CN101947371A - Agricultural deep-well aid device - Google Patents

Agricultural deep-well aid device Download PDF

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Publication number
CN101947371A
CN101947371A CN 201010279998 CN201010279998A CN101947371A CN 101947371 A CN101947371 A CN 101947371A CN 201010279998 CN201010279998 CN 201010279998 CN 201010279998 A CN201010279998 A CN 201010279998A CN 101947371 A CN101947371 A CN 101947371A
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CN
China
Prior art keywords
rescue
arm
deep well
jig arm
bracket
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CN 201010279998
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Chinese (zh)
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CN101947371B (en
Inventor
薛兴雨
梁锋
沈嘉琪
徐鲁斌
葛琼瑶
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浙江工业大学
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Priority to CN2010102799985A priority Critical patent/CN101947371B/en
Publication of CN101947371A publication Critical patent/CN101947371A/en
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Publication of CN101947371B publication Critical patent/CN101947371B/en

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Abstract

The invention relates to an agricultural deep-well aid device, belonging to the technical field of aid salvage equipment, which comprises a foldable external device and a winding engine arranged on the top of the foldable external device in a matched mode, wherein the winding engine is in wireless communication connection with a signal transceiver; the foldable external device is a hollow cylinder with the interior capable of containing the well aid device; the top of the well aid device is provided with a rope mounting bracket in a matched mode; a rope on the well aid device passes through the rope mounting bracket and is connected with the winding engine; and the well aid device, the winding engine, the signal transceiver and a control system of a computer are connected through wireless signals. The invention adopts the above technology and has the advantages that the time and the labor are saved; the stability is good; the aid device is controlled and operated by a computer in the course of aid; the flexibility of the aid device in the course of well activities is enhanced; the flexibility of aid is increased; and the success rate of the aid is enhanced.

Description

A kind of agricultural deep well rescue device
Technical field
The invention belongs to rescue and salvage the equipment technology field, be specifically related to a kind of agricultural deep well rescue device that is applicable to that people in the small diameter deep well of rural area or thing are salvaged.
Background technology
Pumping irrigation well is the particularly important field irrigation and the human livestock drinking water facility of northern area of China, is the important substance basis that developing agricultural is produced.Pumping irrigation well is to break into vertical deep-well by drilling well, generally all do not wait to tens of rice at tens meters, diameter is many at 30~50 centimetres, and many motor-pumped wells are because the long-term lacking management, be distributed in the field again, the careless slightly wells that will fall into such as peasant, child or animal cause security incident, in recent years, the rural irrigation motor-pumped well is eaten the people, the incident of hurting sb.'s feelings takes place repeatedly, make many families experience misfortunes, serious threat peasant's the security of the lives and property has influenced rural economic development.According to incompletely statistics, nearly 400~5,000,000 mouthfuls of motor-pumped wells in the whole nation, the whole nation is annual 400~500 motor-pumped wells takes place to eat people's incident of hurting sb.'s feelings, and causes 3,600 ten thousand yuan of direct economic losses.
Generally in the deep well rescue field at present have three kinds of rescue modes: 1 rescue personnel rescue 2 rescue personnels that directly go into the well utilize homemade rope to rescue 3 large-scale excavating equipments rescues.All there is very big defective in these three kinds of methods self.The rescue mode that 1 rescue personnel directly goes into the well has very big danger to the rescuer itself that goes into the well, and the firefighters of the rescue of going into the well is handstand state often and goes into the well.The people stand upside down if the time slightly length phenomenons such as dizziness, expiratory dyspnea will appear, when serious even can occur fainting.When the narrow and falling man of motor-pumped well falls into when putting than deep-seated, go into the well and rescue the people and for the rescue personnel, can become dangerous more, because rescue personnel itself also is easy to be blocked by the borehole wall like this.This under many circumstances method can not be implemented .2 and utilize the homemade rope rescue scope of application very little, and can only be in person down the well's mind clear and can the situation of movable part limbs under its effect of competence exertion, blocked and just can be lost efficacy when stiff in case run into person down the well's obnubilation or limbs.3 to employ the required time of this rescue mode of large-scale excavating equipment long especially, tends to reach more than 5 hours, greatly reduces person down the well's survival rate.In the process of excavator earth excavation, very easily cause landslide, cause huge potential safety hazard as if dealing with improperly.
According to statistics as can be known, messenger's accident of falling into motor-pumped well accidentally takes place frequently in recent years, though when a lot of accidents take place, the fire-fighting and rescue personnel can be on the scene and implement rescue, but the example that success is rescued is few, and the death rate of dropping into accident maintains more than 70% always, makes the people startling.
Therefore, design a kind of downhole rescuing of highly effective and safe and rescue robot, ensure that person down the well's life security is very necessary for solving the problems of China in the downhole rescuing field.
Summary of the invention
At the above-mentioned problems in the prior art, the object of the present invention is to provide a kind of easy to usely, the safety coefficient height is applicable to the agricultural deep well rescue device that people in the small diameter deep well of rural area or thing are salvaged.
Described a kind of agricultural deep well rescue device, it is characterized in that comprising collapsible external device and being equipped with the hoist engine that is connected with the signal receiving/transmission device radio communication at collapsible external device top, described collapsible external device is a hollow cylinder, Underwell rescue device is equipped with in the hollow cylinder of collapsible external device, described Underwell rescue device top is equipped with the lanyard frame, rope on the Underwell rescue device passes the lanyard frame and is connected with hoist engine, described Underwell rescue device, hoist engine, signal receiving/transmission device is connected by wireless signal with computerized control system.
Described a kind of agricultural deep well rescue device, it is characterized in that described collapsible external device is a hollow cylinder, the bottom is equipped with one group of universal wheel, the hollow cylinder bottom is equipped with the movable telescopic support, be equipped with on the hollow cylinder buckle that is used for fixing telescope support, fixedly Underwell rescue device dowel hole and make things convenient for the handle of mobile device.
Described a kind of agricultural deep well rescue device is characterized in that described Underwell rescue device comprises down-hole positioning device that is equipped with under the fixedly chuck assembly that is connected with the lanyard frame, the bottom bracket that is connected with fixing chuck assembly, the bottom bracket and the clamping device that is connected with down-hole positioning device.
Described a kind of agricultural deep well rescue device, it is characterized in that described fixedly chuck assembly is installed in the top of Underwell rescue device, constitute by chuck main body and ejection part, described chuck main body top is provided with the bayonet socket that links to each other with rope, the chuck main body middle part fixedly installs the strip slideway that joins by bearing and rotary disk, the chuck main body bottom is connected by three fixed legs and accurate positioning device, described strip slideway is three, article three, the strip slideway surrounds an equilateral triangle, every the strip slideway matches with the slide rail of ejection part respectively, described ejection part comprises ejecting panel, eject panel surface and be equipped with rubber sheet gasket, eject panel inner wall and be equipped with slide rail.
Described a kind of agricultural deep well rescue device, it is characterized in that described rotary disk combines with chuck main body by the bearing that is positioned at the chuck main body center, the outer peripheral bearing that links to each other with the strip slideway that is equipped with of rotary disk, rotary disk bottom centre also is connected with the synchronous pulley device.
Described a kind of agricultural deep well rescue device, it is characterized in that described down-hole positioning device is made up of bottom bracket and the rotary positioning apparatus, communication system device and the radial expansion positioner that are equipped with on bottom bracket, described bottom bracket heart place therein is symmetrically distributed with two bearings, and bearing links to each other with the motor that drives its rotation; Described rotary positioning apparatus comprises sliding tray, passes through to be with synchronously the motor that is connected with sliding tray, described radial expansion positioner comprises and is equipped with at the fixed block on the bottom bracket, is equipped with the sliding shoe in sliding tray, sliding shoe one end is threaded with the tooth bar, the tooth bar other end is connected with motor on being fixed on bottom bracket, and the sliding shoe other end is connected with clamping device by securing member.
Described a kind of agricultural deep well rescue device is characterized in that described clamping device comprises flexible mechanical jig arm and the moving telescopic arm of three economize on electricitys, and described flexible mechanical jig arm bottom is equipped with the jig arm finger; The moving telescopic arm bottom of described three economize on electricitys is equipped with lifts arm.
Described a kind of agricultural deep well rescue device is characterized in that described flexible mechanical jig arm comprises in jig arm overcoat, the described jig arm overcoat to be equipped with the jig arm cursor slide, and jig arm cursor slide bottom is by jig arm sliding shoe and the flexible connection of jig arm finger.
Described a kind of agricultural deep well rescue device, it is characterized in that telescopic arm overcoat, telescopic arm first order cursor slide, telescopic arm second level cursor slide, the activity of described telescopic arm second level cursor slide bottom that the moving telescopic arm of described three economize on electricitys comprises that socket from outside to inside connects are provided with and lift arm, cursor slide middle part in the telescopic arm second level is equipped with elasticity and lifts bar.
Described a kind of agricultural deep well rescue device is characterized in that described communication system device comprises loudspeaker, camera and the illuminating lamp that is fixedly installed on, and described camera is fixedlyed connected with the motor on being fixedly installed on bottom bracket by metal hose.
Compared with prior art, beneficial effect of the present invention is as follows:
1), the design of collapsible external device, solved the storage and the mobile problem of Underwell rescue device, and the setting up fast of machine when having realized rescue, saved rescue time.
2), by the fixedly setting of chuck, solved deliverance apparatus position problem of unstable when underground work.
3), positioner realized the accurate adjustment of the position of downhole rescuing arm, increased the scope of application of deliverance apparatus, improved the efficient and the success rate of rescue.
4), the design of scalable mechanical jig arm and the moving telescopic arm of three economize on electricitys, rescue space when having utilized the person down the well to fall well, realized having increased the flexibility of rescue, improved the success rate of rescuing to the clamping of person down the well left and right sides shoulder and to the lifting of before and after it and bottom.
5), in the rescue process, illuminating lamp, the comprehensive use of wireless camera and wireless telecommunications system makes the rescue personnel can understand the environment of down-hole very intuitively, and can in time understand down-hole personnel to fall into well's situation, has realized informationalized rescue.
6), whole process is by wireless signal transceiver and control system, realized the radio operation of deliverance apparatus in the rescue process, strengthened the flexibility when the deliverance apparatus down-hole is movable.
Description of drawings
Fig. 1 is the blanket figure of correlation between apparatus of the present invention;
Fig. 2 is a control system operation principle block diagram of the present invention;
Fig. 3 is a movable outer apparatus structure schematic diagram of the present invention;
Fig. 4 is a Underwell rescue device structural representation of the present invention;
Fig. 5 is the fixing chuck assembly structural representation of the present invention;
Fig. 6 is a rotary positioning apparatus structural representation of the present invention.
Among the figure: 1-computerized control system, 2-signal receiving/transmission device, 3-hoist engine, the collapsible external device of 4-, the 4a-buckle, 4b-handle, 4c-universal wheel, 4d-movable telescopic support, the 4e-dowel hole, 5-lanyard frame, 5a-rope, 6-strip slideway, the 7-ejection part, 8-rotary disk, 8a-bearing, 8b-synchronous pulley device, 9-sliding tray, 9a-fixed block, 9b-tooth bar, 9c-motor, 10-sliding shoe, the 11-bottom bracket, the 11a-bearing, 11b-is with synchronously, the 11c-motor, 12-jig arm overcoat, 13-jig arm cursor slide, 14-arm sliding shoe, 15-jig arm finger, 16-elasticity is lifted bar, 17-lifts arm, 18-telescopic arm second level cursor slide, 19-telescopic arm first order cursor slide, 20-telescopic arm overcoat, 21-loudspeaker, 22-camera, the 23-motor, 24-illuminating lamp, 25-fixed leg.
The specific embodiment
The invention will be further described below in conjunction with Figure of description:
Shown in Fig. 1-6, a kind of agricultural deep well rescue device, it is characterized in that comprising collapsible external device 4 and being equipped with the hoist engine 3 that is connected with signal receiving/transmission device 2 radio communications at collapsible external device 4 tops, described collapsible external device 4 is a hollow cylinder, Underwell rescue device is equipped with in the hollow cylinder of collapsible external device 4, described Underwell rescue device top is equipped with lanyard frame 5, rope 5a on the Underwell rescue device passes lanyard frame 5 and is connected described Underwell rescue device with hoist engine 3, hoist engine 3, signal receiving/transmission device 2 and computerized control system 1 are connected by wireless signal.
As shown in Figure 3, collapsible external device 4 is a hollow cylinder, can place Underwell rescue device, the bottom is equipped with one group of universal wheel 4c, be convenient to conveniently moving, the hollow cylinder bottom is equipped with movable telescopic support 4d, open the whole device of support by this support during use, by forming by the different steel pipes of two diameters, little steel pipe bottom is equipped with the metal anti-skid ball and is placed in big steel pipe inside, all be equipped with pin via hole on two steel pipe walls, can realize the function of the antenna height of the aboveground part of adjusting device by pin at the latch of two steel pipe diverse locations, when not using telescope support 4d is packed up, upwards be buckled among the buckle 4a fixingly, also be provided with the dowel hole 4e of fixing Underwell rescue device on the cylinder and make things convenient for the handle 4b of mobile device.
Shown in Fig. 4-6, described Underwell rescue device comprises down-hole positioning device that the fixedly chuck assembly that is connected with lanyard frame 5, the bottom bracket 11, the bottom bracket that are connected with fixing chuck assembly are equipped with for 11 times and the clamping device that is connected with down-hole positioning device.Described fixedly chuck assembly is installed in the top of Underwell rescue device, is made of chuck main body and ejection part 7.Described as shown in Figure 5 chuck main body top is provided with the bayonet socket that links to each other with rope 5a, the chuck main body middle part fixedly installs the strip slideway 6 that joins by bearing 8a and rotary disk 8, the chuck main body bottom is connected by three fixed legs 25 and accurate positioning device, described strip slideway 6 is three, article three, strip slideway 6 surrounds an equilateral triangle, every strip slideway 6 matches with the slide rail of ejection part 7 respectively, strip slideway 6 comprises slideway and connecting rod, described ejection part 7, comprise and eject panel, eject panel surface and be equipped with rubber sheet gasket, eject panel inner wall and be equipped with slide rail, rubber sheet gasket adopts the bigger silicon rubber of coefficient of friction, rubber sheet gasket by adhesive coverage in the one side that ejects panel, this surface directly contacts with the borehole wall, increase the coefficient of friction between the ejection part and the borehole wall, strengthen fixed effect.Described rotary disk 8 combines with chuck main body by the bearing that is positioned at the chuck main body center, the rotary disk 8 outer peripheral bearing 8a that link to each other with strip slideway 6 that are equipped with, and rotary disk 8 bottom centre also are connected with synchronous pulley device 8b.
As shown in Figure 6, described down-hole positioning device is made up of bottom bracket 11 and the rotary positioning apparatus, communication system device and the radial expansion positioner that are equipped with on bottom bracket 11, described bottom bracket 11 heart place therein is symmetrically distributed with two bearing 11a, and bearing 11a links to each other with the motor that drives its rotation; Described rotary positioning apparatus comprises sliding tray 9, the motor 11c by being with 11b to be connected with sliding tray 9 synchronously, described radial expansion positioner comprises and is equipped with at the fixed block 9a on the bottom bracket 11, is equipped with the sliding shoe 10 in sliding tray 9, sliding shoe 10 1 ends are threaded with tooth bar 9b, the tooth bar 9b other end is connected with motor 9c on being fixed on bottom bracket 11, and sliding shoe 10 other ends are connected with clamping device by securing member.
As shown in Figure 4, clamping device comprises flexible mechanical jig arm and the moving telescopic arm of three economize on electricitys, and described flexible mechanical jig arm bottom is equipped with jig arm finger 15; The moving telescopic arm bottom of described three economize on electricitys is equipped with lifts arm 17; Flexible mechanical jig arm comprises in jig arm overcoat 12, the described jig arm overcoat 12 and is equipped with jig arm cursor slide 13 that jig arm cursor slide 13 bottoms flexibly connect by jig arm sliding shoe 14 and jig arm finger 15; The moving telescopic arm of three economize on electricitys comprises that telescopic arm overcoat 20, telescopic arm first order cursor slide 19, telescopic arm second level cursor slide 18, the activity of cursor slide 18 bottoms, the described telescopic arm second level that socket from outside to inside connects are provided with and lift arm 17, cursor slide 18 middle parts, the telescopic arm second level are equipped with elasticity and lift bar 16, described communication system device comprises loudspeaker 21, camera 22 and the illuminating lamp 24 that is fixedly installed on, and described camera 22 is fixedlyed connected with the motor 23 on being fixedly installed on bottom bracket 11 by metal hose.
Use of the present invention: when rescue work is carried out, movable outer device 3 sets up expansion aboveground side, computer control system 1 and wireless signal transceiver 2 are started working, rope 5a is linked to top lanyard frame 5, this moment, hoist engine 4 was started working, the main body of Underwell rescue device begins to descend and enters in the well, illuminating lamp 24 is opened, illuminate environment in the well, the camera 22 production wells hypograph of starting working, camera electric rotating machine 23 rotates and drives camera 22 rotations, has reached the purpose that multi-faceted image information is gathered.The Underwell rescue device main body continues to descend, and 0.5 to 1 meter stops to descend above the person down the well.
After deliverance apparatus arrives assigned address, aboveground personnel rotate by computer control system 1 control driven by motor rotary disk 8, the rotation of rotary disk 8 is delivered to the fixedly ejection part 7 of chuck by connecting rod, and fixedly the ejection part 7 of chuck moves outside rotary disk 8 along the fixing strip slideway 6 of chuck and withstands the borehole wall up to ejection part 7 and be fixed on the borehole wall.According to the concrete condition of down-hole, the work that aboveground operating personnel control motor is rotated sliding tray 9, regulates thereby the rotation of sliding tray 9 directly drives the rotation of the jig arm overcoat 12 rotation arrival mechanical arm positions that are attached thereto.Sliding shoe 10 can be along sliding tray 9 rectilinear motions under the drive of the motor 9c that is built in sliding tray 9, and sliding shoe 10 links to each other with jig arm overcoat 12, has reached the function of radially adjusting the mechanical arm position.Jig arm sliding shoe 14 can move along jig arm overcoat 12 under the drive of the motor that is built in jig arm overcoat 12, reaches the function of regulating the arm position at vertical direction.Jig arm sliding shoe 14 can be realized moving up and down under the drive of the motor that is built in jig arm cursor slide 13, it is 15 hinged that jig arm sliding shoe 14 and jig arm are pointed, the opening and closing of " S " jig arm finger 15 are being controlled in moving up and down of jig arm sliding shoe 14, carry out clamping by the shoulder of regulating the person down the well.The corresponding adjusting with mechanical jig arm is regulated in the rotation adjusting of the moving telescopic arm of three economize on electricitys and radial position, the principle unanimity, the machine operation that is built in telescopic arm overcoat 20 drives telescopic arm first order cursor slide 19 and slides, and telescopic arm first order cursor slide 19 is with telescopic arm second level cursor slide 18 and lift arm 17 and be connected with spring by pulley.Telescopic arm second level cursor slide 18 is along telescopic arm overcoat 20 slides within when telescopic arm first order cursor slide 19 slides, in close at telescopic arm second level cursor slide 18 the arm 17 of lifting slowly launch.When telescopic arm second level cursor slide 18 reaches the limit of the position, lift arm 17 and launch also self-locking fully.This moment elasticity lift 16 before and after the person down the well both sides lift him, lift arm 17 and lift the person down the well in the bottom.When efficiency confirmed ground clamping with lift after, the slow lifting deliverance apparatus main body of hoist engine 4 beginning goes out person down the well's lifting after the well head, rescue work finishes.When the present invention operates, send signal by computer control system 1, camera 22 IMAQs provide foundation for aboveground personnel's operation, and aboveground personnel continue all the time by the communication of loudspeaker 21 with the person down the well.

Claims (10)

1. agricultural deep well rescue device, it is characterized in that comprising collapsible external device (4) and be equipped with the hoist engine (3) that is connected with signal receiving/transmission device (2) radio communication at collapsible external device (4) top, described collapsible external device (4) is a hollow cylinder, Underwell rescue device is equipped with in the hollow cylinder of collapsible external device (4), described Underwell rescue device top is equipped with lanyard frame (5), rope on the Underwell rescue device (5a) passes lanyard frame (5) and is connected described Underwell rescue device with hoist engine (3), hoist engine (3), signal receiving/transmission device (2) is connected by wireless signal with computerized control system (1).
2. a kind of agricultural deep well rescue device according to claim 1, it is characterized in that described collapsible external device (4) is a hollow cylinder, the bottom is equipped with one group of universal wheel (4c), the hollow cylinder bottom is equipped with movable telescopic support (4d), is equipped with the buckle (4a) that is used for fixing telescope support (4d), the fixing dowel hole of Underwell rescue device (4e) and make things convenient for the handle (4b) of mobile device on the hollow cylinder.
3. a kind of agricultural deep well rescue device according to claim 1 is characterized in that described Underwell rescue device comprises down-hole positioning device that is equipped with under the fixedly chuck assembly that is connected with lanyard frame (5), the bottom bracket (11) that is connected with fixing chuck assembly, the bottom bracket (11) and the clamping device that is connected with down-hole positioning device.
4. a kind of agricultural deep well rescue device according to claim 3, it is characterized in that described fixedly chuck assembly is installed in the top of Underwell rescue device, constitute by chuck main body and ejection part (7), described chuck main body top is provided with the bayonet socket that links to each other with rope (5a), the chuck main body middle part fixedly installs the strip slideway (6) that joins by bearing (8a) and rotary disk (8), the chuck main body bottom is connected by three fixed legs (25) and accurate positioning device, described strip slideway (6) is three, article three, strip slideway (6) surrounds an equilateral triangle, every strip slideway (6) matches with the slide rail of ejection part (7) respectively, described ejection part (7) comprises ejecting panel, eject panel surface and be equipped with rubber sheet gasket, eject panel inner wall and be equipped with slide rail.
5. a kind of agricultural deep well rescue device according to claim 3, it is characterized in that described rotary disk (8) combines with chuck main body by the bearing that is positioned at the chuck main body center, the outer peripheral bearing (8a) that links to each other with strip slideway (6) that is equipped with of rotary disk (8), rotary disk (8) bottom centre also is connected with synchronous pulley device (8b).
6. a kind of agricultural deep well rescue device according to claim 3, it is characterized in that described down-hole positioning device is made up of bottom bracket (11) and the rotary positioning apparatus, communication system device and the radial expansion positioner that are equipped with on bottom bracket (11), described bottom bracket (11) heart place therein is symmetrically distributed with two bearings (11a), and bearing (11a) links to each other with the motor that drives its rotation; Described rotary positioning apparatus comprises sliding tray (9), the motor (11c) by being with (11b) to be connected with sliding tray (9) synchronously, described radial expansion positioner comprises and is equipped with at the fixed block (9a) on the bottom bracket (11), is equipped with the sliding shoe (10) in sliding tray (9), sliding shoe (10) one ends are threaded with tooth bar (9b), tooth bar (9b) other end is connected with motor (9c) on being fixed on bottom bracket (11), and sliding shoe (10) other end is connected with clamping device by securing member.
7. a kind of agricultural deep well rescue device according to claim 3 is characterized in that described clamping device comprises flexible mechanical jig arm and the moving telescopic arm of three economize on electricitys, and described flexible mechanical jig arm bottom is equipped with jig arm finger (15); The moving telescopic arm bottom of described three economize on electricitys is equipped with lifts arm (17).
8. a kind of agricultural deep well rescue device according to claim 7, it is characterized in that described flexible mechanical jig arm comprises in jig arm overcoat (12), the described jig arm overcoat (12) is equipped with jig arm cursor slide (13), and jig arm cursor slide (13) bottom flexibly connects by jig arm sliding shoe (14) and jig arm finger (15).
9. a kind of agricultural deep well rescue device according to claim 7, it is characterized in that telescopic arm overcoat (20), telescopic arm first order cursor slide (19), telescopic arm second level cursor slide (18), the activity of described telescopic arm second level cursor slide (18) bottom that the moving telescopic arm of described three economize on electricitys comprises that socket from outside to inside connects are provided with and lift arm (17), telescopic arm second level cursor slide (18) middle part is equipped with elasticity and lifts bar (16).
10. a kind of agricultural deep well rescue device according to claim 6, it is characterized in that described communication system device comprises loudspeaker (21), camera (22) and the illuminating lamp (24) that is fixedly installed on, described camera (22) is fixedlyed connected with the motor (23) on being fixedly installed on bottom bracket (11) by metal hose.
CN2010102799985A 2010-09-13 2010-09-13 Agricultural deep-well aid device CN101947371B (en)

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CN102152310A (en) * 2011-02-24 2011-08-17 北京建筑工程学院 Underground rescue manipulator
CN102728014A (en) * 2011-04-15 2012-10-17 中国人民解放军军械工程学院 Deep well lifesaving robot
CN104117166A (en) * 2013-04-26 2014-10-29 北京航空航天大学 Deep well rescuing device
CN105298535A (en) * 2015-11-16 2016-02-03 别远辉 Deep well rescue device
CN105881542A (en) * 2014-11-25 2016-08-24 路仲利 Mechanical hand for rescue in deep well
CN105904464A (en) * 2016-04-29 2016-08-31 四川九鼎智远知识产权运营有限公司 Underground rescue robot
CN106581888A (en) * 2016-12-19 2017-04-26 陈雨晴 Emergency well falling rescue device
CN108404316A (en) * 2018-03-31 2018-08-17 魏敏 A kind of underground fishing tool
CN109675223A (en) * 2019-02-25 2019-04-26 哈尔滨工业大学 A kind of clothing clamping device for narrow deep well rescue
CN111840850A (en) * 2020-07-29 2020-10-30 何秋锦 Single rescue device

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CN106390328A (en) * 2016-11-25 2017-02-15 凤浩 Deep well rescue robot

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CN201551755U (en) * 2009-10-19 2010-08-18 钱佳宝 Deep-well rescue apparatus
CN201572458U (en) * 2009-12-09 2010-09-08 李大祥 Slit small-caliber vertical shaft lifesaving device
CN201783109U (en) * 2010-09-13 2011-04-06 浙江工业大学 Agricultural deep-well rescue device

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CN201500394U (en) * 2009-10-21 2010-06-09 鞠家玉 Rescuing machine for well
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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102152310A (en) * 2011-02-24 2011-08-17 北京建筑工程学院 Underground rescue manipulator
CN102152310B (en) * 2011-02-24 2014-04-23 北京建筑工程学院 Underground rescue manipulator
CN102728014A (en) * 2011-04-15 2012-10-17 中国人民解放军军械工程学院 Deep well lifesaving robot
CN104117166A (en) * 2013-04-26 2014-10-29 北京航空航天大学 Deep well rescuing device
CN105881542B (en) * 2014-11-25 2019-11-15 路仲利 A kind of deep well rescue machinery hand
CN105881542A (en) * 2014-11-25 2016-08-24 路仲利 Mechanical hand for rescue in deep well
CN105298535A (en) * 2015-11-16 2016-02-03 别远辉 Deep well rescue device
CN105904464A (en) * 2016-04-29 2016-08-31 四川九鼎智远知识产权运营有限公司 Underground rescue robot
CN106581888A (en) * 2016-12-19 2017-04-26 陈雨晴 Emergency well falling rescue device
CN108404316A (en) * 2018-03-31 2018-08-17 魏敏 A kind of underground fishing tool
CN109675223A (en) * 2019-02-25 2019-04-26 哈尔滨工业大学 A kind of clothing clamping device for narrow deep well rescue
CN111840850A (en) * 2020-07-29 2020-10-30 何秋锦 Single rescue device

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