CN203547788U - Intelligent rescue machine used for vertical shaft - Google Patents
Intelligent rescue machine used for vertical shaft Download PDFInfo
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- CN203547788U CN203547788U CN201320514416.6U CN201320514416U CN203547788U CN 203547788 U CN203547788 U CN 203547788U CN 201320514416 U CN201320514416 U CN 201320514416U CN 203547788 U CN203547788 U CN 203547788U
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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. 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); an optical transceiver receiver (50) of the controller II is 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, 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 utility model relates to the machinery that a kind of shaft rescue is used, and is especially applicable to (bore 550mm left and right) rescue of minor-caliber shaft.
Background technology
At present, be engaged in the work of shaft rescue, rescue mode is early: employing hangs upside down rescuer and sued and laboured to rescuing personnel, and this method has following defect: the one, be subject to the restriction of well head caliber size, and the vertical shaft rescuer less for bore is difficult to down sometimes; The 2nd, limited by well depth, some wells are very dark, adopt that to hang upside down rescuer's method undesirable, sometimes unfeasible.The method that adopts excavator to cut the earth around well is rescued, and exists the often shortcoming because of the long personnel in the pit's of causing death of rescue time, also can be faced with the danger of landslide simultaneously.Recently, also have the methods such as the hook of employing or lasso to sue and labour, but rescue effect is all not fully up to expectations.In a word, also there is no a kind of safe, reliable, quick, light desirable shaft rescue equipment at present.
Summary of the invention
The purpose of this utility model is to want to provide a kind of new shaft rescue equipment, adopts this equipment to rescue, and can make rescue work safe, reliable, quick, light.
For realizing the technical scheme that above-mentioned purpose of the present utility model adopts, be: the intelligent rescuing machine of a kind of vertical shaft, contain controller II, cable IV, described controller II contains output port of power source, optical transmitter and receiver receiver, touch-screen, video-frequency monitor, it is characterized in that also containing intelligence machine hand III, in the touch-screen of controller II, be provided with the clamping button a that controls mechanical arm
1and open button a
2, the pulling force that shows pulling force shows b, control mechanical arm while the clamping stop button I d that stops
1, control the stop button II d that mechanical arm stops while opening
2, pulling force set-point hurdle G and counting display field N, described intelligence machine hand III contains shell, power input mouth, 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, 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, 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 intelligence machine hand III by optical cable, and the output port of power source of controller II is connected by cable with the power input mouth of intelligence machine hand III.
The utility model most preferred embodiment for to install a three-terminal regulator block in intelligence machine hand III, and three-terminal regulator block is connected with power input mouth and optical transmitter and receiver emitter.
Most preferred embodiment of the present utility model for being also provided with torque arm axle sleeve I, torque arm axle sleeve II, brace cover I, brace cover II in intelligence machine hand III, torque arm I and torque arm II are socketed with torque arm axle sleeve I, torque arm axle sleeve II respectively, and brace I, brace II are socketed with brace cover I, brace cover II respectively.
Described torque arm axle sleeve I, torque arm axle sleeve II, brace cover I, brace cover II are all installed on shell.
Most preferred embodiment of the present utility model for arranging a upper cover, shelf and base plate in intelligence machine hand 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, 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 utility model is on the base plate of intelligence machine hand III, to be provided with loudspeaker and Mike, upper covering, be provided with audio frequency adjusting knob, Mike on intelligence machine hand III base plate is connected with optical transmitter and receiver emitter by tone frequency channel wire, optical transmitter and receiver emitter is connected with audio-frequency amplifier by audio frequency adjusting knob with tone frequency channel wire, and audio-frequency amplifier is connected with loudspeaker with tone frequency channel wire; In controller II, be also provided with loudspeaker, Mike and audio frequency adjusting knob, Mike in controller II is connected with optical transmitter and receiver receiver by tone frequency channel wire, optical transmitter and receiver receiver is connected with its audio-frequency amplifier by audio frequency adjusting knob with tone frequency channel wire, and audio-frequency amplifier is connected with its loudspeaker with tone frequency channel wire.Realized like this, easily both sides' dialogue of the upper and lower personnel of vertical shaft.
Most preferred embodiment of the present utility model is for setting up a turntable I, and to facilitate lifting or the decline of intelligence machine hand III in vertical shaft, this turntable I contains bobbin winoler, is wound with rope on bobbin winoler, and the rope of turntable I is connected with intelligence machine hand III.
The utility model also can arrange support on turntable, for supporting the bobbin winoler of turntable I; On the bobbin winoler of turntable I, be also provided with handle, for around, put the rope being wound on bobbin winoler, the rope being wound around on bobbin winoler is preferably wire rope.
Most preferred embodiment of the present utility model is to cover and be provided with suspension ring in intelligence machine hand III, to facilitate and being connected of the rope being wound around on the bobbin winoler of turntable I.
The utility model is preferably on shell compressed air pipe clamp is set, and this compressed air pipe clamp can external compressed air container.
The most preferred embodiment of described controller II is for being 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 output port of power source.
Output port of power source in controller II preferably adopts electrical socket I.Power input mouth in intelligence machine hand III preferably also adopts electrical socket, is convenient to like this application operating.
Described connection cable adopts cable and optical cable, and the electric current being 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 described in the utility model has desired data acquisition function, in described motor, with counter, thereby has tally function.
When programmable logic controller does not have information needed acquisition function, the utility model 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.Collector becomes data-signal by the analog signal processing that collects pulling force sensor output, through data flat cable, programmable logic controller, optical transmitter and receiver emitter, optical cable, optical transmitter and receiver receiver, arrive touch-screen, compare with pulling force set-point in control program, when the pulling force sensor value of thrust detecting equates with pulling force set-point, motor stops.The Main Function of collector is to gather coherent signal, when programmable logic controller has information needed acquisition function, does not need collector.
When in motor during without tally function, the utility model can arrange counter gear piece on the output shaft of reductor, optoelectronic switch is set on reductor, counter gear piece and optoelectronic switch associated, optoelectronic switch is connected with programmable logic controller by holding wire, or counter is set on motor output shaft, and 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 revolution, 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 is counted the pulse signal receiving, during motor forward, count value is for 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 clamps and stops, during motor reversal, count value is for negative, and torque arm I, torque arm II outwards move, 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 and stops.Upper limit count value and lower limit count value, during programming according to actual conditions determine how to be programmed for the general knowledge in the sector, non-inventive point of the present utility model, here just no longer narration.
Most preferred embodiment of the present utility model contains four major parts altogether: the one, and turntable I, for promoting or decline intelligence machine hand; The 2nd, intelligence machine hand III, is rescued personnel for holding; The 3rd, controller II, for controlling the action of intelligence machine hand III, receiving video signals, double-directional speech dialogue; The 4th, cable IV, comprises cable and optical cable, and cable is for powering to intelligence machine hand, and optical cable is for signals such as transmission of video, two way audio, data, controls.
The utility model has following advantage:
1, equipment is light, easy to carry.Intelligent robot arm, cable, controller, turntable, wire rope and power supply in equipment of the present utility model, can split carrying, to on-the-spot 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 be inputted a corresponding value of thrust, and then operation is opened, clamped and stops several buttons.
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, upper, can not scratched by the borehole wall in putting forward process.
5, Quick rescue.Speed is the important index of rescue work, and whole rescue process only needs the time of tens minutes.
Accompanying drawing explanation
The use status architecture schematic diagram of Fig. 1 the utility model most preferred embodiment.
Fig. 2 is the front view of intelligence machine hand III the first embodiment 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 intelligence machine hand III the first embodiment.
Fig. 7 is Fig. 1 middle controller II control principle drawing.
Fig. 8 is the front view of the second embodiment of intelligence machine hand III in Fig. 1.
Fig. 9 is the longitudinal section view of Fig. 8.
Figure 10 is the control principle drawing of intelligence machine hand III the second embodiment.
the specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is done to further detailed description, but described embodiment should not explain in the mode of restriction.
As seen from Figure 1, the utility model contains turntable I, controller II, intelligence machine hand III, cable IV four parts.Turntable I contains bobbin winoler 2, is wound with rope 3 on bobbin winoler 2, and bobbin winoler 2 supports by support 4, is also provided with handle 1 on bobbin winoler 4, 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 intelligence machine hand III by optical cable 6, the output port of power source 49 of controller II is connected by cable 5 with the power input mouth 25 of intelligence machine hand III, and the rope 3 of turntable I is connected with the suspension ring 23 in intelligence machine hand III.
Fig. 2-Fig. 7 has provided structural representation and the control principle drawing of intelligence machine hand III the first embodiment.
From Fig. 2-Fig. 4, can find out, intelligence machine hand III contains suspension ring 23, shell 39, audio frequency adjusting knob 21, power input mouth 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 axle sleeve II 32, motor 44, reductor 45, loudspeaker 36, Mike 10, video camera 37, programmable logic controller 35, forward relay 15, reversion relay 16, power input mouth 25 adopts electrical socket, motor 44 is provided with counter 46, this counter 46 is the aggregate of counter gear piece 65 and optoelectronic switch 66, on motor 44, because being provided with counter 46, 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, power input mouth 25 is connected with upper cover 22 screws 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, 29 upper end is respectively by movable joint 19, 27 with brace I 41, brace II 43 connects, brace I 41, brace II 43 is overlapped I 20 with brace respectively, brace cover II 26 is socketed, brace cover I 20, brace cover II 26 is all connected with shell 39, two mechanical arms 18, 29 lower end 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 ends are 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 axle sleeve II 32 is socketed, torque arm axle sleeve I 12, torque arm axle sleeve II 32 is all connected with shell 39, and leading screw 40 is connected with reductor 45 keys, and reductor 45 is connected with motor 44 keys, and reductor 45 is connected by screw with shelf 30.Loudspeaker 36, Mike 10, video camera 37 are installed on base plate 9 by screw respectively, programmable logic controller 35, 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 power input mouth 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, is provided with the clamping button a that controls mechanical arm in touch-screen 55
1and open button a
2, the stop button I d that stops when controlling mechanical arm and clamping
1, control the stop button II d that mechanical arm stops while opening
2, show that the pulling force display field b(of torque arm pulling force is used for comparing with pulling force set-point, when the two is equal, stop clamping), according to being rescued the counting display field N that personnel's body weight is determined the pulling force set-point hurdle G of pulling force size, is used for showing torque arm I 13, torque arm II 34 shift values.
From Fig. 1 and Fig. 6,7, can find out, cable IV comprises cable 5 and optical cable 6, power supply D patches with the electrical socket II 51 being positioned on controller II upper cover 53, one end of cable 5 and controller II output port of power source 49 are pegged graft, and the power input mouth 25 on the other end and intelligence machine hand III upper cover 22 is pegged graft; 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 have provided the control principle drawing of intelligence machine hand III and controller II, and they have shown the schematic diagram of the automatically controlled part of the utility model.
The outer power supply mode of power acquisition of the present utility model, by fire-fighting generator or on-the-spot near alternating current 220V Power supply, 220V alternating current after transformation, rectification, voltage stabilizing, the direct current of output+12V and+24V.In controller II, have output port of power source 49 and electrical socket II 51, dc source D inserts electrical socket II 51, through power switch 57, to another output port of power source 49, after power switch 57 connections, also gives the power supply of controller II.Output port of power source 49 is inserted in one end of three-core cable 5, and the other end inserts the power input mouth 25 of intelligence machine hand III to the power supply of intelligence machine hand III.In intelligence machine hand III and controller II, be respectively equipped with 7805 three-terminal regulator blocks 59,60, to the optical transmitter and receiver receiver 50 of the optical transmitter and receiver emitter 28 in intelligence machine hand III and controller II, supply direct current+5v voltage respectively.
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's 10,7805 three-terminal voltage-stabilizings 59, audio-frequency amplifier 61, pulling force sensor 42, video camera 37 is connected with the 0V ,+12V of power input mouth 25 respectively with wire; The output of pulling force sensor 42 is connected with wire with input a+, the a-of programmable logic controller 35; Coil one end of forward relay 15 and reversion relay 16 with wire respectively with 0V(power supply) be connected, the other end is held and is connected with the output Q0.0 of programmable logic controller 56 and Q0.1 respectively with wire; Mike 10 output is connected with tone frequency channel wire with the audio frequency input of optical transmitter and receiver emitter 28; The output of 7805 three-terminal voltage-stabilizings 59 and optical transmitter and receiver emitter 28+input of 5V power supply is connected with wire; The PM of programmable logic controller 35 and PL+ end respectively with the 0V of power input mouth 25 and+24V is connected; 485 of optical transmitter and receiver emitter 28 is controlled mouthful C and is connected with control line with 485 control mouthful C of programmable logic controller 35; The audio output port of optical transmitter and receiver emitter 28 is connected with audio frequency adjusting knob 21 use tone frequency channel wires; 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 loudspeaker 36 use tone frequency channel wires; The video input of optical transmitter and receiver emitter 28 is connected with video camera 37 use video lines; The output of optoelectronic switch 66 is connected with wire with input i0 and the OM of programmable logic controller 35; The shaven head 24 of optical transmitter and receiver emitter 28 is connected with the shaven head 48 use optical cables of optical transmitter and receiver receiver 50 in Fig. 7.
When pressing, on touch-screen 55, clamp button a
1time, forward relay 15 closures, motor 44 forwards, mechanical arm 18,29 clamps, and now count value is for just; When pressing, on touch-screen 55, open button a
2time, reversion relay 16 closures, motor 44 reverses, and mechanical arm 18,29 opens, and count value is for negative; During motor 44 forward, by the stop button d on touch-screen 55
1or pulling force is when reaching set-point or torque arm I 13,34 displacements of torque arm II and reaching 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 values be when reaching lower limit or pulling force sensor 42 values of thrust and 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) with plug; Power supply D is inserted to 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 output port of power source 49 use wires; Mike's 47,7805 three-terminal voltage-stabilizings 60, audio-frequency amplifier 58, the power input of video-frequency monitor 54 and the 0V of power switch 57 ,+12V are connected with wire; The power input of touch-screen 55 is connected with wire with the 0V ,+24V of power switch 57; Mike 47 audio frequency output is connected with tone frequency channel wire with the audio frequency input of optical transmitter and receiver receiver 50; The output of 7805 three-terminal voltage-stabilizings 60 and optical transmitter and receiver receiver 50+5V power input is connected with wire; The shaven head 48 of optical transmitter and receiver receiver 50 is connected with the shaven head 24 use optical cables of optical transmitter and receiver emitter 28 in Fig. 6; 485 mouthfuls of C of optical transmitter and receiver receiver 50 are connected with control line with 485 mouthfuls of C of touch-screen 55; The video output of optical transmitter and receiver receiver 50 is connected with video-frequency monitor 54 use video lines; The audio output of optical transmitter and receiver receiver 50 is connected with audio frequency adjusting knob 62 use wires, and audio frequency adjusting knob 62 is connected with audio-frequency amplifier 58 use wires, and the output of audio-frequency amplifier 58 is connected with loudspeaker 52 use wires.
In the utility model embodiment 1, the programmable logic controller 35 in described intelligence machine hand III has information needed acquisition function, in motor with counter 46, with tally function.
Embodiment 2:
The utility model, when programmable logic controller 35 does not have information needed acquisition function, can arrange collector 63 on shelf 30, and 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 during without tally function, counter gear piece 65 can be set on the output shaft of reductor 45, optoelectronic switch 66 is set on reductor 45, 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 have provided in the utility model, structural representation and the schematic diagram thereof of the second embodiment when the programmable logic controller 35 in intelligence machine hand III does not have in desired signal acquisition function and motor 44 without tally function.In this embodiment, controller II control principle drawing is identical with Fig. 7
,the top view of controller II is identical with Fig. 5.
By finding out in Fig. 8, Fig. 9 and Figure 10, on shelf 30, be 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; On the output shaft of reductor 45, be provided with counter gear piece 65, on reductor 45, be 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's 10,7805 three terminal regulators 59, audio-frequency amplifier 61, optoelectronic switch 66, pulling force sensor 42, video camera 37 is connected with the 0V ,+12V of power input mouth 25 respectively with wire; The M end of programmable logic controller 35 and L+ hold and are connected with+12V with 0V respectively with wire; One end of forward relay 15 and reversion relay 16 with wire respectively with 0V(power supply) be connected, the other end is held and is connected with the Q0.0 of programmable logic controller 35 and Q0.1 respectively with wire; Mike 10 output is connected with tone frequency channel wire with the audio frequency input of optical transmitter and receiver emitter 28; The output of 7805 three-terminal voltage-stabilizings 59 and optical transmitter and receiver emitter 28+input of 5V power supply is connected with wire; The M of the PM of programmable logic controller 35 and PL+ end and collector 63 and L+ end are connected with the 0V of power input mouth 25 and+24V respectively with wire; 485 of optical transmitter and receiver emitter 28 is controlled mouthful C and is connected with control line with 485 control mouthful C of programmable logic controller 35; The audio output port of optical transmitter and receiver emitter 28 is connected with audio frequency adjusting knob 21 use tone frequency channel wires; 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 loudspeaker 36 use tone frequency channel wires; The video input of optical transmitter and receiver emitter 28 is connected with video camera 37 use video lines; The output of optoelectronic switch 66 is connected with wire with i0 and the OM of programmable logic controller 35; The output of pulling force sensor 42 is connected with wire with C+, the C-end of collector 63.The shaven head 24 of optical transmitter and receiver emitter 28 is connected with the shaven head 48 use optical cables of the optical transmitter and receiver receiver 50 in Fig. 7.
As the clamping button a pressing on touch-screen 55
1, when forward relay 15 is closed, motor 44 forwards, torque arm I 13, torque arm II 34 move in opposite directions, and mechanical arm 18,29 clamps, and now count value is for just; When pressing, on touch-screen 55, open button a
2, when reversion relay 16 is closed, motor 44 reverses, and torque arm I 13, torque arm II 34 oppositely move, and mechanical arm 18,29 opens, and count value is for negative; During motor 44 forward, by the stop button d on touch-screen 55
1or pulling force is when reaching set-point or torque arm I 13, torque arm II 34 displacement reaching 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, the reverse displacement of torque arm II 34 be when reaching lower limit count value or value of thrust and 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 one of ordinary skilled in the art's general knowledge, 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 intelligence machine hand III has information needed acquisition function, and in motor 44 without counter 46, during without tally function, or when the programmable logic controller 35 in intelligence machine hand III does not have information needed acquisition function, and in motor 44 with counter 46, during with tally function, can implement with reference to embodiment 1 and embodiment 2, this is that one of ordinary skilled in the art is easy to implement with reference to embodiment 1 described in the utility model and embodiment 2, so just no longer repeat.
Operation logic of the present utility model is as follows:
Erect turntable I, be connected firmly with rope 3 and the hook 23 in intelligence machine hand III, one end inserting controller II of cable 5, the other end inserts the power input mouth 25 in intelligence machine hand III, the shaven head 48 of bare headed one end access optical transmitter and receiver receiver 50 of optical cable 6, the shaven head 24 of other end access optical transmitter and receiver transmitting 28, power supply D inserts electrical socket II 51, intelligence machine hand III is put into vertical shaft P by turntable I, turn on the power switch 57, control program initializes complete, at corresponding value of thrust of the pulling force set-point hurdle G of touch-screen 55 input, (according to different weight, need different pulling force, set series of values), need to clamp while being rescued personnel, press the clamping button a on touch-screen 55
1, the 485 mouthful cs of control signal by 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 is received and is sent signal after instruction and make forward relay 15 closures, motor 44 forwards, at this moment reductor 45 drives leading screw 40 to rotate, torque arm I 13, torque arm II 34 moves 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, by 485 mouthfuls of c of programmable logic controller 35, through control line, entered 24 mouthfuls, the shaven head of optical transmitter and receiver emitter 28, by the shaven head 24 of optical transmitter and receiver emitter 28, by optical cable 6, pass to optical transmitter and receiver receiver 50 again, then by 485 mouthfuls of c of optical transmitter and receiver receiver 50, through control line, enter 485 mouthfuls of c of touch-screen 55, on touch-screen 55, show in real time value of thrust b, when value of thrust b equates with the given value of thrust of input, motor 44 stops.In motor 44 forwards, its counter 46 starts counting, send positive pulse signal, this pulse signal enters programmable logic controller 35 by holding wire, through 485 mouthfuls of c of programmable logic controller 35, by control line, arrive 485 mouthfuls of c of optical transmitter and receiver emitter 28, by optical cable 6, pass to optical transmitter and receiver receiver 50 again, then by 485 mouthfuls of c of optical transmitter and receiver receiver 50, through control line, pass to 485 mouthfuls of c of touch-screen 55, 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, the contrary negative value that shows, when two torque arm I 13, 34 displacements of torque arm II reach count limit value or value of thrust b and equate 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 open button a on touch-screen 55
2 reversion relay 16 closures, motor 44 reverses, torque arm I 13, torque arm II 34 oppositely move 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 values, when torque arm I 13, torque arm II 34 shift values 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, torque arm I 13, torque arm II 34 stop while moving in opposite directions upper limit count value automatically; If that presses touch-screen 55 opens button a
2, torque arm I 13, torque arm II 34 stop while oppositely moving to lower limit count value automatically, and the clamping of mechanical arm 18,29 and open count limit value and set in when programming, in order to avoid equipment is from damaging.Described programmed method is that one of ordinary skilled in the art is known, no longer repeats here.
The video output of video camera 37 arrives the video input mouth of optical transmitter and receiver emitter 28 by video line, through optical cable 6, reach optical transmitter and receiver receiver 50, then through video line, enters video-frequency monitor 54 by the video output of optical transmitter and receiver receiver 50.
From Mike 47 output, through holding wire, enter the audio input port of optical transmitter and receiver receiver 50, through optical cable 6, reach optical transmitter and receiver emitter 28, then by audio frequency adjusting knob 21, enter audio-frequency amplifier 61 to loudspeaker 36 by its audio output port, realize aboveground rescuer and down-hole and rescued personnel's dialogue; From down-hole Mike 10 output, through holding wire, enter the audio input port of optical transmitter and receiver emitter 28, through optical cable 6, reach optical transmitter and receiver receiver 50, again by its audio output port through audio frequency adjusting knob 62 to audio-frequency amplifier 58 to loudspeaker 52, realize the dialogue that personnel and aboveground rescuer are rescued in down-hole, realized thus rescuer and the bidirectional dialog of being rescued personnel.
When the utility model is deposited, turntable I, controller II, intelligence machine hand III, cable IV four parts are removable separately deposits, and the bobbin winoler (containing rope 3) 2 of turntable I is deposited with support 4 removable separating.
The utility model using method is as follows:
When there being people to fall into after vertical shaft P, rescuer is with turntable I of the present utility model, controller II, intelligence machine hand III, cable IV to reach the spot and sue and labour.First on well head, erect turntable I, rope in turntable I 3 is connected firmly by suspension ring 23 and intelligence machine hand III, D plugs in, the optical transmitter and receiver receiver of controller II 50 is connected with the optical transmitter and receiver emitter 28 of intelligence machine hand III by optical cable 6, the output port of power source 49 of controller II is connected by cable 5 with the power input mouth 25 of intelligence machine hand III, clip if desired blowpipe head, then turn on the power switch 57, control program initializes complete, simultaneously, understand the personnel's that rescued cardinal principle body weight, on touch-screen 55 pulling force set-point hurdle G, input corresponding value of thrust (units/kg), intelligence machine hand III is slowly put in vertical shaft P, by video-frequency monitor 54, can observe the situation that intelligence machine hand III is transferred, when the end of intelligence machine hand III is transferred to when being rescued about tens centimetres of personnel top, observe the size of opening of intelligence machine hand 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, in the situation that not hindering intelligence machine hand III to transfer, slowly transfer, in this process, aboveground rescuer can clearly see that down-hole rescued personnel's posture and state by video-frequency monitor 54, if rescued personnel's conscious mind, can also link up and pacify with he (she) by dialogue, sometimes can also allow he (she) to coordinate rescuer to sue and labour.When intelligence machine hand III finds appropriate position, press the clamping button a on controller II touch-screen 55
1now torque arm I 13, torque arm II 34 move in opposite directions under the effect of leading screw 40, mechanical arm 18,29 starts to clamp, pulling force sensor 42 starts stressed, the numerical value of pulling force display field b in 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, at this moment trying, carry, and on continuing, carry if no problem, by rescued personnel mention aboveground after, press the relieving button a in controller II
2, mechanical arm is decontroled, and rescues successfully.
Touch-screen in controller II is the device that can directly buy on market, and the method to set up of interior each button of its touch-screen is that the those of ordinary skill in this area is known altogether, no longer repeats.
The equipment of programmable logic controller 35 for directly buying, no longer repeats here.
Described control line is the copper cable of two core band shieldings.
Claims (10)
1. the intelligent rescuing machine of vertical shaft, contain controller II, cable IV, described controller II contains 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 intelligence machine hand III, in the touch-screen (55) of controller II, be provided with the clamping button a that controls mechanical arm
1and open button a
2, the pulling force that shows pulling force shows b, control mechanical arm while the clamping stop button I d that stops
1, control the stop button II d that mechanical arm stops while opening
2, pulling force set-point hurdle G and counting display field N, described intelligence machine hand III contains shell (39), power input mouth (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), 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), 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 intelligence machine hand III by optical cable, and the output port of power source (49) of controller II is connected by cable with the power input mouth (25) of intelligence machine hand III.
2. according to the intelligent rescuing machine of vertical shaft claimed in claim 1, it is characterized in that installing a three-terminal regulator block (59) in intelligence machine hand III, three-terminal regulator block (59) is connected with power input mouth (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 being provided with torque arm axle sleeve I (12), torque arm axle sleeve II (32), brace cover I (20), brace cover II (26) in intelligence machine hand III, torque arm I (13) and torque arm II (34) are socketed with torque arm axle sleeve I (12), torque arm axle sleeve II (32) respectively, and brace I (41), brace II (43) are socketed with brace cover I (20), brace cover II (26) respectively.
4. according to the intelligent rescuing machine of vertical shaft claimed in claim 3, it is characterized in that arranging a upper cover (22) in intelligence machine hand III, 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), 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 claimed in claim 4, it is characterized in that being provided with loudspeaker (36) and Mike (10) on the base plate (9) of intelligence machine hand III, on upper cover (22), be provided with audio frequency adjusting knob (21), Mike (10) on intelligence machine hand III base plate (9) is connected with optical transmitter and receiver emitter (28) by tone frequency channel wire, optical transmitter and receiver emitter (28) is connected with audio-frequency amplifier (61) by audio frequency adjusting knob (21) with tone frequency channel wire, and audio-frequency amplifier (61) is connected with loudspeaker (36) with tone frequency channel wire; In controller II, be also provided with loudspeaker (52), Mike (47) and audio frequency adjusting knob (56), 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) is connected with its audio-frequency amplifier (58) by the audio frequency adjusting knob (56) in controller II with tone frequency channel wire, and audio-frequency amplifier (58) is connected with its loudspeaker (52) with tone frequency channel wire.
6. according to the intelligent rescuing machine of vertical shaft claimed in claim 1, it is characterized in that establishing a turntable I, this turntable I contains bobbin winoler (2), is wound with rope (3) on bobbin winoler (2), and the rope (3) of turntable I is connected with intelligence machine hand III.
7. according to the intelligent rescuing machine of vertical shaft claimed in claim 6, it is characterized in that supporting bobbin winoler (2) with support (4), on bobbin winoler (2), be provided with handle (1).
8. according to the intelligent rescuing machine of vertical shaft claimed in claim 4, it is characterized in that being provided with suspension ring (23) on the upper cover (22) of intelligence machine hand III.
9. according to the intelligent rescuing machine of vertical shaft claimed in 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 claimed in 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 |
|---|---|---|---|
| CN201320514416.6U CN203547788U (en) | 2013-08-22 | 2013-08-22 | Intelligent rescue machine used for vertical shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320514416.6U CN203547788U (en) | 2013-08-22 | 2013-08-22 | Intelligent rescue machine used for vertical shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203547788U true CN203547788U (en) | 2014-04-16 |
Family
ID=50465917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320514416.6U Withdrawn - After Issue CN203547788U (en) | 2013-08-22 | 2013-08-22 | Intelligent rescue machine used for vertical shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203547788U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103397902A (en) * | 2013-08-22 | 2013-11-20 | 赵元杰 | Intelligent rescue machine used for vertical shaft |
-
2013
- 2013-08-22 CN CN201320514416.6U patent/CN203547788U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103397902A (en) * | 2013-08-22 | 2013-11-20 | 赵元杰 | Intelligent rescue machine used for vertical shaft |
| CN103397902B (en) * | 2013-08-22 | 2015-05-20 | 王秀冰 | Intelligent rescue machine used for vertical shaft |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140416 Effective date of abandoning: 20150520 |
|
| RGAV | Abandon patent right to avoid regrant |