The output of audio-frequency amplifier 61 is connected with tone frequency channel wire with loudspeaker 36; The video input of optical transmitter and receiver emitter 28 is connected with video line with video camera 37; The output of optoelectronic switch 66 is connected with input i0 and the OM wire of programmable logic controller 35; The shaven head 24 of optical transmitter and receiver emitter 28 is connected with optical cable with the shaven head 48 of optical transmitter and receiver receiver 50 in Fig. 7.
Button a is clamped when pressing on touch-screen 55
1time, rotate forward relay 15 and close, motor 44 rotates forward, and mechanical arm 18,29 clamps, and now count value is just; Button a is opened when pressing on touch-screen 55
2time, reversion relay 16 closes, and motor 44 reverses, and mechanical arm 18,29 opens, and count value is negative; When motor 44 rotates forward, by the stop button d on touch-screen 55
1or when pulling force reaches set-point or torque arm I 13, torque arm II 34 displacement reaches higher limit, motor 44 stops; During motor reversal, by the stop button d on touch-screen 55
2or torque arm I 13, torque arm II 34 shift value reach lower limit or pulling force sensor 42 value of thrust when reaching certain negative value (now opening of mechanical arm 18,29 is obstructed), motor 44 stops.
In Fig. 7, power supply D is the three-core cable (0V ,+12V ,+24V) of band plug; Power supply D is inserted electrical socket II 51; Electrical socket II 51 is connected with power switch 57 by wire; The other end of power switch 57 is connected with wire with electrical socket I 49; The power input of Mike 47,7805 three-terminal voltage-stabilizing 60, audio-frequency amplifier 58, video-frequency monitor 54 is connected with wire with the 0V ,+12V of power switch 57; The power input of touch-screen 55 is connected with wire with the 0V ,+24V of power switch 57; The audio frequency of Mike 47 exports and is connected with the audio frequency input tone frequency channel wire of optical transmitter and receiver receiver 50; The output of 7805 three-terminal voltage-stabilizings 60 is connected with+5V power input the wire of optical transmitter and receiver receiver 50; The shaven head 48 of optical transmitter and receiver receiver 50 is connected with optical cable with the shaven head 24 of optical transmitter and receiver emitter 28 in Fig. 6; 485 mouthfuls of C of optical transmitter and receiver receiver 50 are connected with 485 mouthfuls of C control lines of touch-screen 55; The video frequency output of optical transmitter and receiver receiver 50 is connected with video line with video-frequency monitor 54; The audio output of optical transmitter and receiver receiver 50 is connected with wire with audio frequency adjusting knob 62, and audio frequency adjusting knob 62 is connected with wire with audio-frequency amplifier 58, and the output of audio-frequency amplifier 58 is connected with wire with loudspeaker 52.
In the embodiment of the present invention 1, the programmable logic controller 35 in described Intelligent robotic manipulator III has information needed acquisition function, with counter 46 in motor, namely with tally function.
Embodiment 2:
The present invention is not when programmable logic controller 35 has information needed acquisition function, and can arrange collector 63 on shelf 30, pulling force sensor 42 is connected with collector 63 by holding wire, and collector 63 is connected by data flat cable 67 with programmable logic controller 35.
When in motor 14 without tally function time, counter gear piece 65 can be set on the output shaft of reductor 45, reductor 45 arranges optoelectronic switch 66, and counter gear piece 65 and optoelectronic switch 66 associated, optoelectronic switch 66 is connected with programmable logic controller 35 by holding wire.
Fig. 8-10 gives in the present invention, when the programmable logic controller 35 in Intelligent robotic manipulator III does not have in desired signal acquisition function and motor 44 without the structural representation of the second embodiment during tally function and schematic diagram thereof.In this embodiment, controller II control principle drawing is identical with Fig. 7
,the top view of controller II is identical with Fig. 5.
As can be seen from Fig. 8, Fig. 9 and Figure 10, shelf 30 is provided with collector 63, pulling force sensor 42 is connected with collector 63 by holding wire, and collector 63 is connected by data flat cable 67 with programmable logic controller 35; The output shaft of reductor 45 is provided with counter gear piece 65, reductor 45 is provided with optoelectronic switch 66, counter gear piece 65 and optoelectronic switch 66 associated, optoelectronic switch 66 is connected with programmable logic controller 35 by holding wire.The connection of other each parts is with embodiment 1.
In Figure 10, programmable logic controller 35 is connected with collector 63 by data flat cable 67; The power input of Mike 10,7805 three terminal regulator 59, audio-frequency amplifier 61, optoelectronic switch 66, pulling force sensor 42, video camera 37 is connected with the 0V ,+12V of electrical socket 25 respectively with wire; The M end of programmable logic controller 35 is connected with+12V with 0V respectively with L+ end wire; Rotate forward relay 15 and reverse relay 16 one end wire respectively with 0V(power supply) be connected, the other end is held with Q0.0 and Q0.1 of programmable logic controller 35 respectively with wire and is connected; The output of Mike 10 is connected with the audio frequency input tone frequency channel wire of optical transmitter and receiver emitter 28; The output of 7805 three-terminal voltage-stabilizings 59 is connected with+5V power supply input the wire of optical transmitter and receiver emitter 28; PM with the PL+ end of programmable logic controller 35 is connected with+24V with the 0V of electrical socket 25 with wire respectively with M and the L+ end of collector 63; 485 control mouth C of optical transmitter and receiver emitter 28 control mouth C control line with 485 of programmable logic controller 35 and are connected; The audio output port of optical transmitter and receiver emitter 28 is connected with tone frequency channel wire with audio frequency adjusting knob 21; Audio frequency adjusting knob 21 is connected with tone frequency channel wire with the input of audio-frequency amplifier 61; The output of audio-frequency amplifier 61 is connected with tone frequency channel wire with loudspeaker 36; The video input of optical transmitter and receiver emitter 28 is connected with video line with video camera 37; The output of optoelectronic switch 66 is connected with wire with i0 and OM of programmable logic controller 35; The output of pulling force sensor 42 is connected with C+, C-end wire of collector 63.The shaven head 24 of optical transmitter and receiver emitter 28 is connected with optical cable with the shaven head 48 of the optical transmitter and receiver receiver 50 in Fig. 7.
When pressing the clamping button a on touch-screen 55
1, when rotating forward relay 15 closes, motor 44 rotates forward, and torque arm I 13, torque arm II 34 are moved in opposite directions, and mechanical arm 18,29 clamps, and now count value is just; When pressing touch-screen 55 opens button a
2, when reversion relay 16 closes, motor 44 reverses, torque arm I 13, torque arm II 34 oppositely movement, and mechanical arm 18,29 opens, and count value is negative; When motor 44 rotates forward, by the stop button d on touch-screen 55
1or pulling force reaches set-point or torque arm I 13, torque arm II 34 is when displacement reaches upper limit count value in opposite directions, motor 44 stops; When motor 44 reverses, by the stop button d on touch-screen 55
2or torque arm I 13, torque arm II 34 oppositely displacement reach lower limit count value or value of thrust when reaching certain negative value (now opening of mechanical arm 18,29 is obstructed), motor 44 stops.Upper limit count value and lower limit count value, determine according to actual conditions during programming, this is the general knowledge of one of ordinary skilled in the art, no longer repeats.
The control principle drawing of controller II is identical with embodiment 1, no longer repeats.
When the programmable logic controller 35 in Intelligent robotic manipulator III has information needed acquisition function, and without counter 46 in motor 44, namely time without tally function, or when the programmable logic controller 35 in Intelligent robotic manipulator III does not have information needed acquisition function, and with counter 46 in motor 44, namely time with tally function, can refer to embodiment 1 and embodiment 2 is implemented, this is that one of ordinary skilled in the art is easy to implement with reference to embodiment 1 of the present invention and embodiment 2, so just no longer repeat.
Operation logic of the present invention is as follows:
Erect turntable I, be connected firmly with rope 3 and the hook 23 in Intelligent robotic manipulator III, one end inserting controller II of cable 5, the other end inserts the electrical socket 25 in Intelligent robotic manipulator III, the shaven head 48 of bare headed one end access optical transmitter and receiver receiver 50 of optical cable 6, other end access optical transmitter and receiver launches the shaven head 24 of 28, power supply D inserts electrical socket II 51, with turntable I, Intelligent robotic manipulator III is put into vertical shaft P, turn on the power switch 57, control program initializes complete, input a corresponding value of thrust at the pulling force set-point hurdle G of touch-screen 55 and (need different pulling force according to different weight, setting series of values), when needing clamping to be rescued personnel, press the clamping button a on touch-screen 55
1, control signal by 485 mouthfuls of c of touch-screen 55 by this instruction through optical transmitter and receiver receiver 50, the shaven head 48 of optical transmitter and receiver receiver 50, optical cable 6, optical transmitter and receiver emitter 28, the shaven head 24 of optical transmitter and receiver emitter 28 reaches 485 mouthfuls of c of programmable logic controller 35, programmable logic controller 35 sends signal after receiving instruction makes rotating forward relay 15 close, motor 44 rotates forward, at this moment reductor 45 drives leading screw 40 to rotate, torque arm I 13, torque arm II 34 is moved in opposite directions under the effect of leading screw 40, two mechanical arms 18 and 29 clamp, now pulling force sensor 42 starts stressed, the output signal of pulling force sensor 42 enters programmable logic controller 35 by holding wire, entered 24 mouthfuls, the shaven head of optical transmitter and receiver emitter 28 through control line by 485 mouthfuls of c of programmable logic controller 35, optical transmitter and receiver receiver 50 is passed to by optical cable 6 again by the shaven head 24 of optical transmitter and receiver emitter 28, then entered 485 mouthfuls of c of touch-screen 55 through control line by 485 mouthfuls of c of optical transmitter and receiver receiver 50, touch-screen 55 shows value of thrust b in real time, when value of thrust b is equal with the given value of thrust of input, motor 44 stops.While motor 44 rotates forward, its counter 46 starts counting, send positive pulse signal, this pulse signal enters programmable logic controller 35 by holding wire, arrived 485 mouthfuls of c of optical transmitter and receiver emitter 28 by control line through 485 mouthfuls of c of programmable logic controller 35, optical transmitter and receiver receiver 50 is passed to again by optical cable 6, then passed to 485 mouthfuls of c of touch-screen 55 through control line by 485 mouthfuls of c of optical transmitter and receiver receiver 50, counting display field N on touch-screen 55 just can show two torque arm I 13 in real time, the shift value of torque arm II 34, in opposite directions mobile display on the occasion of, contrary display negative value, when two torque arm I 13, torque arm II 34 displacement reach count limit value or value of thrust b equal with given value of thrust or press stop button d
1time, motor 44 stops, and mechanical arm 18,29 clamps and stops.Otherwise, press and touch-screen 55 open button a
2reversion relay 16 closes, motor 44 reverses, torque arm I 13, torque arm II 34 be oppositely movement under the effect of leading screw 40, mechanical arm 18,29 opens, this hour counter 46 sends undersuing, and the counting display field N on touch-screen 55 shows torque arm I 13, torque arm II 34 negative displacement value, when torque arm I 13, torque arm II 34 shift value reach counting lower limit or press stop button d
2time, motor 44 stops.If mechanical arm 18,29 does not stress, press the clamping button a of touch-screen 55
1, then torque arm I 13, torque arm II 34 stop when moving to upper limit count value in opposite directions automatically; If that presses touch-screen 55 opens button a
2, then torque arm I 13, torque arm II 34 stop when oppositely moving to lower limit count value automatically, the clamping of mechanical arm 18,29 and open the setting when programming of count limit value, in order to avoid equipment is from damaging.Described programmed method known by the one of ordinary skilled in the art, no longer repeats here.
The video frequency output of video camera 37 arrives the video input mouth of optical transmitter and receiver emitter 28 by video line, reach optical transmitter and receiver receiver 50, then enter video-frequency monitor 54 by the video output of optical transmitter and receiver receiver 50 through video line through optical cable 6.
From the output of Mike 47, the audio input port of optical transmitter and receiver receiver 50 is entered through holding wire, reach optical transmitter and receiver emitter 28 through optical cable 6, then enter audio-frequency amplifier 61 to loudspeaker 36 by its audio output port by audio frequency adjusting knob 21, realize aboveground rescuer and the dialogue of personnel is rescued in down-hole; From the output of down-hole Mike 10, the audio input port of optical transmitter and receiver emitter 28 is entered through holding wire, optical transmitter and receiver receiver 50 is reached through optical cable 6, again by its audio output port through audio frequency adjusting knob 62 to audio-frequency amplifier 58 to loudspeaker 52, realize down-hole and rescued the dialogue of personnel and aboveground rescuer, thus achieve rescuer and rescued the bidirectional dialog of personnel.
When the present invention deposits, turntable I, controller II, Intelligent robotic manipulator III, cable IV 4 part is removable separately deposits, and the bobbin winoler (containing rope 3) 2 of turntable I is deposited with support 4 removable separating.
Using method of the present invention is as follows:
After having people to fall into vertical shaft P, rescuer brings turntable I of the present invention, controller II, Intelligent robotic manipulator III, cable IV to reach the spot and sue and labour.First on well head, turntable I is erected, rope 3 on turntable I is connected firmly by suspension ring 23 and Intelligent robotic manipulator III, plug in D, the optical transmitter and receiver receiver 50 of controller II is connected with the optical transmitter and receiver emitter 28 of Intelligent robotic manipulator III by optical cable 6, the electrical socket I 49 of controller II is connected by cable 5 with the electrical socket 25 of Intelligent robotic manipulator III, clip blowpipe head if desired, then 57 are turned on the power switch, control program initializes complete, simultaneously, understand and rescued the cardinal principle body weight of personnel, touch-screen 55 pulling force set-point hurdle G inputs corresponding value of thrust (units/kg), Intelligent robotic manipulator III is slowly put in vertical shaft P, the situation that Intelligent robotic manipulator III transfers can be observed by video-frequency monitor 54, when the end of Intelligent robotic manipulator III is transferred to from when being rescued about tens centimetres of personnel top, observe the opening dimension of Intelligent robotic manipulator III, by the clamping button a on operation touch-screen 55
1, open button a
2, stop button d
1, stop button d
2adjusted to correct position, when not hindering Intelligent robotic manipulator III to transfer, slowly transfer, by video-frequency monitor 54, rescuer aboveground in this process can clearly see that the posture of personnel and state are rescued in down-hole, if can also be carried out linking up and pacifying with he (she) by dialogue by the personnel conscious mind of rescuing, he (she) sometimes can also be allowed to coordinate rescuer to sue and labour.When Intelligent robotic manipulator III finds appropriate position, press the clamping button a on controller II touch-screen 55
1now torque arm I 13, torque arm II 34 are moved in opposite directions under the effect of leading screw 40, mechanical arm 18,29 starts clamping, pulling force sensor 42 starts stressed, the numerical value of the pulling force display field b on controller II increases gradually, when value of thrust equals preset value of thrust, motor 44 stops automatically, mechanical arm 18,29 stops clamping, mechanical gripper 7,38 will be rescued personnel promptly, carry, carry on continuing if no problem at this moment trying, by the personnel of rescuing mention aboveground after, press the relieving button a on controller II
2, mechanical arm is decontroled, and rescues successfully.
Touch-screen on controller II is the device that market can directly be buied, and the method to set up of each button is that those of ordinary skill in this area is known altogether in its touch-screen, no longer repeats.
Programmable logic controller 35 is the equipment directly buied, and no longer repeats here.
Described control line is the copper cable of two core ribbon shieldings.
Accompanying drawing explanation
The using state structural representation of Fig. 1 preferred embodiment.
Fig. 2 is the front view of the first embodiment of Intelligent robotic manipulator III in Fig. 1.
Fig. 3 is the longitudinal section view of Fig. 2.
Fig. 4 is the lateral view in Fig. 2.
Fig. 5 is Fig. 1 middle controller II top view.
Fig. 6 is the control principle drawing of the first embodiment of Intelligent robotic manipulator III.
Fig. 7 is Fig. 1 middle controller II control principle drawing.
Fig. 8 is the front view of the second embodiment of Intelligent robotic manipulator III in Fig. 1.
Fig. 9 is the longitudinal section view of Fig. 8.
Figure 10 is the control principle drawing of Intelligent robotic manipulator III the second embodiment.
Claims (10)
1. the intelligent rescuing machine of vertical shaft, containing controller II, cable IV, described controller II is containing output port of power source (49), optical transmitter and receiver receiver (50), touch-screen (55), video-frequency monitor (54), it is characterized in that, also containing Intelligent robotic manipulator III, in the touch-screen (55) of controller II, being provided with the clamping button a controlling mechanical arm
1and open button a
2, display pulling force pulling force display b, control mechanical arm clamping time stop stop button I d
1, control stop button II d that mechanical arm stops when opening
2, pulling force set-point hurdle G and counting display field N, described Intelligent robotic manipulator III is containing shell (39), power input port (25), optical transmitter and receiver emitter (28), brace I (41), brace II (43), two mechanical arms (18, 29), two mechanical grippers (7, 38), torque arm I (13), torque arm II (34), pulling force sensor (42), leading screw (40), motor (44), reductor (45), video camera (37), programmable logic controller (35), rotate forward relay (15), reversion relay (16), two mechanical arms (18, 29) upper end is connected with brace I (41) and brace II (43) movable joint respectively, two mechanical arms (18, 29) lower end respectively with two mechanical grippers (7, 38) be connected, pulling force sensor (42) is connected with brace I (41) and brace II (43), two ends of torque arm I (13) and torque arm II (34) respectively with two mechanical arms (18, 29) movable joint connects, and torque arm I (13) and torque arm II (34) are connected with leading screw (40) respectively, and leading screw (40) is connected with reductor (45), and reductor (45) is connected with motor (44), pulling force sensor (42), rotating forward relay (15) and reversion relay (16) are all connected with programmable logic controller (35) by wire, and video camera (37) is connected with optical transmitter and receiver emitter (28) by video line, the optical transmitter and receiver receiver (50) of controller II is connected with the optical transmitter and receiver emitter (28) of Intelligent robotic manipulator III by optical cable, and the output port of power source (49) of controller II is connected by cable with the power input port (25) of Intelligent robotic manipulator III.
2., according to the intelligent rescuing machine of vertical shaft according to claim 1, it is characterized in that installing a three-terminal regulator block (59) in Intelligent robotic manipulator III, three-terminal regulator block (59) is connected with power input port (25) and optical transmitter and receiver emitter (28).
3. according to the intelligent rescuing machine of the vertical shaft described in claim 1 or 2, it is characterized in that in Intelligent robotic manipulator III, be provided with torque arm axle sleeve I (12), torque arm shaft sleeve II (32), brace cover I (20), brace cover II (26), torque arm I (13) and torque arm II (34) are socketed with torque arm axle sleeve I (12), torque arm shaft sleeve II (32) respectively, and brace I (41), brace II (43) overlap I (20) respectively with brace, brace is overlapped II (26) and is socketed.
4. according to the intelligent rescuing machine of vertical shaft according to claim 3, it is characterized in that in Intelligent robotic manipulator III, arrange a upper cover (22), shelf (30) and base plate (9), upper cover (22) is installed on shell (39), upper cover (22), shelf (30) and base plate (9) are all connected with shell (39), optical transmitter and receiver emitter (28) is fixed on upper cover (22) or shelf (30), video camera (37) is installed on base plate (9), programmable logic controller (35), rotating forward relay (15) and reversion relay (16) are all installed on shelf (30), three-terminal regulator block (59) is installed on shelf (30).
5. according to the intelligent rescuing machine of vertical shaft according to claim 4, it is characterized in that being provided with loudspeaker (36) and Mike (10) on the base plate (9) of Intelligent robotic manipulator III, upper cover (22) is provided with audio frequency adjusting knob (21), Mike (10) on Intelligent robotic manipulator III base plate (9) is connected with optical transmitter and receiver emitter (28) by tone frequency channel wire, optical transmitter and receiver emitter (28) tone frequency channel wire is connected with audio-frequency amplifier (61) by audio frequency adjusting knob (21), and audio-frequency amplifier (61) tone frequency channel wire is connected with loudspeaker (36); Also loudspeaker (52), Mike (47) and audio frequency adjusting knob (56) is provided with in controller II, Mike (47) in controller II is connected with optical transmitter and receiver receiver (50) by tone frequency channel wire, optical transmitter and receiver receiver (50) tone frequency channel wire is connected with its audio-frequency amplifier (58) by the audio frequency adjusting knob (56) in controller II, and audio-frequency amplifier (58) tone frequency channel wire is connected with its loudspeaker (52).
6. according to the intelligent rescuing machine of vertical shaft according to claim 1, it is characterized in that establishing a turntable I, this turntable I is containing bobbin winoler (2), and bobbin winoler (2) is wound with rope (3), the rope (3) of turntable I is connected with Intelligent robotic manipulator III.
7., according to the intelligent rescuing machine of vertical shaft according to claim 6, it is characterized in that supporting bobbin winoler (2) with support (4), bobbin winoler (2) is provided with handle (1).
8., according to the intelligent rescuing machine of vertical shaft according to claim 4, it is characterized in that being provided with suspension ring (23) on the upper cover (22) of Intelligent robotic manipulator III.
9., according to the intelligent rescuing machine of vertical shaft according to claim 1, it is characterized in that being provided with compressed air pipe clamp (8) on shell (39).
10. according to the intelligent rescuing machine of vertical shaft according to claim 1, it is characterized in that described controller II is provided with electrical socket II (51) and power switch (57), electrical socket II (51) is connected with power switch (57) by wire, and the other end of power switch (57) is connected with wire with output port of power source (49).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310368596.6A CN103397902B (en) | 2013-08-22 | 2013-08-22 | Intelligent rescue machine used for vertical shaft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310368596.6A CN103397902B (en) | 2013-08-22 | 2013-08-22 | Intelligent rescue machine used for vertical shaft |
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| Publication Number | Publication Date |
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| CN103397902A CN103397902A (en) | 2013-11-20 |
| CN103397902B true CN103397902B (en) | 2015-05-20 |
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| CN201310368596.6A Expired - Fee Related CN103397902B (en) | 2013-08-22 | 2013-08-22 | Intelligent rescue machine used for vertical shaft |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105298535B (en) * | 2015-11-16 | 2018-01-26 | 别远辉 | Deep-well rescue device |
| CN105816977A (en) * | 2016-04-12 | 2016-08-03 | 蒲永强 | Deep-well rescuing device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101972526A (en) * | 2010-11-17 | 2011-02-16 | 三峡大学 | Rescue device for small-diameter deep well |
| RO126093A0 (en) * | 2010-10-27 | 2011-03-30 | Ioan Bădărău | Equipment for rescuing persons entrapped in narrow spaces |
| CN201823187U (en) * | 2010-07-26 | 2011-05-11 | 北京林业大学 | Mechanical device for shaft rescue |
| CN203547788U (en) * | 2013-08-22 | 2014-04-16 | 赵元杰 | Intelligent rescue machine used for vertical shaft |
-
2013
- 2013-08-22 CN CN201310368596.6A patent/CN103397902B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201823187U (en) * | 2010-07-26 | 2011-05-11 | 北京林业大学 | Mechanical device for shaft rescue |
| RO126093A0 (en) * | 2010-10-27 | 2011-03-30 | Ioan Bădărău | Equipment for rescuing persons entrapped in narrow spaces |
| CN101972526A (en) * | 2010-11-17 | 2011-02-16 | 三峡大学 | Rescue device for small-diameter deep well |
| CN203547788U (en) * | 2013-08-22 | 2014-04-16 | 赵元杰 | Intelligent rescue machine used for vertical shaft |
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| CN103397902A (en) | 2013-11-20 |
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