CN102152310B - Underground rescue manipulator - Google Patents

Underground rescue manipulator Download PDF

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Publication number
CN102152310B
CN102152310B CN201110043966.XA CN201110043966A CN102152310B CN 102152310 B CN102152310 B CN 102152310B CN 201110043966 A CN201110043966 A CN 201110043966A CN 102152310 B CN102152310 B CN 102152310B
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CN
China
Prior art keywords
capstan winch
shaped
sliding bar
bayonet lock
framework
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Application number
CN201110043966.XA
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Chinese (zh)
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CN102152310A (en
Inventor
沈鹤群
秦建军
刘子辰
马瑞
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北京建筑工程学院
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Priority to CN201110043966.XA priority Critical patent/CN102152310B/en
Publication of CN102152310A publication Critical patent/CN102152310A/en
Application granted granted Critical
Publication of CN102152310B publication Critical patent/CN102152310B/en

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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

Underground rescue manipulator

Affiliated technical field

The present invention relates to manipulator field, specifically, it is about manual drives power is delivered to down-hole, and then controls manipulator and make relevant action, realizes sue and labour a kind of manipulator of object of down-hole.

Technical background

At present, for personnel, be confined in down-hole, the mode of suing and labouring that rescue department mainly takes is: (1) is first restricted to fall and put down detector, whether has pernicious gas under detecting shaft, if there is afterwards pernicious gas, rescue personnel's rope again that can first properly protect after measure is fallen well, after going into the well, captive is fixed with rope, then by aboveground personnel first by downhole rescuing man winding, finally promote trapped personnel, which can directly threaten rescue personnel's personal safety, and process is loaded down with trivial details, affects rescue efficiency.(2) with excavator, on well limit, dig vertical well, when the degree of depth reaches captive position, then dig Heng Jing, get through after emergency access, disaster relief personnel go into the well and sue and labour.This kind of mode wastes time and energy, and in the process digging a well, may to captive, cause unnecessary injury due to extruding.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: for fear of rescue aid under existing well, must send the go into the well danger of rescue or the mode of digging side well of rescue personnel to bring the difficult problem of suing and labouring, the manipulator that a kind ofly can reach fast in aboveground operation, safety is sued and laboured object has been proposed, this invention is simple in structure, adopt pure mechanically actuated, as operated correctly, to personnel in the pit, can not cause secondary injury.

The technical solution used in the present invention is: underground rescue manipulator is comprised of aboveground tripod, hoisting mechanism, open/close mechanism, locking mechanism, inflation mechanism, switching mechanism and monitoring system.

Four capstan winches, air pump and the aboveground video device of hoisting mechanism, open/close mechanism and the switching mechanism of controlling manipulator are housed on described tripod.Tripod top is a tripod platform, fixes two sleeves and four fixed pulleys, and have three square holes on it, and the steel wire rope on capstan winch is fixed through square hole and manipulator after by fixed pulley.

Described hoisting mechanism is that framework top is fixed with a square opening montant by framework and lifting capstan winch, and montant, through two sleeves on tripod platform, can not rotate framework with two montants.The steel wire promoting on capstan winch is connected with framework bar, thereby by shaking capstan winch, framework is promoted.

Described open/close mechanism by T-shaped, handgrip, sliding bar, opening and closing axle, open fixed pulley and capstan winch forms.T-shaped symmetric position is equipped with opening and closing axle, and four independent handgrips are connected with T-shaped by opening and closing axle, have soft material to wrap up on handgrip.T-shaped and handgrip have measure-alike chute, and sliding bar is arranged in T-shaped and handgrip chute.T-shaped 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, thereby utilizes lever principle to drive four independent handgrips to open.Another capstan winch steel wire is directly connected with sliding bar, shakes capstan winch sliding bar is moved upward, thereby utilize lever principle to drive four independent handgrips closed.

Described locking mechanism is comprised of bayonet lock and spring, and bayonet lock leading portion is inclined-plane, and bayonet lock rear sleeve has spring, and bayonet lock afterbody is equipped with draw ring, in T-shaped stand, has latch groove, and kayser is placed wherein.Sliding bar is when T-shaped upward sliding, and extruding bayonet lock makes spring-compressed, thus kayser withdrawal, and sliding bar recovers former length by kayser rear spring stretches out bayonet lock, thereby sliding bar must not be moved downward again.By pulling bayonet lock afterbody draw ring can make bayonet lock retract, sliding bar is moved downward again.

Described inflation mechanism is comprised of air bag, wireway and air pump.Air bag is fixed between the space of four independent handgrips and T-shaped bottom, by wireway, air bag is connected with air pump on tripod.By air pump work, make airbag aeration, thereby people is tightened up.

Described switching mechanism is comprised of trip shaft, T-shaped and capstan winch.Trip shaft one end and T-shaped are fixing, and the other end is connected with framework.Capstan winch steel wire is connected with T-shaped turning rod.Thereby make T-shaped with respect to framework, to rotate by shaking capstan winch.

Monitoring system is by downhole imaging head, aboveground control video equipment, and The Cloud Terrace forms.The Cloud Terrace is fixed on framework, can realize camera 360 degree add 180 degree and rotate by aboveground control video equipment.Utilize the aboveground monitor of wireless transmission can show in real time down-hole situation.

The invention has the beneficial effects as follows, can be in the situation that rescue personnel go into the well, in down-hole narrow and small and that there is pernicious gas, rescue, guaranteed rescue personnel's personal safety, only need to 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 this apparatus structure simple and convenient rescue personnel transport and carry, and effectively improved the efficiency of rescue work.In addition, this device maintenance is simple, long service life.

Utilize existing technology to realize, the manufacturing process of entire system is simple, assembling realizability is strong.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the present invention is further described

Fig. 1 is overall installation diagram of the present invention;

Fig. 2 is aboveground tripod installation diagram;

Fig. 3 is underground manipulator installation diagram;

Fig. 4 is the partial schematic diagram of locking mechanism;

Fig. 5-A, 5-B are the partial schematic diagrams that underground manipulator overturns and opens, and 5-A is rollover states, and 5-B is open configuration.

In figure: 1-montant, 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, 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.

Below in conjunction with accompanying drawing, the present invention is described in more detail.

The specific embodiment

Underground rescue manipulator is shown in Fig. 1, and underground rescue manipulator is shown in that by aboveground tripod Fig. 2, hoisting mechanism, open/close mechanism, locking mechanism, inflation mechanism, switching mechanism be shown in that Fig. 3 and monitoring system form.

The opening capstan winch 4, closed capstan winch 5, promote capstan winch 6 of hoisting mechanism, open/close mechanism and switching mechanism, upset capstan winch 19, air pump and the aboveground video device 3 of controlling manipulator are housed on described tripod.Tripod top is a tripod platform, fixes two sleeves 20 and four fixed pulleys 2, and have three square holes on it, and the steel wire rope on capstan winch is fixed through square hole and manipulator after by fixed pulley.

Described hoisting mechanism is that framework 8 tops are fixed with two square opening montants 1 by framework 8 and lifting capstan winch 6, and montant 1, through two sleeves 20 on tripod platform, can not rotate framework with two montants.The steel wire promoting on capstan winch 6 is connected with framework bar 18, thereby by shaking lifting capstan winch 6, framework is promoted.

Described open/close mechanism by T-shaped 9, handgrip 11, sliding bar 16, opening and closing axle 13, open fixed pulley 15 and open capstan winch 4, closed capstan winch 5 forms.T-shaped 9 symmetric positions are equipped with 13, four independent handgrips 11 of opening and closing axle and are connected with T-shaped 9 by opening and closing axle 13, have soft material to wrap up on handgrip.T-shaped 9 and handgrip 11 have measure-alike chute, sliding bar 16 be arranged on T-shaped 9 and handgrip chute in.T-shaped 9 chute 24 bottoms are equipped with one and open fixed pulley 15, open capstan winch 4 steel wires is connected with sliding bar 16 after opening fixed pulley 15, by shaking, open capstan winch 4 sliding bar 16 is moved downward, thereby utilize lever principle to drive four independent handgrips 11 to open.Closed capstan winch 5 steel wires are directly 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 comprised of bayonet lock 21 and spring 22, bayonet lock leading portion is inclined-plane, bayonet lock rear sleeve has spring, bayonet lock afterbody is equipped with draw ring, in T-shaped 9 stands, have latch groove, kayser is placed wherein, sliding bar 16 is when T-shaped chute 24 upward sliding, extruding bayonet lock 21 makes spring 22 compressions, thereby locking mechanism 7 is regained, sliding bar 16 is replied former length by locking mechanism 7 rear spring 22 stretches out bayonet lock 21, thereby sliding bar 16 must not be moved downward again, thereby by pulling bayonet lock 21 afterbody draw rings can make bayonet lock 21 Compress Spring 22 bayonet locks 21 regain, sliding bar 16 is moved downward again,

Described inflation mechanism is comprised of air bag 12, wireway and air pump.Air bag 12 is fixed between the space of four independent handgrips and T-shaped 9 bottoms, by wireway, air bag is connected with air pump on tripod.By air pump work, make airbag aeration, thereby people is tightened up.

Described switching mechanism is comprised of trip shaft 10, T-shaped 9 and upset capstan winch 19.Trip shaft 10 one end and T-shaped 9 are fixing, and the other end is connected with framework 8.Upset capstan winch 19 steel wires are connected with T-shaped turning rod 14.Thereby make T-shaped 9 with respect to framework 8, to rotate by shaking upset capstan winch 19.

Described monitoring system is by downhole imaging head 17, and aboveground control video equipment 3 forms.Camera 17 is fixed on framework 8, and 360 degree that can realize camera 17 by aboveground control video equipment 3 add 180 degree and rotate.Utilize the aboveground monitor of wireless transmission can show in real time down-hole situation.

Claims (1)

1. a underground rescue manipulator, is characterized in that: aboveground tripod, hoisting mechanism, open/close mechanism, locking mechanism, inflation mechanism, switching mechanism and monitoring system, consist of;
Described hoisting mechanism is comprised of montant (1), framework (8) and lifting capstan winch (6), framework (8) top is fixed with two square opening montants (1), montant (1) is through two sleeves (20) on tripod platform, two montants make framework axial-rotation can not occur, the rope promoting on capstan winch (6) is connected with framework bar (18), by shake promote capstan winch (6) thus framework is promoted or declines, and then drive lifting or the decline of montant (1);
Described open/close mechanism is by T-shaped (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 arranged symmetrically with on T-shaped (9), four independently handgrip (11) by opening and closing axle (13), be connected with T-shaped (9), the inner side of handgrip (11) has soft material to wrap up, there are left and right two stands (23) T-shaped (9) top, in the middle of stand, leaving space is T-shaped chute (24), on handgrip (11), have measure-alike chute (25), sliding bar (16) is arranged in T-shaped (9) and handgrip chute, T-shaped (9) chute (24) bottom is equipped with one and opens fixed pulley (15), open fixed pulley (15) and be positioned at T-shaped (9) inside, the rope opening on capstan winch (4) is connected with sliding bar (16) after opening fixed pulley (15), by shaking, open capstan winch (4) sliding bar (16) is moved downward, thereby utilize lever principle to drive four independent handgrips (11) to open to both sides, rope on closed capstan winch (5) is directly connected with sliding bar (16), shaking closed capstan winch (5) moves upward sliding bar (16), thereby utilize lever principle to drive four independent handgrips (11) closure,
Described locking mechanism (7) is comprised of bayonet lock (21) and spring (22), bayonet lock leading portion is inclined-plane, bayonet lock rear sleeve has spring, bayonet lock afterbody is equipped with draw ring, in T-shaped (9) stand, have latch groove, kayser is placed wherein, sliding bar (16) is when T-shaped chute (24) upward sliding, extruding bayonet lock (21) makes spring (22) compression, thereby locking mechanism (7) is regained, sliding bar (16) is replied former length by locking mechanism (7) rear spring (22) stretches out bayonet lock (21), thereby sliding bar (16) must not be moved downward again, by pulling bayonet lock (21) afterbody draw ring can make bayonet lock (21) Compress Spring (22) thus bayonet lock (21) regain, sliding bar (16) is moved downward again,
Described inflation mechanism is comprised of air bag (12), wireway and air pump, air bag (12) is fixed between the space of four independent handgrips and T-shaped (9) bottom, by wireway, air bag is connected with air pump on tripod, by air pump work, make airbag aeration, thereby people is tightened up;
Described switching mechanism is comprised of trip shaft (10), T-shaped (9) and upset capstan winch (19), trip shaft (10) one end and T-shaped (9) are fixing, the other end is connected with framework (8), upset capstan winch (19) steel wire is connected with T-shaped turning rod (14), by shake overturn capstan winch (19) thus T-shaped (9) are rotated with respect to framework (8);
On described aboveground tripod, be equipped with and open capstan winch (4), closed capstan winch (5), lifting capstan winch (6), upset capstan winch (19) and aboveground control video equipment (3), control the portable motion that rises mechanism, open/close mechanism and switching mechanism of machinery, tripod top is a tripod platform (26), on it, fix two sleeves (20) and four fixed pulleys (2), and have three square holes;
Monitoring system is by camera (17), aboveground control video equipment (3) forms, camera (17) is fixed on 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 in real time down-hole situation.
CN201110043966.XA 2011-02-24 2011-02-24 Underground rescue manipulator CN102152310B (en)

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Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201110043966.XA CN102152310B (en) 2011-02-24 2011-02-24 Underground rescue manipulator

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CN102152310A CN102152310A (en) 2011-08-17
CN102152310B true CN102152310B (en) 2014-04-23

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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
US20140031977A1 (en) * 2012-07-27 2014-01-30 Engineering Services Inc. Modular mobile robot
CN102772860B (en) * 2012-07-27 2014-10-15 刘永风 Deep well rescuing device
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
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

Citations (7)

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SU1341099A1 (en) * 1986-05-05 1987-09-30 Опытное Конструкторское Бюро Специальных Технических Средств Министерства Рыбного Хозяйства Ссср Atcuator of manipulator of underwater rescue apparatus
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
CN101507865A (en) * 2009-03-24 2009-08-19 山东科技大学 Rescue robot capable of falling into well
CN201333271Y (en) * 2008-12-17 2009-10-28 母铁石 Driven well salvaging device
CN101947371A (en) * 2010-09-13 2011-01-19 浙江工业大学 Agricultural deep-well aid device
CN201735088U (en) * 2010-08-09 2011-02-09 西安石油大学 Deep well rescuing device
CN101972526A (en) * 2010-11-17 2011-02-16 三峡大学 Rescue device for small-diameter deep well

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1341099A1 (en) * 1986-05-05 1987-09-30 Опытное Конструкторское Бюро Специальных Технических Средств Министерства Рыбного Хозяйства Ссср Atcuator of manipulator of underwater rescue apparatus
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
CN201333271Y (en) * 2008-12-17 2009-10-28 母铁石 Driven well salvaging device
CN101507865A (en) * 2009-03-24 2009-08-19 山东科技大学 Rescue robot capable of falling into well
CN201735088U (en) * 2010-08-09 2011-02-09 西安石油大学 Deep well rescuing device
CN101947371A (en) * 2010-09-13 2011-01-19 浙江工业大学 Agricultural deep-well aid device
CN101972526A (en) * 2010-11-17 2011-02-16 三峡大学 Rescue device for small-diameter deep well

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Granted publication date: 20140423

Termination date: 20190224