CN101972526B - Rescue device for small-diameter deep well - Google Patents

Rescue device for small-diameter deep well Download PDF

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Publication number
CN101972526B
CN101972526B CN201010546113A CN201010546113A CN101972526B CN 101972526 B CN101972526 B CN 101972526B CN 201010546113 A CN201010546113 A CN 201010546113A CN 201010546113 A CN201010546113 A CN 201010546113A CN 101972526 B CN101972526 B CN 101972526B
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CN
China
Prior art keywords
adjusting
pawl
leading screw
rescue
deep well
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Application number
CN201010546113A
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Chinese (zh)
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CN101972526A (en
Inventor
丁昌鹏
王盈
张屹
谢虎
余佳
孙宜华
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三峡大学
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Priority to CN201010546113A priority Critical patent/CN101972526B/en
Publication of CN101972526A publication Critical patent/CN101972526A/en
Application granted granted Critical
Publication of CN101972526B publication Critical patent/CN101972526B/en

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Abstract

The invention relates to a rescue device for a small-diameter deep well. A positioning device is connected with a rotation adjusting device and an X-direction adjusting device, the rotation adjusting device and the X-direction adjusting device are connected with a posture adjusting device and a Z-direction adjusting device, the posture adjusting device and the Z-direction adjusting device are respectively connected with a Y-direction adjusting device by a transmission link and a connecting pin, and both ends of the Y-direction adjusting device are provided with claw clamping mechanisms; and in the positioning device, a center bar is hinged with a plurality of support bars, a sliding bar is installed on the center bar in a sliding way, the sliding bar is respectively in slip connection with the support bars, and the sliding bar is connected with a wire rope. The rescue device for a small-diameter deep well has the advantages of adjustable clamping coverage and wide rescue range in the deep well rescue process. Besides, the retractility of the positioning device and the claws of the rescue device ensure that the rescue device is applicable to the rescue in multiple types of wells, thereby realizing the real-time control on rescue implementation and achieving high efficiency and high success rate.

Description

The path deep well rescue device
Technical field
The present invention relates to manipulator, particularly a kind of path deep well rescue device.
Background technology
In recent years, medium such as newspaper, the TV relevant child in road that appears in the newspapers falls into the message of path deep-well (be mostly diameter 25---45cm pipe of cement motor-pumped well) and rescue more, and the quilt that the child who has is successful has been saved, and life has been dedicated in the but misfortune that also has to.Because hole diameter is tiny, the degree of depth is generally darker, adult's rescue of can't going into the well, but also might the rescue personnel is stuck at well head.So the method for general rescue is to employ main equipments such as excavator to sue and labour; This kind method is time-consuming, effort, costly, and rescue time is long, poor stability, can't guarantee down-hole child's life; Surpass 15m if the child falls into the degree of depth, utilize excavator also can't implement rescue.
Show that according to relevant department's investigation annual child's incident of falling into path deep-wells such as motor-pumped well, oil well accidentally just has thousands of, add that the incident of those some other deep-wells is just more.Life injury, property loss that these situation are brought are imponderable, bring huge misery for household, individual.
Chinese patent 200620082638.5 discloses a kind of " pull-type salvage device "; Be pull-type salvage device; Can be used for crack in the wall, dell, mountain stream, path deep-well even depth falls into or the suing and labouring of clamping stagnation article, people and animals; Mainly be made up of the soft pipe that lifts, characteristics are to lift the pipe lower end to have the vertical rod of pressure pin through the supporting disk connection, and are provided with torsionspring; Pressure pin is provided with the linked switch by stay cord control.The problem that exists is that bar is oversize, is inconvenient to operate with hand, and is wayward; Can not grab tightlyer with grasping object during extracting, security be reliable inadequately.
Summary of the invention
Technical problem to be solved by this invention provides a kind of path deep well rescue device, can simple, safe and reliable completion deep well rescue.
For solving the problems of the technologies described above; The technical scheme that the present invention adopted is: a kind of path deep well rescue device; Positioner is connected to adjusting device with X with rotation; Rotation is connected to adjusting device with Z with attitude to adjusting device with X, and attitude is connected to adjusting device with Y with being connected to pin through kinematic link respectively to adjusting device with Z, and Y is equipped with the pawl clamping device to the adjusting device two ends;
Described rotation and X are used to make the parts that are installed under it to move around the rotation of Z axle with along directions X to adjusting device;
Described attitude and Z are used to make the pawl clamping device to rotate with the adjustment attitude around the Y axle to adjusting device, or the pawl clamping device is moved along the Z direction;
In the described positioner, center-pole and many support bars are hinged, also are slidingly fitted with sliding bar on the center-pole, and sliding bar is slidingly connected with many support bars respectively, is connected with steel wire rope on the sliding bar.
Described rotation and X are in adjusting device, and gear wheel is fixedly mounted in the outer box, and the pinion that is engaged with is connected with last motor;
Go up in the outer box and also be provided with X to leading screw, through hold-down nut slide rail is installed with X to leading screw is parallel, X is equipped with X to sliding nut on leading screw and slide rail, and X is connected to adjusting device with Z with attitude to sliding nut.
Described attitude and Z are equipped with the 2nd Z to leading screw in China and foreign countries' box in adjusting device, the 2nd Z is connected with drive motors to leading screw, the 2nd Z is installed to sliding nut on it, and the 2nd Z is equipped with thrust ball bearing to the leading screw lower end;
Back-up block is fixedly connected with China and foreign countries' box; The 2nd Z is equipped with a Z to leading screw between sliding nut and back-up block; The one Z is equipped with a Z to sliding nut on leading screw; The one Z is connected with kinematic link to sliding nut, and back-up block is connected to adjusting device one side with Y through connecting pin, and kinematic link is connected to the adjusting device opposite side with Y.
Described Y is in adjusting device; In the outer box bevel gear set is installed down; Bevel gear in the bevel gear set is connected with drive motors, and two bevel gears in addition that are engaged with are connected to leading screw with two Y respectively, and Y is equipped with Y to sliding nut on leading screw; Y is equipped with the pawl supporting rail on sliding nut, the pawl supporting rail is connected with the pawl clamping device.
In the described pawl clamping device, in the outer box of pawl the pawl leading screw is installed, the pawl leading screw is connected with pawl motor 29, and the pawl traveling nut is installed on the pawl leading screw, and the pawl traveling nut is provided with dewclaw, and lower claw is connected with the outer box of pawl, and dewclaw is connected through the pawl connecting rod with lower claw.
Described dewclaw and/or lower claw are provided with pressure sensor.
Optimize, also be provided with supervising device.
A kind of path deep well rescue device provided by the invention, it is adjustable in the deep well rescue process, to have clamping range, the advantage that the rescue scope is wide; The retractility of deliverance apparatus positioner and claw makes deliverance apparatus can be applicable to the rescue of multiple model well, and rescue is implemented in control in real time, and efficient is high, and success rate is high.Through the situation that the camera in the supervising device is observed the shaft bottom, can make corresponding operation well in light of the circumstances, improve the success rate and the efficient of rescue greatly.Human oriented design avoids producing the secondary injury; Pressure sensor on the pawl can in time convey to the rescuer to captive stressing conditions in the rescue process, avoids in the rescue process because pressure causes the secondary injury to the trapped person too greatly.Device of the present invention is simple to operate, flexible, be easy to control, can make the action of various replies to condition of different, can adapt to multiple different environment.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is described further:
Fig. 1 is an overall structure sketch map of the present invention.
Fig. 2 be among the present invention positioner and rotation and X to the adjusting device structural representation.
Fig. 3 be among the present invention attitude and Z to the adjusting device structural representation.
Fig. 4 be among the present invention Y to the adjusting device structural representation.
Fig. 5 is the control circuit figure of motor among the present invention.
The specific embodiment
In Fig. 1; A kind of path deep well rescue device; Positioner is connected to adjusting device with X with rotation; Rotation is connected to adjusting device with Z with attitude to adjusting device with X, and attitude and Z 27 are connected to adjusting device with Y with being connected to pin through kinematic link 8 respectively to adjusting device, and Y is equipped with the pawl clamping device to the adjusting device two ends;
In Fig. 2, in the described positioner, center-pole 19 is hinged with many support bars 16, also is slidingly fitted with sliding bar 17 on the center-pole 19, and sliding bar 17 is slidingly connected with many support bars 16 respectively, is connected with steel wire rope on the sliding bar 17.During use; Ground supports partly adopts Rescue Triangular Bracket; In order to be suitable for the well of different model, positioner of the present invention is the telescoping mechanism of a umbrella, adopts the umbrella telescoping mechanism to guarantee that this device can be applicable to the rescue work of the different big small-bore wells in the certain limit.The umbrella telescoping mechanism is realized opening of support bar 16 by sliding up and down of sliding bar 17 and is closed up; Be connected with steel wire rope on the sliding bar 17 and realize upwards sliding of sliding bar 17 through the pulling steel wire rope; Thereby support bar 16 is strutted, when support bar 16 supports the inwall of well, sliding bar 17 slip that can not make progress again; Four support bars 16 act on the purpose that reaches fixed central rod 19 simultaneously, make center-pole 19 not rotate.
Suspension ring 18 on the center-pole 19 are used for connecting the steel cable on the tripod, and the lower end links to each other with the miscellaneous part of apparatus of the present invention, and the weight of whole device is born by center-pole 19, plays the effect of support.Positioner is carried out the action of back again after accomplishing location action, thereby has guaranteed the stable execution of action at the back.
Described rotation and X are in adjusting device, and gear wheel 20 is fixedly mounted in the outer box 14, and the pinion 31 that is engaged with is connected with last motor 15;
Go up in the outer box 14 and also be provided with X to leading screw 21, through hold-down nut 13 slide rail 23 is installed with X to leading screw 21 is parallel, X is equipped with X to sliding nut 22 on leading screw 21 and slide rail 23, and X is connected to adjusting device with Z with attitude through connecting bolt 24 to sliding nut 22.
Gear wheel 20 is fixed together with center-pole 19, and pinion 31 is fixed on the outer box 14, drives through last motor 15, after positioner is accomplished location action; Center-pole 19 fixed-site can not be rotated, and gear wheel is fixed; When last motor 15 driving pinions rotated, gear wheel did not rotate, and pinion rotates around gear wheel; Thereby outer box 14 rotates in the drive, and the miscellaneous part of device is connected on the outer box 14, realizes the rotation positioning of manipulator around the Z axle.
Drive motor drives the 2nd Z drives the 2nd Z to leading screw 12 and slides along slide rail 23 to sliding nut 11, thereby the device that drives under it slides together, and implement device moves along directions X.
In Fig. 3, described attitude and Z are equipped with the 2nd Z in China and foreign countries' box 25 and are connected with drive motors to leading screw 12 to leading screw 12, the two Z in adjusting device, the 2nd Z is installed on it to leading screw 12 lower ends thrust ball bearing 26 is installed to sliding nut 11, the two Z;
Back-up block 7 is fixedly connected with China and foreign countries' box 25; The 2nd Z is equipped with a Z to leading screw 9 between sliding nut 11 and back-up block 7; The one Z is equipped with a Z to sliding nut 10 on leading screw 9; The one Z is connected with kinematic link 8 to sliding nut 10, and back-up block 7 is connected to adjusting device one side with Y through connecting pin 27, and kinematic link 8 is connected to the adjusting device opposite side with Y.
Drive motor drives the 2nd Z is to leading screw 12 rotations; Driving the 2nd Z moves up and down to sliding nut 11; The following outer box 28 that kinematic link 8 drives under it rotates along connection pin 27, accomplishes the attitude adjustment, like the drive motors rotation of while the one Z to leading screw 9; The one Z moves up and down to sliding nut 11 to sliding nut 10 and the 2nd Z simultaneously, and then down outer box 28 realizes that Z is to motion.
In Fig. 4; Described Y is equipped with bevel gear set 6 in the outer box 28 down in adjusting device, the bevel gear in the bevel gear set 6 is connected with drive motors; Two bevel gears in addition that are engaged with are connected to leading screw 32 with two Y respectively; Y is equipped with Y to sliding nut 5 on leading screw 32, Y is equipped with pawl supporting rail 33 on sliding nut 5, and pawl supporting rail 33 is connected with the pawl clamping device.Drive motors drives two Y to leading screw 32 rotations through bevel gear set 6, thus drive Y to sliding nut 5 along Y to moving, from make pawl clamping device on the pawl supporting rail 33 along Y to moving.
In the described pawl clamping device, in the outer box 30 of pawl pawl leading screw 34 is installed, pawl leading screw 34 is connected with pawl motor 29; Pawl traveling nut 3 is installed on the pawl leading screw 34; Pawl traveling nut 3 is provided with dewclaw 4, and lower claw 1 is connected with the outer box 30 of pawl, and dewclaw 4 is connected through pawl connecting rod 2 with lower claw 1.Drive motors drives 34 rotations of pawl leading screw, drives pawl traveling nut 3 and moves up and down, and realizes folding thereby drive dewclaw 4 through pawl connecting rod 2 with lower claw 1.
Described dewclaw 4 and/or lower claw 1 are provided with pressure sensor.Thereby gather the size of chucking power, inform that ground is used for manually or control automatically, avoid causing the secondary injury.
Also be provided with supervising device on the device of the present invention.Supervising device is made up of illuminating lamp, camera, pressure sensor component; Control section is made up of manual control instrument and display screen.Under the bad situation of shaft bottom light; Illuminating lamp throws light on the shaft bottom; Make the camera can clear picked-up shaft bottom situation, camera passes to ground display screen with the image in shaft bottom, and the handled easily personnel understand the shaft bottom situation; Situation according in the well is made judgement, manually controls the action of deliverance apparatus through manual control instrument.
In Fig. 5, the control mode of drive motors does, unclamps after pressing S1; Low level triggers U2; The positive pulsewidth U1 that on its 3 pin, sends 1.5s is that a frequency is non-adjustable, but the square-wave generator of EDM Generator of Adjustable Duty Ratio, if motor is not just changeing that S2 closes then the motor counter-rotating if S2 closes.Promptly press S1 and unclamp then rotor rotation about 1.5 seconds, rotating depends on whether S2 closes; If will accelerate the speed that motor rotates, the dutycycle of then transferring big square-wave generator, it is big to raising to be about to R6.Other motor regulative mode is identical.

Claims (7)

1. path deep well rescue device; It is characterized in that: positioner is connected to adjusting device with X with rotation; Rotation is connected to adjusting device with Z with attitude to adjusting device with X; Attitude and Z to adjusting device respectively through kinematic link (8) be connected pin (27) and be connected to adjusting device with Y, Y is equipped with the pawl clamping device to the adjusting device two ends;
Described rotation and X are used to make the parts that are installed under it to move around the rotation of Z axle with along directions X to adjusting device;
Described attitude and Z are used to make the pawl clamping device to rotate with the adjustment attitude around the Y axle to adjusting device, or the pawl clamping device is moved along the Z direction;
In the described positioner; Center-pole (19) is hinged with many support bars (16); Also be slidingly fitted with sliding bar (17) on the center-pole (19), sliding bar (17) is slidingly connected with many support bars (16) respectively, and sliding bar is connected with steel wire rope on (17).
2. a kind of path deep well rescue device according to claim 1 is characterized in that: described rotation and X are in adjusting device, and gear wheel (20) is fixedly mounted in the outer box (14), and the pinion that is engaged with (31) is connected with last motor (15);
Go up in the outer box (14) and also be provided with X to leading screw (21); Through hold-down nut (13) slide rail (23) is installed with X to leading screw (21) is parallel; X is equipped with X to sliding nut (22) on leading screw (21) and slide rail (23), X is connected to adjusting device with Z with attitude to sliding nut (22).
3. a kind of path deep well rescue device according to claim 1; It is characterized in that: described attitude and Z are in adjusting device; The 2nd Z is installed to leading screw (12) in China and foreign countries' boxes (25); The 2nd Z is connected with drive motors to leading screw (12), the 2nd Z is installed to sliding nut (11) on it, and the 2nd Z is equipped with thrust ball bearing (26) to leading screw (12) lower end;
Back-up block (7) is fixedly connected with China and foreign countries' boxes (25); The 2nd Z is equipped with a Z to leading screw (9) between sliding nut (11) and back-up block (7); The one Z is equipped with a Z to sliding nut (10) on leading screw (9); The one Z is connected with kinematic link (8) to sliding nut (10), and back-up block (7) is connected to adjusting device one side with Y through connecting pin (27), and kinematic link (8) is connected to the adjusting device opposite side with Y.
4. a kind of path deep well rescue device according to claim 1; It is characterized in that: described Y is in adjusting device; In the outer box (28) bevel gear set (6) is installed down; Bevel gear in the bevel gear set (6) is connected with drive motors, and two bevel gears in addition that are engaged with are connected to leading screw (32) with two Y respectively, and Y is equipped with Y to sliding nut (5) on leading screw (32); Y is equipped with pawl supporting rail (33) on sliding nut (5), pawl supporting rail (33) is connected with the pawl clamping device.
5. a kind of path deep well rescue device according to claim 1; It is characterized in that: in the described pawl clamping device, in the outer box (30) of pawl pawl leading screw (34) is installed, pawl leading screw (34) is connected with pawl motor (29); Pawl traveling nut (3) is installed on the pawl leading screw (34); Pawl traveling nut (3) is provided with dewclaw (4), and lower claw (1) is connected with the outer box (30) of pawl, and dewclaw (4) is connected through pawl connecting rod (2) with lower claw (1).
6. a kind of path deep well rescue device according to claim 5 is characterized in that: described dewclaw (4) and/or lower claw (1) are provided with pressure sensor.
7. a kind of path deep well rescue device according to claim 1 is characterized in that: also be provided with supervising device.
CN201010546113A 2010-11-17 2010-11-17 Rescue device for small-diameter deep well CN101972526B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201010546113A CN101972526B (en) 2010-11-17 2010-11-17 Rescue device for small-diameter deep well

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Application Number Priority Date Filing Date Title
CN201010546113A CN101972526B (en) 2010-11-17 2010-11-17 Rescue device for small-diameter deep well

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CN101972526B true CN101972526B (en) 2012-10-03

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Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102152310B (en) * 2011-02-24 2014-04-23 北京建筑工程学院 Underground rescue manipulator
CN102303317A (en) * 2011-08-15 2012-01-04 清华大学 Thread connecting rod type two-degrees-of-freedom robot thumb root joint device
CN102772860B (en) * 2012-07-27 2014-10-15 刘永风 Deep well rescuing device
CN102852480B (en) * 2012-10-15 2015-03-18 齐齐哈尔大学 Deep well fishing machine
CN103397902B (en) * 2013-08-22 2015-05-20 王秀冰 Intelligent rescue machine used for vertical shaft
CN104922826B (en) * 2015-06-30 2018-03-23 李开伟 Deep well rescue device
CN107288623B (en) * 2017-08-15 2020-07-07 马鞍山鹏远电子科技有限公司 Novel underground positioning device
CN109365036B (en) * 2018-11-28 2020-10-16 桂林中族中药股份有限公司 Efficient continuous crushing equipment for momordica grosvenori

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201333271Y (en) * 2008-12-17 2009-10-28 母铁石 Driven well salvaging device
CN201572458U (en) * 2009-12-09 2010-09-08 李大祥 Slit small-caliber vertical shaft lifesaving device
CN201862173U (en) * 2010-11-17 2011-06-15 三峡大学 Rescue device for small-diameter deep well

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201333271Y (en) * 2008-12-17 2009-10-28 母铁石 Driven well salvaging device
CN201572458U (en) * 2009-12-09 2010-09-08 李大祥 Slit small-caliber vertical shaft lifesaving device
CN201862173U (en) * 2010-11-17 2011-06-15 三峡大学 Rescue device for small-diameter deep well

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Granted publication date: 20121003

Termination date: 20191117