CN102152310A - Underground rescue manipulator - Google Patents
Underground rescue manipulator Download PDFInfo
- Publication number
- CN102152310A CN102152310A CN201110043966XA CN201110043966A CN102152310A CN 102152310 A CN102152310 A CN 102152310A CN 201110043966X A CN201110043966X A CN 201110043966XA CN 201110043966 A CN201110043966 A CN 201110043966A CN 102152310 A CN102152310 A CN 102152310A
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- capstan winch
- type frame
- sliding bar
- opening
- framework
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Abstract
The invention discloses an underground rescue manipulator comprising an aboveground tripod, a lifting mechanism, a tension mechanism, a locking mechanism, an aerating mechanism, a turnover mechanism and a monitoring mechanism. The tripod is provided with the lifting mechanism for controlling the manipulator, four winches of the tension mechanism and the turnover mechanism, an air pump and an aboveground video player; a platform is arranged above a bracket, two sleeves and four fixed pulleys are fixed on the platform which is also provided with three square holes; and the wire ropes on the winches pass by the fixed pulleys, penetrate through the square holes and are fixed on the manipulator.
Description
Affiliated technical field
The present invention relates to the manipulator field, specifically, it is about manual drives power is delivered to the down-hole, and then the control manipulator makes relevant action, realizes sue and labour a kind of manipulator of purpose of down-hole.
Technical background
At present, be confined in the down-hole for personnel, the mode of suing and labouring that rescue department mainly takes is: (1) is restricted to fall earlier and is put down detector, whether has pernicious gas under the detecting shaft, afterwards if there is pernicious gas, rescue personnel's rope that can properly protect earlier after the measure is again fallen well, after going into the well captive is fixed with rope, again by aboveground personnel earlier with the downhole rescuing man winding, promote trapped personnel at last, this mode can directly threaten rescue personnel's personal safety, and process is loaded down with trivial details, influences rescue efficiency.(2) dig vertical well with excavator on the well limit, when the degree of depth reaches the captive position, dig Heng Jing again, get through emergency access after, disaster relief personnel go into the well and sue and labour.This kind mode wastes time and energy, and in the process that digs a well, may be because extruding causes unnecessary damages to captive.Therefore, existing rescue person down the well's mode is all undesirable.
Summary of the invention
The technical problem that the present invention solves is: rescue aid must send the rescue personnel to go into the well the dangerous of rescue or the mode of digging the side well is brought the difficult problem of suing and labouring under the existing well, the manipulator of proposed a kind ofly can to reach fast, safety being sued and laboured purpose in aboveground operation, this invention is simple in structure, adopt pure mechanically actuated, as operate correctly and can not cause the secondary injury the personnel in the pit.
The technical solution used in the present invention is: disaster relief manipulator in down-hole is made up of aboveground tripod, hoisting mechanism, opening and closing mechanism, locking mechanism, inflation mechanism, switching mechanism and monitoring system.
Four capstan winches, air pump and the aboveground video device of hoisting mechanism, opening and closing mechanism and the switching mechanism of control manipulator are housed on the described tripod.Support top is a platform, fixes two sleeves and four fixed pulleys on it, and has three square holes, and the steel wire rope on the capstan winch passes square hole after by fixed pulley and manipulator is fixed.
Described hoisting mechanism is that the framework upper fixed has a square opening montant by framework and lifting capstan winch, and montant passes two sleeves on the tripod platform, with two montants framework can not rotated.The steel wire that promotes on the capstan winch links to each other with framework bar, thereby by shaking capstan winch framework is promoted.
Described opening and closing mechanism by T type frame, handgrip, sliding bar, opening and closing axle, open fixed pulley and capstan winch is formed.T type frame symmetric position is equipped with the opening and closing axle, and four independent handgrips are connected with T type frame by the opening and closing axle, have soft material to wrap up on the handgrip.T type frame and handgrip have measure-alike chute, and sliding bar is installed in T type frame and the handgrip chute.T type frame chute bottom is equipped with one and opens fixed pulley, and a capstan winch steel wire is connected with sliding bar after opening fixed pulley, by shaking this capstan winch sliding bar is moved downward, and opens thereby utilize lever principle to drive four independent handgrips.Another capstan winch steel wire directly is connected with sliding bar, shakes capstan winch sliding bar is moved upward, thereby utilize lever principle to drive four independent handgrip closures.
Described locking mechanism is made up of bayonet lock and spring, and the bayonet lock leading portion is the inclined-plane, and the bayonet lock rear portion is with spring, and the bayonet lock afterbody is equipped with draw ring, has latch groove in the stand of T type frame, and kayser is placed wherein.When sliding bar upwards slided at T type frame, the extruding bayonet lock made the spring compression, thus the kayser withdrawal, and sliding bar recovers former length by the kayser rear spring stretches out bayonet lock, thereby sliding bar must not be moved downward again.Can make the bayonet lock withdrawal by pulling bayonet lock afterbody draw ring, sliding bar is moved downward again.
Described inflation mechanism is made up of air bag, wireway and air pump.Air bag is fixed between the space of four independent handgrips and T type frame bottom, makes air bag be connected with air pump on the tripod by wireway.Make airbag aeration by air pump work, thereby the people is tightened up.
Described switching mechanism is made up of trip shaft, T type frame and capstan winch.Trip shaft one end and T type frame are fixed, and the other end is connected with framework.The capstan winch steel wire is connected with T type frame turning rod.Thereby T type frame is rotated with respect to framework by shaking capstan winch.
Monitoring system is by the down-hole camera, aboveground control video equipment, and The Cloud Terrace is formed.The Cloud Terrace is fixed on the framework, can realize that by aboveground control video equipment camera 360 degree add 180 degree rotations.Utilize the aboveground monitor of wireless transmission can show the down-hole situation in real time.
The invention has the beneficial effects as follows, can be under the situation that the rescue personnel does not go into the well, rescue in down-hole narrow and small and that have a pernicious gas, guaranteed rescue personnel's personal safety, only need carry out manual operation and can reach manipulator and arrest, fix, promote a series of actions aboveground, easy and simple to handle, save time.And the simple and convenient rescue personnel of this apparatus structure transports and carries, and has improved the efficient of rescue work effectively.In addition, this device maintenance is simple, long service life.
Utilize existing technology to realize, the manufacturing process of entire system is simple, the assembling realizability is strong.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples
Fig. 1 is an overall installation diagram of the present invention;
Fig. 2 is aboveground tripod installation diagram;
Fig. 3 is a down-hole mechanical hand installation diagram;
Fig. 4 is the partial schematic diagram of locking mechanism;
Fig. 5 is that the down-hole mechanical handspring is changeed and open partial schematic diagram, and 5-A is a rollover states, and 5-B is an open configuration.
Among the figure: the 1-montant, the 2-fixed pulley, the aboveground control video equipment of 3-, 4-opens capstan winch, the closed capstan winch of 5-, 6-promotes capstan winch, 7-locking mechanism, 8-framework, 9-T type frame, 10-trip shaft, the 11-handgrip, 12-air bag, 13-opening and closing axle, 14-turning rod, 15-opens fixed pulley, 16-sliding bar, 17-camera, 18-framework bar, the 19-capstan winch that overturns, 20-sleeve, 21-bayonet lock, 22-spring, the stand of 23-T type frame, 24-T type frame chute, 25-handgrip chute, 26-upper brace.
The present invention is described in more detail below in conjunction with accompanying drawing.
The specific embodiment
The downhole rescuing manipulator is seen Fig. 1, and disaster relief manipulator in down-hole sees that by aboveground tripod Fig. 2, hoisting mechanism, opening and closing mechanism, locking mechanism, inflation mechanism, switching mechanism see that Fig. 3 and monitoring system form.
The opening capstan winch 4, closed capstan winch 5, promote capstan winch 6 of hoisting mechanism, opening and closing mechanism and switching mechanism, upset capstan winch 19, air pump and the aboveground video device 3 of control manipulator are housed on the described tripod.Support top is a platform, fixes two sleeves 20 and four fixed pulleys 2 on it, and has three square holes, and the steel wire rope on the capstan winch passes square hole after by fixed pulley and manipulator is fixed.
Described hoisting mechanism is that framework 8 upper fixed have two square opening montants 1 by framework 8 and lifting capstan winch 6, and montant 1 passes two sleeves 20 on the tripod platform, with two montants framework can not rotated.The steel wire that promotes on the capstan winch 6 links to each other with framework bar 18, thereby by shaking lifting capstan winch 6 framework is promoted.
Described opening and closing mechanism by T type frame 9, handgrip 11, sliding bar 16, opening and closing axle 13, open fixed pulley 15 and open capstan winch 4, closed capstan winch 5 is formed.T type frame 9 symmetric positions are equipped with 13, four independent handgrips 11 of opening and closing axle and are connected with T type frame 9 by opening and closing axle 13, have soft material to wrap up on the handgrip.T type frame 9 and handgrip 11 have measure-alike chute, and sliding bar 16 is installed in T type frame 9 and the handgrip chute.T type frame 9 chutes 24 bottoms are equipped with one and open fixed pulley 15, opening capstan winch 4 steel wires is connected with sliding bar 16 by opening fixed pulley 15 backs, open capstan winch 4 sliding bar 16 is moved downward by shaking, open thereby utilize lever principle to drive four independent handgrips 11.Closed capstan winch 5 steel wires directly are connected with sliding bar 16, shake closed capstan winch 5 sliding bar 16 is moved upward, thereby utilize lever principle to drive four independent handgrip 11 closures.
Described locking mechanism 7 is made up of bayonet lock 21 and spring 22, the bayonet lock leading portion is the inclined-plane, the bayonet lock rear portion is with spring, the bayonet lock afterbody is equipped with draw ring, have latch groove in 9 stands of T type frame, kayser is placed wherein, when sliding bar 16 upwards slides at T type frame chute 24, extruding bayonet lock 21 makes spring 22 compressions, thereby kayser 7 is regained, and sliding bar 16 is replied former length by kayser 7 rear spring 22 stretches out bayonet lock 21, thereby sliding bar 16 must not be moved downward again, by pulling bayonet lock 7 afterbody draw rings thereby bayonet lock 21 compression springs 22 7 are regained, sliding bar 16 is moved downward again;
Described inflation mechanism is made up of air bag 12, wireway and air pump.Air bag 12 is fixed between the space of four independent handgrips and T type frame 9 bottoms, makes air bag be connected with air pump on the tripod by wireway.Make airbag aeration by air pump work, thereby the people is tightened up.
Described switching mechanism is made up of trip shaft 10, T type frame 9 and upset capstan winch 19.Trip shaft 10 1 ends and T type frame 9 are fixing, and the other end is connected with framework 8.Upset capstan winch 19 steel wires are connected with T type frame turning rod 14.Thereby T type frame 9 is rotated with respect to framework 8 by shaking upset capstan winch 19.
Described monitoring system is by down-hole camera 17, and aboveground control video equipment 3 is formed.Camera 17 is fixed on the framework 8, can realize that by aboveground control video equipment 3 360 degree of camera 17 add 180 degree rotations.Utilize the aboveground monitor of wireless transmission can show the down-hole situation in real time.
Claims (1)
1. a downhole rescuing manipulator is characterized in that: be made up of aboveground tripod (Fig. 2), hoisting mechanism, opening and closing mechanism, locking mechanism, inflation mechanism, switching mechanism (Fig. 3) and monitoring system;
Described hoisting mechanism is made up of montant (1), framework (8) and lifting capstan winch (6), framework (8) upper fixed has two square opening montants (1), montant (1) passes two sleeves (20) on the tripod platform, two montants make framework axial rotation can not take place, the rope that promotes on the capstan winch (6) links to each other with framework bar (18), by shake promote capstan winch (6) thus framework promoted or descend, and then drive the lifting or the decline of montant (1);
Described opening and closing mechanism is by T type frame (9), handgrip (11), sliding bar (16), opening and closing axle (13), open fixed pulley (15), opening capstan winch (4) and closed capstan winch (5) forms, opening and closing axle (13) is gone up symmetric arrangement at T type frame (9), four independently handgrip (11) be connected with T type frame (9) by opening and closing axle (13), the inboard of handgrip (11) has soft material to wrap up, a stand (23) about T type frame (9) top has, leaving the space in the middle of the stand is T type frame chute (24), have measure-alike chute (25) on the handgrip (11), sliding bar (16) is installed in T type frame (9) and the handgrip chute, T type frame (9) chute (24) bottom is equipped with one and opens fixed pulley (15) and open pulley (15) and be positioned at T type frame (9) inside, the rope that opens on the capstan winch (4) is connected with sliding bar (16) by opening fixed pulley (15) back, open capstan winch (4) sliding bar (16) is moved downward by shaking, thereby utilizing lever principle to drive four independent handgrips (11) opens to both sides, rope on the closed capstan winch (5) directly is connected with sliding bar (16), shake closed capstan winch (5) sliding bar (16) is moved upward, thereby utilize lever principle to drive four independent handgrips (11) closure;
Described locking mechanism (7) is made up of bayonet lock (21) and spring (22), the bayonet lock leading portion is the inclined-plane, the bayonet lock rear portion is with spring, the bayonet lock afterbody is equipped with draw ring, have latch groove in T type frame (9) stand, kayser is placed wherein, sliding bar (16) is at T type frame chute (24) when upwards sliding, extruding bayonet lock (21) makes spring (22) compression, thereby kayser (7) is regained, sliding bar (16) is replied former length by kayser (7) rear spring (22) stretches out bayonet lock (21), thereby sliding bar (16) must not be moved downward again, by pulling bayonet lock (7) afterbody draw ring can make bayonet lock (21) compression spring (22) thus (7) are regained, sliding bar (16) are moved downward again;
Described inflation mechanism is made up of air bag (12), wireway and air pump, air bag (12) is fixed between the space of four independent handgrips and T type frame (9) bottom, make air bag be connected by wireway, make airbag aeration by air pump work, thereby the people is tightened up with air pump on the tripod;
Described switching mechanism is made up of trip shaft (10), T type frame (9) and upset capstan winch (19), trip shaft (10) one ends and T type frame (9) are fixing, the other end is connected with framework (8), upset capstan winch (19) steel wire is connected with T type frame turning rod (14), by shake overturn capstan winch (19) thus T type frame (9) is rotated with respect to framework (8);
Be equipped with on the described aboveground tripod and open capstan winch (4), closed capstan winch (5), lifting capstan winch (6), upset capstan winch (19) and aboveground control video equipment (3), the portable motion that rises mechanism, opening and closing mechanism and switching mechanism of control machinery, the support top is a platform (26), fix two sleeves (20) and four fixed pulleys (2) on it, and have three square holes;
Monitoring system is by camera (17), aboveground control video equipment (3) is formed, camera (17) is fixed on the framework (8), the 360 degree rotations that can realize camera (17) by aboveground control video equipment (3) add 180 degree upsets, utilize the aboveground monitor of wireless transmission can show the down-hole situation in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110043966.XA CN102152310B (en) | 2011-02-24 | 2011-02-24 | Underground rescue manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110043966.XA CN102152310B (en) | 2011-02-24 | 2011-02-24 | Underground rescue manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102152310A true CN102152310A (en) | 2011-08-17 |
| CN102152310B CN102152310B (en) | 2014-04-23 |
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ID=44434140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110043966.XA Expired - Fee Related CN102152310B (en) | 2011-02-24 | 2011-02-24 | Underground rescue manipulator |
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| Country | Link |
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| CN (1) | CN102152310B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102772860A (en) * | 2012-07-27 | 2012-11-14 | 刘永风 | Deep well rescuing device |
| CN103463751A (en) * | 2013-09-30 | 2013-12-25 | 吕昕炜 | Deep well rescuing device |
| CN103507955A (en) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | Self-adaptive gripping device used for search and rescue helicopter |
| CN104070528A (en) * | 2014-06-05 | 2014-10-01 | 河海大学 | Device and method for grabbing and releasing object |
| CN104875197A (en) * | 2015-06-11 | 2015-09-02 | 中国人民解放军第二军医大学东方肝胆外科医院 | Manipulator for sea rescue |
| CN106826912A (en) * | 2016-12-30 | 2017-06-13 | 南通中远船务工程有限公司 | Seawater filter screen mechanical arm |
| CN107163954A (en) * | 2017-05-27 | 2017-09-15 | 中国冶集团有限公司 | Coke oven chute mouthful adjusting brick apparatus for placing and method |
| CN107376153A (en) * | 2017-06-30 | 2017-11-24 | 江苏大学 | A kind of small diameter deep well automates rescue outfit |
| CN107838902A (en) * | 2012-07-27 | 2018-03-27 | 工程服务公司 | Arm tool |
| CN111946942A (en) * | 2020-08-21 | 2020-11-17 | 西安环海机器人科技有限公司 | Rescue system suitable for operation of pipeline robot |
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| CN101972526A (en) * | 2010-11-17 | 2011-02-16 | 三峡大学 | Rescue device for small-diameter deep well |
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Patent Citations (7)
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| FR2698276A1 (en) * | 1992-11-20 | 1994-05-27 | France Etat Armement | Safety device for rescuing trapped person e.g. in mountain conditions - includes pole having hook or clamp connected to it by detachable coupling |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103507955A (en) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | Self-adaptive gripping device used for search and rescue helicopter |
| CN102772860A (en) * | 2012-07-27 | 2012-11-14 | 刘永风 | Deep well rescuing device |
| CN102772860B (en) * | 2012-07-27 | 2014-10-15 | 刘永风 | Deep well rescuing device |
| CN107838902A (en) * | 2012-07-27 | 2018-03-27 | 工程服务公司 | Arm tool |
| CN103463751A (en) * | 2013-09-30 | 2013-12-25 | 吕昕炜 | Deep well rescuing device |
| CN104070528A (en) * | 2014-06-05 | 2014-10-01 | 河海大学 | Device and method for grabbing and releasing object |
| CN104875197A (en) * | 2015-06-11 | 2015-09-02 | 中国人民解放军第二军医大学东方肝胆外科医院 | Manipulator for sea rescue |
| CN106826912A (en) * | 2016-12-30 | 2017-06-13 | 南通中远船务工程有限公司 | Seawater filter screen mechanical arm |
| CN107163954A (en) * | 2017-05-27 | 2017-09-15 | 中国冶集团有限公司 | Coke oven chute mouthful adjusting brick apparatus for placing and method |
| CN107163954B (en) * | 2017-05-27 | 2019-12-10 | 中国一冶集团有限公司 | Coke oven inclined passage opening adjusting brick placing device and method |
| CN107376153A (en) * | 2017-06-30 | 2017-11-24 | 江苏大学 | A kind of small diameter deep well automates rescue outfit |
| CN111946942A (en) * | 2020-08-21 | 2020-11-17 | 西安环海机器人科技有限公司 | Rescue system suitable for operation of pipeline robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102152310B (en) | 2014-04-23 |
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Granted publication date: 20140423 Termination date: 20190224 |