CN101507865A - Rescue robot capable of falling into well - Google Patents
Rescue robot capable of falling into well Download PDFInfo
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- CN101507865A CN101507865A CNA2009100197362A CN200910019736A CN101507865A CN 101507865 A CN101507865 A CN 101507865A CN A2009100197362 A CNA2009100197362 A CN A2009100197362A CN 200910019736 A CN200910019736 A CN 200910019736A CN 101507865 A CN101507865 A CN 101507865A
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Abstract
The invention discloses a robot for rescuing people fell in a well. A ground composition part comprises a controller, a monitor, a power supply, a clean air source and a hoisting device for hoisting and dropping an underground composition part; the underground composition part comprises a robot body, a lighting device, an air supply device and a pick-up device; the robot body is provided with a body stander, a well wall anchoring mechanism, a mechanism rolling along the well wall, an arm probing mechanism and an arm holding mechanism; and the lighting device, the air supply device and the pick-up device are connected with corresponding equipment and/or units through cables or pipelines. Under the control of ground rescue workers, the underground composition part is dropped to a position above a person fell in the well, and an operator adjusts the posture of the underground composition part according to field information such as video images returned from the underground so as to control the arm probing mechanism and the arm holding mechanism to carry out proper motions and simultaneously supply fresh air or oxygen, so the robot can effectively rescue the people fell in the well in different postures.
Description
Technical field
The present invention relates to equipment that the personnel to fall into well is implemented to rescue, especially a kind of equipment that the small diameter deep well personnel to fall into well is implemented to rescue of being used for.
Background technology
At present, small diameter deep well rescue technology is very backward.The the underlying cause that causes this present situation is that hole diameter is less and very dark, subsurface environment abominable, personnel to fall into well's situation is not clear etc., therefore make that common adopted rescue personnel goes into the well at present, to down-hole dispensing rope, adopt engineering machinery or manpower to excavate traditional rescue mode such as passage around the deep-well can not timely and effectively trapped personnel to be rescued, cause personnel to fall into well's casualty rate bigger, even injure the staff's inherently safe of suing and labouring of going into the well.
Summary of the invention
Task of the present invention is to provide a kind of rescue robot capable of falling into well that the small diameter deep well personnel to fall into well is implemented to succour that is applicable to.
Its technical solution is:
A kind of rescue robot capable of falling into well comprises:
Ground part comprises controller, monitor, power supply, clean gas source, and is used to promote, transfer the winding plant of down-hole part;
The down-hole part comprises robot body, lighting device, feeder and camera head; Above-mentioned robot body is provided with body frame, borehole wall anchoring mechanism, along borehole wall rolling mechanism, visit arm mechanism and arm mechanism, above-mentioned lighting device, feeder and camera head connect corresponding device and/or unit in the ground part by cable or pipeline.
Above-mentioned borehole wall anchoring mechanism comprises the power set that are arranged on the body frame, at least two along circumferential uniform or symmetrically arranged straight semaphore, and the free end of straight semaphore is provided with the contact site of band sharp shaped material; Comprise the walking wheels that can contact with the borehole wall along borehole wall rolling mechanism, the walking wheels are provided with two road wheels at least, and road wheel is along the circumferential direction gone up uniform or is symmetricly set on the body frame; Above-mentioned spy arm mechanism is provided with and can extends and the first lifting operate portions that bounces back by in the vertical direction, and the picking-up operate portions of energy in the vertical direction swing, the top of the first lifting operate portions and body frame are fixedly connected, and the bottom that holds up the operate portions and the first lifting operate portions is fixedly connected; Above-mentioned arm mechanism is provided with can the in the vertical direction elongation and the second lifting operate portions of retraction, and can swing, also open in the horizontal direction and the closed operate portions of filling the span of a man's arms by in the vertical direction, the top of the second lifting operate portions and body frame are fixedly connected, and the bottom of the operate portions of filling the span of a man's arms and the second lifting operate portions is fixedly connected; The above-mentioned operate portions of filling the span of a man's arms is suitable with picking-up operate portions position.
Above-mentioned borehole wall anchoring mechanism also comprises horizontal leading screw and guide rail, power set are second motor, second motor and guide rail are fixed on the body frame, the output axle head of second motor is equipped with gear wheel, gear wheel be installed in horizontal leading screw in the middle of the pinion that goes out be meshed, laterally an end of leading screw is left-handed trapezoidal thread section, the other end is a dextrorotation trapezoidal thread section, be installed in respectively in the axis hole at guide rail two ends, left side nut seat and right left nut seat are installed in the left end and the right-hand member of horizontal leading screw respectively, on a left side, fixedly mount straight semaphore in a left side and right directly semaphore on the right nut seat respectively.
The above-mentioned first lifting operate portions is provided with the 3rd motor, guide rail and the first vertical long filament cylinder, on the 3rd motor output shaft gear wheel is installed, gear wheel is formed gear pair with the pinion that is installed in the first vertical long lead screw upper end, the first vertical long lead screw passes first nut seat, the upper end connects with connecting plate by bearing, and the lower end is installed in the axis hole of rail end; Hold up operate portions and comprise first bracket, first bracket is L-shaped, the bottom is provided with the picking-up seat board of band bracket seat, and its one side, upper end is installed on first nut seat, and its end face is fixed with the 4th motor, the 4th motor output shaft and first short leading screw one end are connected, the little screw and the first short leading screw are by thread connection, and the other end of the first short leading screw is installed in the axis hole of support, and the fishplate bar upper end is installed on the little screw, the upper end of lower end and connecting rod is hinged, and the lower end of connecting rod and bracket seat are hinged.
The above-mentioned second lifting operate portions comprises the 5th motor, guide rail and the second vertical long lead screw; On the output shaft of the 5th motor gear wheel is installed, in the second vertical long lead screw upper end pinion is installed, both are meshing with each other and drive the second vertical guide screw movement, the second vertical leading screw passes second nut seat, and can drive second nut seat and move up and down along guide rail, the operate portions of filling the span of a man's arms comprises second bracket, second bracket is L-shaped, the bottom is provided with arm portion, its the straight bottom face and second nut seat link together, and move simultaneously with second screw, and upright end side surface is installed the 6th motor, the 6th motor output shaft links to each other with the second short leading screw upper end, the second short leading screw passes little nut seat, and the other end is installed in the axis hole of support, and drives little nut seat and move along the support side, one rotation seat is hinged by the ear shape structure and the second nut seat two sides of its bottom, and can rotate around two pin joint axis, rotation seat top links to each other with little nut seat by connecting rod, when little nut seat moves, drive link and rotation seat rotate, and drive the swing of arm portion; Above-mentioned arm portion comprises outer catheter and inner sliding pipe, the outer catheter lateral surface is processed with guide groove, inner sliding pipe slides in the conduit cavity outside, and outer catheter is welded on the fishplate bar, and fishplate bar is with being fixed on rotation seat one side, installation the 7th motor below fishplate bar, on the 7th motor output shaft reel is installed, stay cord is wrapped on the reel, and the stay cord two ends are connected on two tip nodes of inner sliding pipe, during the 7th revolution, drive inner sliding pipe by stay cord and slide.
Above-mentioned winding plant comprises first motor, hand crank, cylinder and hawser, first motor is installed on the left socle, its output shaft is connected with roller bearing, cylinder is installed in the middle of the left and right support by roller bearing, twine hawser on the cylinder, it is that end is cemented on the body frame that hawser hangs, and hand crank and roller bearing right-hand member are fixedly connected.
Above-mentioned winding plant is arranged on the platform that can rotate.
Above-mentioned body frame is positive multiedge cylinder structure, and above-mentioned lighting device, camera head and feeder are installed in the bottom; Be separately installed with two road wheels on each cylinder, each road wheel is connected on the wheel carrier by wheel shaft and bearing.
Above-mentioned down-hole part also comprises the intercommunication communicator.
Rescue robot capable of falling into well of the present invention, can be under ground rescue workers's controlling, make the down-hole part drop to the personnel to fall into well top position, and adjust its attitude according to the field datas of passing back from the down-hole such as video image by the operator, and then arm mechanism is visited in control and suitable action is made by arm mechanism, give fresh air or oxygen simultaneously, can implement relief to different pose personnels to fall into well effectively.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is the overall structure principle schematic of one embodiment of the present invention.
Fig. 2 is the local principle schematic of Fig. 1, mainly shows the spy arm mechanism.
Fig. 3 .1 is the local principle schematic of Fig. 1, mainly shows body frame (front view).
Fig. 3 .2 is the local principle schematic of Fig. 1, mainly shows borehole wall anchoring mechanism (cutaway view).
Fig. 4 is the local principle schematic of Fig. 1, mainly shows winding plant.
Fig. 5 .1 is the local principle schematic of Fig. 1, mainly shows body frame (front view).
Fig. 5 .2 is the local principle schematic of Fig. 1, mainly shows the part (cutaway view) along borehole wall rolling mechanism.
Fig. 6 is the local principle schematic of Fig. 1, mainly shows arm mechanism.
Fig. 7 is the local principle schematic of Fig. 6.
Fig. 8 is the local principle schematic of Fig. 6.
101. the 3rd motors among the figure, 102. gear wheels, 103. pinions, 104. bearing, 105. connecting plates, 106. first vertical long lead screws, 107. guide rail, 108. the 4th motors, 109. brackets, 110. first nut seat, 111. little screws, 112. fishplate bars, 113. the first short leading screw, 114. supports, 115. connecting rods, 116. the bracket seat, 117. hold up seat board, the straight semaphore in 201. left sides, 202. left nut seat, 203. second motors, 204. gear wheels, 205. right nut seat, 206. right straight semaphores, 207. guide rails, 208. pinion, 209. horizontal leading screws, 301. first motors, 302. left socle, 303. cylinders, 304. hawsers (wirerope), 305. right support, 306. hand cranks, 401. lighting devices, 402. frame plate, 403. suspension ring, 404. camera heads, 405. road wheel, 406. bearings, 407. wheel shafts, 408. wheel carrier, 501. the 5th motors, 502. gear wheels, 503. pinion, 504. guide rails, 505. second vertical leading screws, 506. the 6th motor, 507. brackets, 508. second short leading screws, 509. little nut seat, 510. connecting rods, 511. rotation seats, 512. outer catheter, 513. inner sliding pipes, 514. the 7th motors, 515. nut seat, 516. stay cord, 517. reels, 518. fishplate bars.
The specific embodiment
Referring to Fig. 1, a kind of rescue robot capable of falling into well comprises ground part and down-hole part.Wherein, ground part comprises controller, monitor, power supply, clean gas source, and is used to promote, transfer the winding plant 3 of down-hole part; The down-hole part comprises robot body, lighting device, feeder and camera head, above-mentioned robot body is provided with body frame 4, borehole wall anchoring mechanism 2, along borehole wall rolling mechanism, visit arm mechanism 1 and arm mechanism 5, above-mentioned lighting device, feeder and camera head connect corresponding device and/or unit in the ground part by cable or pipeline.
Above-mentioned borehole wall anchoring mechanism comprises the power set that are arranged on the body frame, at least two along circumferential uniform or symmetrically arranged straight semaphore, and the free end of straight semaphore is provided with the contact site of band sharp shaped material; Comprise the walking wheels that can contact with the borehole wall along borehole wall rolling mechanism, the walking wheels are provided with two road wheels at least, and road wheel is along the circumferential direction gone up uniform or is symmetricly set on the body frame; Above-mentioned spy arm mechanism is provided with and can extends and the first lifting operate portions that bounces back by in the vertical direction, and the picking-up operate portions of energy in the vertical direction swing, the top of the first lifting operate portions and body frame are fixedly connected, and the bottom that holds up the operate portions and the first lifting operate portions is fixedly connected; Above-mentioned arm mechanism is provided with can the in the vertical direction elongation and the second lifting operate portions of retraction, and can swing, also open in the horizontal direction and the closed operate portions of filling the span of a man's arms by in the vertical direction, the top of the second lifting operate portions and body frame are fixedly connected, and the bottom of the operate portions of filling the span of a man's arms and the second lifting operate portions is fixedly connected; The above-mentioned operate portions of filling the span of a man's arms is suitable with picking-up operate portions position.
Following emphasis is partly made more detailed explanation to robot body:
In conjunction with shown in Figure 2, the above-mentioned first lifting operate portions is provided with the 3rd motor 101, guide rail 107 and the first vertical long filament cylinder 106.The 3rd motor 101 is installed on the body, and gear wheel 102 is installed on its output shaft, and it forms gear pair with the pinion 103 that is installed in the first vertical long lead screw, 106 upper ends; The first vertical long lead screw passes first nut seat 110, and the upper end connects by bearing 104 and connecting plate 105, and the lower end is installed in the axis hole of guide rail 107 ends; Hold up operate portions and comprise first bracket 109, first bracket 109 is L-shaped, the bottom is provided with the picking-up seat board 117 of band bracket seat 116, one side, upper end is installed on first nut seat, its end face is fixed the 4th motor 108, the 4th motor output shaft and first short leading screw 113 1 ends are connected, and the little screw and the first short leading screw are by spiral marking connection, and the other end of the first short leading screw is installed in the axis hole of support 114; Fishplate bar 112 upper ends are installed on the little screw, lower end and connecting rod 115 upper ends are hinged, and the lower end of connecting rod and bracket seat are hinged, and connecting rod moves under the promotion of fishplate bar like this, it promotes the bracket seat again and rotates around the pin joint of itself and bracket, can make to hold up seat board and become horizontal direction to put by sagging attitude.
Shown in Fig. 3 .1,3.2, above-mentioned borehole wall anchoring mechanism 2 also comprises horizontal leading screw 209 and guide rail, power set are second motor 203, second motor 203 all is screwed on the body frame with guide rail 207, the output axle head of second motor is installed gear wheel 204, it be installed in the pinion that horizontal leading screw 209 centres go out and be meshed; Laterally leading screw one end is left-handed trapezoidal thread section, and the other end is a dextrorotation trapezoidal thread section, and its two top is installed in respectively in the axis hole at guide rail two ends, and can rotate flexibly therein; Left side nut seat 202 and right left nut seat 205 are installed in the left end and the right-hand member of horizontal leading screw respectively, correspondence has been installed left straight semaphore 201 and right straight semaphore 206 again in the above, their contact site all is processed with detent projection, under the driving of horizontal leading screw, left and right sides nut seat is respectively along the close borehole wall of the left and right in tow straight semaphore of guide rail, until being adjacent to and grabbing, reach the effect of anchoring robot body into the borehole wall.
In conjunction with shown in Figure 4, above-mentioned winding plant comprises first motor 301, hand crank, cylinder and hawser, first motor 301 is installed on the left socle 302, its output shaft is connected with roller bearing, cylinder 303 is installed in the middle of the left and right support by roller bearing, twine wirerope 304 on the cylinder, the one end is cemented on the robot body; Hand crank and roller bearing right-hand member connect, and lifting is driven by motor under the normal condition, but in particular cases hand drum rotates, to realize the lifting of robot body.
Shown in Fig. 5 .1,5.2, above-mentioned body frame 4 is positive multiedge cylinder structure as being preferably positive eight prism structures, and above-mentioned lighting device 401, camera head 404 and feeder are installed in the bottom; Be separately installed with two road wheels 405 on each cylinder, each road wheel is connected on the wheel carrier 408 by wheel shaft 407 and bearing 406; Two liftings suspension ring 403 also are installed at an upper portion thereof.
Shown in Fig. 6,7,8, the above-mentioned second lifting operate portions comprises the 5th motor, guide rail and the second vertical long lead screw.It is connected on the body frame with screw by the installing hole of guide rail 504 upper ends.The 5th motor 501 is connected with the body frame by support, and gear wheel 502 is installed on its output shaft, at the second vertical long lead screw, 505 upper ends installation pinion 503, and both driving guide screw movements that are meshing with each other.The second vertical long lead screw passes second nut seat 515, and drives it and move up and down along guide rail 504.The operate portions of filling the span of a man's arms comprises second bracket, and second bracket 507 is L-shaped, and the bottom is provided with arm portion.The straight bottom face and the nut seat of second bracket 507 link together, and move simultaneously with it; Upright end side surface is installed the 6th motor 506, and its output shaft links to each other with the second short leading screw, 508 upper ends.The second short leading screw passes little nut seat 509, and the other end is installed in the axis hole of support, and drives little nut seat and move along the support side.Rotation seat 511 is hinged by the ear shape structure and the second nut seat two sides of its bottom, and can rotate around two pin joint axis, its top links to each other with little nut seat by connecting rod 510, when so little nut seat moves, drive link and rotation seat rotate, and drive the swing of arm portion.Arm portion comprises outer catheter 512 and inner sliding pipe 513, and the outer catheter lateral surface is processed with guide groove, and inner sliding pipe slides in the conduit cavity outside, and outer catheter is welded on the fishplate bar 518, and fishplate bar is screwed on rotation seat one side; Installation the 7th motor 514 below fishplate bar is installed reel 517 on its output shaft, stay cord 512 is wrapped on the reel, and its two ends are connected on two tip nodes of inner sliding pipe; During the 7th revolution, drive inner sliding pipe by stay cord and slide.
In the aforesaid way, winding plant also can be arranged on one can be on the platform that well head rotates.
In the aforesaid way, the down-hole part also can comprise the intercommunication communicator.
Rescue robot capable of falling into well of the present invention is by the corresponding remote control system of configuration, realizes the collection of motion control, down-hole video to robot body and demonstration, aboveground personnel in the pit's dialogue, and to the down-hole oxygenating etc. of ventilating.After the scene of suing and labouring installs robot, connect power supply, system starts working.The rescuer at first controls winding plant robot body is transferred to the down-hole by controller, starts illumination, video transmission, voice communication and ventilation SOS and device simultaneously, and observes the down-hole situation by display monitor central monitoring system; When robot body was transferred to suitable relief position, the rescuer was according to the analysis and judgement of down-hole situation being made appropriate relief decision-making; Can carry out inquiry and console trapped personnel simultaneously; Determine visit the orientation of arm mechanism by controlling ground winding plant turntable this moment, makes robot body be anchored in the borehole wall then; Allow again and visit the below that arm mechanism is moved downward to the personnel that rescued, drive the bracket seat and drive the certain angle of picking-up seat board swing so that hold captive from the below; And rear drive arm mechanism moves up and down along guide rail, behind suitable position, according to personnel to fall into well's pose, realizes swinging up and down of arm portion thereby rotation seat is rotated again; Then make the action of arm portion, embrace from the waist of trapped personnel; At last, unclamp anchoring mechanism, start winding plant, personnel to fall into well and machine body slowly are promoted to ground together, thereby realize its Successful Salvage.
Under the instruction of this specification, what those skilled in the art can make is conspicuous such as variation patterns such as replacement, increase, minimizings, should be considered to fall into equally protection scope of the present invention.
Claims (9)
1, a kind of rescue robot capable of falling into well, feature is to comprise:
Ground part comprises controller, monitor, power supply, clean gas source, and is used to promote, transfer the winding plant of down-hole part;
The down-hole part comprises robot body, lighting device, feeder and camera head; Above-mentioned robot body is provided with body frame, borehole wall anchoring mechanism, along borehole wall rolling mechanism, visit arm mechanism and arm mechanism, above-mentioned lighting device, feeder and camera head connect corresponding device and/or unit in the ground part by cable or pipeline.
2, rescue robot capable of falling into well according to claim 1, it is characterized in that: described borehole wall anchoring mechanism comprises the power set that are arranged on the body frame, at least two along circumferential uniform or symmetrically arranged straight semaphore, and the free end of straight semaphore is provided with the contact site of band sharp shaped material; Comprise the walking wheels that can contact with the borehole wall along borehole wall rolling mechanism, the walking wheels are provided with two road wheels at least, and road wheel is along the circumferential direction gone up uniform or is symmetricly set on the body frame; Above-mentioned spy arm mechanism is provided with and can extends and the first lifting operate portions that bounces back by in the vertical direction, and the picking-up operate portions of energy in the vertical direction swing, the top of the first lifting operate portions and body frame are fixedly connected, and the bottom that holds up the operate portions and the first lifting operate portions is fixedly connected; Above-mentioned arm mechanism is provided with can the in the vertical direction elongation and the second lifting operate portions of retraction, and can swing, also open in the horizontal direction and the closed operate portions of filling the span of a man's arms by in the vertical direction, the top of the second lifting operate portions and body frame are fixedly connected, and the bottom of the operate portions of filling the span of a man's arms and the second lifting operate portions is fixedly connected; The above-mentioned operate portions of filling the span of a man's arms is suitable with picking-up operate portions position.
3, rescue robot capable of falling into well according to claim 2, it is characterized in that: described borehole wall anchoring mechanism also comprises horizontal leading screw and guide rail, power set are second motor, second motor and guide rail are fixed on the body frame, the output axle head of second motor is equipped with gear wheel, gear wheel be installed in horizontal leading screw in the middle of the pinion that goes out be meshed, laterally an end of leading screw is left-handed trapezoidal thread section, the other end is a dextrorotation trapezoidal thread section, be installed in respectively in the axis hole at guide rail two ends, left side nut seat and right left nut seat are installed in the left end and the right-hand member of horizontal leading screw respectively, on a left side, fixedly mount straight semaphore in a left side and right directly semaphore on the right nut seat respectively.
4, rescue robot capable of falling into well according to claim 2, it is characterized in that: the described first lifting operate portions is provided with the 3rd motor, guide rail and the first vertical long filament cylinder, on the 3rd motor output shaft gear wheel is installed, gear wheel is formed gear pair with the pinion that is installed in the first vertical long lead screw upper end, the first vertical long lead screw passes first nut seat, the upper end connects with connecting plate by bearing, and the lower end is installed in the axis hole of rail end; Hold up operate portions and comprise first bracket, first bracket is L-shaped, the bottom is provided with the picking-up seat board of band bracket seat, and its one side, upper end is installed on first nut seat, and its end face is fixed with the 4th motor, the 4th motor output shaft and first short leading screw one end are connected, the little screw and the first short leading screw are by thread connection, and the other end of the first short leading screw is installed in the axis hole of support, and the fishplate bar upper end is installed on the little screw, the upper end of lower end and connecting rod is hinged, and the lower end of connecting rod and bracket seat are hinged.
5, rescue robot capable of falling into well according to claim 2 is characterized in that: the described second lifting operate portions comprises the 5th motor, guide rail and the second vertical long lead screw; On the output shaft of the 5th motor gear wheel is installed, in the second vertical long lead screw upper end pinion is installed, both are meshing with each other and drive the second vertical guide screw movement, the second vertical leading screw passes second nut seat, and can drive second nut seat and move up and down along guide rail, the operate portions of filling the span of a man's arms comprises second bracket, second bracket is L-shaped, the bottom is provided with arm portion, its the straight bottom face and second nut seat link together, and move simultaneously with second screw, and upright end side surface is installed the 6th motor, the 6th motor output shaft links to each other with the second short leading screw upper end, the second short leading screw passes little nut seat, and the other end is installed in the axis hole of support, and drives little nut seat and move along the support side, one rotation seat is hinged by the ear shape structure and the second nut seat two sides of its bottom, and can rotate around two pin joint axis, rotation seat top links to each other with little nut seat by connecting rod, when little nut seat moves, drive link and rotation seat rotate, and drive the swing of arm portion; Above-mentioned arm portion comprises outer catheter and inner sliding pipe, the outer catheter lateral surface is processed with guide groove, inner sliding pipe slides in the conduit cavity outside, and outer catheter is welded on the fishplate bar, and fishplate bar is with being fixed on rotation seat one side, installation the 7th motor below fishplate bar, on the 7th motor output shaft reel is installed, stay cord is wrapped on the reel, and the stay cord two ends are connected on two tip nodes of inner sliding pipe, during the 7th revolution, drive inner sliding pipe by stay cord and slide.
6, rescue robot capable of falling into well according to claim 2, it is characterized in that: described winding plant comprises first motor, hand crank, cylinder and hawser, first motor is installed on the left socle, its output shaft is connected with roller bearing, cylinder is installed in the middle of the left and right support by roller bearing, twine hawser on the cylinder, it is that end is cemented on the body frame that hawser hangs, and hand crank and roller bearing right-hand member are fixedly connected.
7, according to claim 2 or 6 described rescue robot capable of falling into well, it is characterized in that: described winding plant is arranged on one can be on the platform that well head rotates.
8, rescue robot capable of falling into well according to claim 2 is characterized in that: described body frame, be positive multiedge cylinder structure, and above-mentioned lighting device, camera head and feeder are installed in the bottom; Be separately installed with two road wheels on each cylinder, each road wheel is connected on the wheel carrier by wheel shaft and bearing.
9, rescue robot capable of falling into well according to claim 1 is characterized in that: described down-hole part also comprises the intercommunication communicator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910019736A CN101507865B (en) | 2009-03-24 | 2009-03-24 | Rescue robot capable of falling into well |
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|---|---|---|---|
| CN200910019736A CN101507865B (en) | 2009-03-24 | 2009-03-24 | Rescue robot capable of falling into well |
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| CN101507865A true CN101507865A (en) | 2009-08-19 |
| CN101507865B CN101507865B (en) | 2012-10-03 |
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| CN200910019736A Expired - Fee Related CN101507865B (en) | 2009-03-24 | 2009-03-24 | Rescue robot capable of falling into well |
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| CN108635697A (en) * | 2018-05-16 | 2018-10-12 | 辽宁科技大学 | A kind of multifunction deep hole detection and rescue platform |
| CN108853835A (en) * | 2018-07-19 | 2018-11-23 | 徐颖 | A kind of municipal administration inspection shaft relief structure |
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2009
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