CN105816977A - Deep-well rescuing device - Google Patents
Deep-well rescuing device Download PDFInfo
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- CN105816977A CN105816977A CN201610228035.XA CN201610228035A CN105816977A CN 105816977 A CN105816977 A CN 105816977A CN 201610228035 A CN201610228035 A CN 201610228035A CN 105816977 A CN105816977 A CN 105816977A
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- well
- hoist engine
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B99/00—Subject matter not provided for in other groups of this subclass
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- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
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Abstract
The invention relates to a deep-well rescuing device. The deep-well rescuing device comprises a control device, a mechanical arm, a lifting device, a well mouth adjusting device and a communication antenna. The control device is connected with the mechanical arm, the lifting device, the well mouth adjusting device and the communication antenna. The control device is used for displaying the real-time situation in a well and giving an instruction for a processing manner implemented for the real-time situation in the well. The mechanical arm is used for detecting the real-time situation in the well and processing the real-time situation in the well according to the instruction given by the control device. The lifting device is used for transporting objects in the well. The well mouth adjusting device is used for adjusting the state that the lifting device can smoothly run. The communication antenna is used for receiving real-time situation information in the well and transmitting the information to the control device. According to the deep-well rescuing device, the problems that in a traditional deep-well rescuing manner, a large machine and a large device are applied to large-area construction, the best rescuing time is missed, and secondary injuries are possibly caused to a trapped person are solved.
Description
Technical field
The invention belongs to deep-well equipment technical field, particularly relate to a kind of deep well rescue device.
Background technology
At present; Chinese fire protection and news often broadcast have human or animal's imprudence fall into tens or the deep-well of up to a hundred meters in; consciousness has the most been lost in captive; tradition rescues people's mode may use big machinery; use main equipment large-area construction; can may miss optimal rescue time, it is possible to cause secondary injury to captive.
Technology can have much room for improvement on the robot building of deep well rescue at present.
Summary of the invention
The present invention solves tradition deep well life-saving mode big machinery and use main equipment large-area construction, missing optimal rescue time, it is possible to causing the problem of secondary injury to provide a kind of deep well rescue device to captive.
The present invention solves that technical problem is adopted the technical scheme that present in known technology:
A kind of deep well rescue device, including control equipment, mechanical arm, lowering or hoisting gear, well head adjusting means, communication antenna；
Control equipment is connected with mechanical arm, lowering or hoisting gear, well head adjusting means, communication antenna；
Control equipment is for showing that real-time condition in well the processing mode implementing real-time condition in well send instruction；
Mechanical arm with control equipment, lowering or hoisting gear, communication antenna are connected, be used for detecting real-time condition in well and the instruction that sends real-time condition in well by control equipment process；
Lowering or hoisting gear is connected with control equipment, well head adjusting means, the transport of article in well；
Well head adjusting means is for regulating the state that lowering or hoisting gear runs；
Communication antenna real-time condition information transmit information to control equipment in the received well.
Further, described control equipment includes video monitoring display, operational motion display, environment display device, sound console, analog signal generator, control rocking bar, controls main frame, converter；Described video monitoring display, operational motion display, environment display device, sound console, analog signal generator, control rocking bar, control main frame, converter are all connected with control main frame.
Further, described mechanical arm includes that motor, mike, receipts arm semi-girder motor, pinhole camera, illuminator, mechanical hand, anti-fall air bag are loosened in suspension ring, gravity sensor, mechanical arm antenna, support means, air pump solenoid valve, power supply, the first mainboard, the second mainboard, electric rotating machine, rotating disk, subsidiary minute hoist engine, the miniature hoist engine of main hook, sound equipment, main camera, clamping；
Described suspension ring are connected to support means middle and upper part, mechanical arm antenna is positioned at both sides, support means top, gravity sensor is arranged on suspension ring, air pump solenoid valve, power supply, first mainboard, second mainboard, electric rotating machine is arranged in support means the most from top to bottom, rotating disk is arranged on support means bottom, subsidiary minute hoist engine is arranged on rotating disk bottom, the miniature hoist engine of main hook is arranged on subsidiary minute hoist engine bottom, sound equipment is arranged on main hook miniature hoist engine bottom, main camera is arranged on sound equipment middle and lower part, clamping is loosened motor and is arranged on sound equipment bottom and is positioned at main camera both sides, mike is connected to sound equipment bottom, receipts arm semi-girder motor is arranged on clamping and loosens motor lower portion, pinhole camera is installed on a robotic arm, mechanical hand is connected to receive arm semi-girder motor lower portion, illuminator, anti-fall air bag is installed in support means.
Further, described gravity sensor, mechanical arm antenna, air pump solenoid valve, the first mainboard, the second mainboard, electric rotating machine, subsidiary minute hoist engine, the miniature hoist engine of main hook, sound equipment 1, pinching action motor, mike, semi-girder receipts arm motor, pinhole camera, illuminator are all connected with power supply.
Further, described support means is tower structure, and described mechanical hand is two, and described mechanical hand includes that semi-girder is received arm configuration, rotational structure, risen and put hook structure；Described mechanical hand is received arm motor by steel wire rope with electric rotating machine, subsidiary minute hoist engine, the miniature hoist engine of main hook, pinching action motor, semi-girder and is connected.
Further, described illuminator includes that major light and weak light lamp, described main camera are provided with multi-path high-definition monitoring screen.
Further, described deep well rescue device also includes that family members comfort that district, family members comfort that district includes that aboveground wireless headset and wireless capacitance microphone, described aboveground wireless headset and wireless capacitance microphone are connected with audio amplifier and the mike of mechanical arm 27.
Further, described lowering or hoisting gear includes hoist engine, steel wire rope and external brake, and steel wire rope is installed on hoist engine, and hoist engine electrically connects with external brake, described external brake electrically connects with the control main frame controlling equipment, and described mechanical arm hangs on the hook that hoist engine is arranged.
Further, described well head adjusting means is provided with well head actuator, and described well head actuator is made up of two deceleration hollow motor and screw rod, and well head actuator is for regulating the center of the steel wire rope of lowering or hoisting gear, and described communication antenna is arranged on directly over well head.
The present invention control equipment control mechanical arm can action, down-hole situation can be seen during operation clearly, can carry out linking up with captive is all to be sent instruction by control system, and control system uses a people to manipulate design, can grasp rescue progress comprehensively,
Mechanical arm uses tower structure, and tower structure can arbitrarily regulate the height of each structure, in order to extends more function, and mechanical arm can be divided into two parts, the most detachable from rotating part, in order to transport；
Lowering or hoisting gear then uses conventional construction hoist engine to convert, because converter to be used, so the brake unit carried is invalid, needs to install external brake unit, control centre is uniformly controlled；
Well head adjusting means is to regulate the center of steel wire rope by two deceleration hollow motor lead-screws；
Communication antenna is downhole hardware and control the bridge of linking of devices, uses the mode of the wireless telecommunications such as RS485, DMX512, audio-visual 2.4G, FM frequency modulation, it is ensured that device properly functioning, will install during utilization with well head directly over, it is ensured that the reliability of communication；
Manipulator design of the present invention 2, it is to utilize to organize lever principle more, the action utilizing the miniature hoist engine that slows down pulls steel wire rope to drive manipulator behavior to complete rescue action, mechanical hand also by many groups reducing motor by gear drive can reach semi-girder, receive arm, rotate, hook up, put the actions such as hook by captive from deep-well embrace purpose, each action can be with self contained function, and the action dynamics of mechanical hand can be regulated, accuracy for action, it is assembled with pinhole camera at action position, and arbitrarily can switch with main camera；
Family members comfort the setting in district, and when rescue, family members connect down-hole sound equipment by aboveground wireless headset and wireless capacitance microphone and mike connects, and energy is preferably and captive carries out the communication in soul, and linguistic communication tends to become the potion good medicine of rescue；
nullThe present invention be provided with multiple can be to the real time temperature in well and outside well、Air pressure、Harmful gas、Oxygen concentration etc. detection detector and the information of detection is passed to control centre，Foundation is provided for next step rescue，Illuminator is in rescue，Mechanical hand leaves major light when going into the well away from 5 meters from captive can see situation in well clearly，From captive 5 meter Nei Kai soft light，Avoid captive uncomfortable，Main camera is provided with multi-path high-definition monitoring screen，Can be crossed by screen supervising device external control center and see real-time condition in well clearly，The place that tens meters or rice up to a hundred are deep can be transported by lowering or hoisting gear，Can be transported the most smoothly by the lowering or hoisting gear arranged，Weight sensor is monitored hauled weight in real time and is carried out planned transport，Anti-fall air bag is implanted and does not crash into shaft bottom or be stuck in the bottom of captive in the middle part of well，Captive is avoided to cause secondary injury，Sound equipment informs that when lowering or hoisting gear declines some self-insurance measures etc. that captive should be taked carry out reporting mustering the courage for captive simultaneously；It is accurate that support means ensures during manipulator behavior, and well head adjusting means ensures lowering or hoisting gear work well.
Accompanying drawing explanation
Fig. 1 is the deep well rescue device structural representation that the present invention provides；
Fig. 2 is the mechanical arm structural representation that the present invention provides；
Fig. 3 is the mechanical hand plumbness structural representation that the present invention provides；
Fig. 4 is the robot work status architecture schematic diagram that the present invention provides；
Fig. 5 is the illuminator connection diagram that the present invention provides.
In figure: 1, suspension ring；2, gravity sensor；3, mechanical arm antenna；4, support means；5, air pump solenoid valve；6, power supply；7, the first mainboard；8, the second mainboard；9, electric rotating machine；10 rotating disks；11, subsidiary minute hoist engine；12, the miniature hoist engine of main hook；13, sound equipment；14, main camera；15, motor is loosened in clamping；16, mike；17, arm semi-girder motor is received；18, pinhole camera；19, illuminator；20, mechanical hand；Arm configuration received by 20-1, semi-girder；20-2, rotational structure；20-3, rise put hook structure；21, anti-fall air bag；22, family members comfort district；23, equipment is controlled；24, communication antenna；25, well head adjusting means；26, lowering or hoisting gear；27, mechanical arm.
Detailed description of the invention
For present invention, feature and effect can be further appreciated that, hereby enumerate following example, and it is as follows to coordinate accompanying drawing to describe in detail.
Refer to shown in Fig. 1:
A kind of deep well rescue device, including control equipment 23, mechanical arm 27, lowering or hoisting gear 26, well head adjusting means 25, communication antenna 24；
Control equipment 23 is connected with mechanical arm 27, lowering or hoisting gear 26, well head adjusting means 25, communication antenna 24；
Control equipment 23 real-time condition the processing mode of implementing real-time condition in well within showing well send instruction；
Mechanical arm 27 is connected with control equipment 23, lowering or hoisting gear 26, communication antenna 24, processes for detecting real-time condition in well the instruction that sends real-time condition in well by control equipment；
Lowering or hoisting gear 26 is connected with control equipment, well head adjusting means, the transport of article in well；
Well head adjusting means 25 is for regulating the state of lowering or hoisting gear energy trouble-free operation；
Communication antenna 23 real-time condition information transmit information to control equipment in received well.
Further, described control equipment 23 includes video monitoring display, operational motion display, environment display device, sound console, analog signal generator, control rocking bar, controls main frame, converter；Described video monitoring display, operational motion display, environment display device, sound console, analog signal generator, control rocking bar, control main frame, converter are all connected with control main frame.
As shown in Figure 2 and Figure 5: described mechanical arm 27 includes that suspension ring 1, gravity sensor 2, mechanical arm antenna 3, support means 4, air pump solenoid valve 5, power supply the 6, first mainboard the 7, second mainboard 8, electric rotating machine 9, rotating disk 10, subsidiary minute hoist engine 11, the miniature hoist engine of main hook 12, sound equipment 13, main camera 14, clamping are loosened motor 15, mike 16, received arm semi-girder motor 17, pinhole camera 18, illuminator 19, mechanical hand 20, anti-fall air bag 21；
nullDescribed suspension ring 1 are connected to support means 4 middle and upper part，Mechanical arm antenna 3 is positioned at both sides, support means 4 top，Gravity sensor 2 is arranged on suspension ring 1，Air pump solenoid valve 5、Power supply 6、First mainboard 7、Second mainboard 8、Electric rotating machine 9 is arranged in support means 4 the most from top to bottom，Rotating disk 10 is arranged on support means 4 bottom，Subsidiary minute hoist engine 11 is arranged on rotating disk 10 bottom，The miniature hoist engine of main hook 12 is arranged on subsidiary minute hoist engine 11 bottom，Sound equipment 13 is arranged on main hook miniature hoist engine 12 bottom，Main camera 14 is arranged on sound equipment 13 middle and lower part，Clamping is loosened motor 15 and is arranged on sound equipment 13 bottom and is positioned at main camera 14 both sides，Mike 16 is connected to sound equipment 13 bottom，Receipts arm semi-girder motor 17 is arranged on clamping and loosens motor 15 bottom，Pinhole camera 18 is arranged on mechanical hand 20，Mechanical hand 20 is connected to receive arm semi-girder motor 17 bottom，Illuminator 19、Anti-fall air bag 21 is installed in support means 4.
Further, described gravity sensor 2, mechanical arm antenna 3, air pump solenoid valve the 5, first mainboard the 7, second mainboard 8, electric rotating machine 9, subsidiary minute hoist engine 11, the miniature hoist engine of main hook 12, sound equipment 13, pinching action motor 15, mike 16, semi-girder receipts arm motor 17, pinhole camera 18, illuminator 19 are all connected with power supply 6.
As shown in Figure 3 and Figure 4: described support means 4 is tower structure, described mechanical hand 20 is two, and described mechanical hand 20 includes that semi-girder is received arm configuration 20-1, rotational structure 20-2, risen and put hook structure 20-3；Described mechanical hand 20 is received arm motor 17 by steel wire rope with electric rotating machine 9, subsidiary minute hoist engine 11, the miniature hoist engine of main hook 12, pinching action motor 15, semi-girder and is connected.
Further, described illuminator 19 includes major light and weak light lamp.Described main camera is provided with multi-path high-definition monitoring screen.
Further, described deep well rescue device also includes that family members comfort district 22, and family members comfort that district 22 includes that aboveground wireless headset and wireless capacitance microphone, described aboveground wireless headset and wireless capacitance microphone are connected with audio amplifier 13 and the mike 16 of mechanical arm 27.
Further, described lowering or hoisting gear 26 includes hoist engine, steel wire rope and external brake, and steel wire rope is installed on hoist engine, and hoist engine electrically connects with external brake, described external brake electrically connects with the control main frame controlling equipment, and described mechanical arm 27 hangs on the hook that hoist engine is arranged.
Further, described well head adjusting means 25 is provided with well head actuator, described well head actuator is made up of two deceleration hollow motor and screw rod, and well head actuator is for regulating the center of the steel wire rope of lowering or hoisting gear, and described communication antenna 24 is arranged on directly over well head.
Operation principle:
The present invention control equipment control mechanical arm can action, down-hole situation can be seen during operation clearly, can carry out linking up with captive is all to be sent instruction by control system, and control system uses a people to manipulate design, can grasp rescue progress comprehensively,
Mechanical arm uses tower structure, and tower structure can arbitrarily regulate the height of each structure, in order to extends more function, and mechanical arm can be divided into two parts, the most detachable from rotating part, in order to transport；
Lowering or hoisting gear then uses conventional construction hoist engine to convert, because converter to be used, so the brake unit carried is invalid, needs to install external brake unit, control centre is uniformly controlled；
Well head adjusting means is to regulate the center of steel wire rope by two deceleration hollow motor lead-screws；
Communication antenna is downhole hardware and control the bridge of linking of devices, uses the mode of the wireless telecommunications such as RS485, DMX512, audio-visual 2.4G, FM frequency modulation, it is ensured that device properly functioning, will install during utilization with well head directly over, it is ensured that the reliability of communication；
Manipulator design of the present invention 2, it is to utilize to organize lever principle more, the action utilizing the miniature hoist engine that slows down pulls steel wire rope to drive manipulator behavior to complete rescue action, mechanical hand also by many groups reducing motor by gear drive can reach semi-girder, receive arm, rotate, hook up, put the actions such as hook by captive from deep-well embrace purpose, each action can be with self contained function, and the action dynamics of mechanical hand can be regulated, accuracy for action, it is assembled with pinhole camera at action position, and arbitrarily can switch with main camera；
Family members comfort the setting in district, and when rescue, family members connect sound equipment and the mike of mechanical arm by aboveground wireless headset and wireless capacitance microphone, and energy is preferably and captive carries out the communication in soul, and linguistic communication tends to become the potion good medicine of rescue；
nullThe present invention be provided with multiple can be to the real time temperature in well and outside well、Air pressure、Harmful gas、Oxygen concentration etc. detection detector and the information of detection is passed to control centre，Foundation is provided for next step rescue，Illuminator is in rescue，Mechanical hand leaves major light when going into the well away from 5 meters from captive can see situation in well clearly，From captive 5 meter Nei Kai soft light，Avoid captive uncomfortable，Main camera is provided with multi-path high-definition monitoring screen，Can be crossed by screen supervising device external control center and see real-time condition in well clearly，The place that tens meters or rice up to a hundred are deep can be transported by lowering or hoisting gear，Can be transported the most smoothly by the lowering or hoisting gear arranged，Weight sensor is monitored hauled weight in real time and is carried out planned transport，Anti-fall air bag is implanted and does not crash into shaft bottom or be stuck in the bottom of captive in the middle part of well，Captive is avoided to cause secondary injury，Sound equipment informs that when lowering or hoisting gear declines some self-insurance measures etc. that captive should be taked carry out reporting mustering the courage for captive simultaneously；It is accurate that support means ensures during manipulator behavior, and well head adjusting means ensures lowering or hoisting gear work well.
The above is only to presently preferred embodiments of the present invention, not the present invention is made any pro forma restriction, every technical spirit according to the present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, belongs in the range of technical solution of the present invention.
Claims (9)
1. a deep well rescue device, it is characterised in that include control equipment, mechanical arm, lowering or hoisting gear, well head adjusting means, communication antenna；
Control equipment is connected with mechanical arm, lowering or hoisting gear, well head adjusting means, communication antenna；
Control equipment is for showing that real-time condition in well the processing mode implementing real-time condition in well send instruction；
Mechanical arm with control equipment, lowering or hoisting gear, communication antenna are connected, be used for detecting real-time condition in well and the instruction that sends real-time condition in well by control equipment process；
Lowering or hoisting gear is connected with control equipment, well head adjusting means, the transport of article in well；
Well head adjusting means is used for regulating lowering or hoisting gear running status；
Communication antenna real-time condition information transmit information to control equipment in the received well.
2. deep well rescue device as claimed in claim 1, it is characterised in that described control equipment includes video monitoring display, operational motion display, environment display device, sound console, analog signal generator, control rocking bar, controls main frame, converter；Described video monitoring display, operational motion display, environment display device, sound console, analog signal generator, control rocking bar, control main frame, converter are all connected with control main frame.
3. deep well rescue device as claimed in claim 1, it is characterized in that, described mechanical arm includes that motor, mike, receipts arm semi-girder motor, pinhole camera, illuminator, mechanical hand, anti-fall air bag are loosened in suspension ring, gravity sensor, mechanical arm antenna, support means, air pump solenoid valve, power supply, the first mainboard, the second mainboard, electric rotating machine, rotating disk, subsidiary minute hoist engine, the miniature hoist engine of main hook, sound equipment, main camera, clamping；
Described suspension ring are connected to support means middle and upper part, mechanical arm antenna is positioned at both sides, support means top, gravity sensor is arranged on suspension ring, air pump solenoid valve, power supply, first mainboard, second mainboard, electric rotating machine is arranged in support means the most from top to bottom, rotating disk is arranged on support means bottom, subsidiary minute hoist engine is arranged on rotating disk bottom, the miniature hoist engine of main hook is arranged on subsidiary minute hoist engine bottom, sound equipment is arranged on main hook miniature hoist engine bottom, main camera is arranged on sound equipment middle and lower part, clamping is loosened motor and is arranged on sound equipment bottom and is positioned at main camera both sides, mike is connected to sound equipment bottom, receipts arm semi-girder motor is arranged on clamping and loosens motor lower portion, pinhole camera is installed on a robotic arm, mechanical hand is connected to receive arm semi-girder motor lower portion, illuminator, anti-fall air bag is installed in support means.
4. deep well rescue device as claimed in claim 3, it is characterized in that, described gravity sensor, mechanical arm antenna, air pump solenoid valve, the first mainboard, the second mainboard, electric rotating machine, subsidiary minute hoist engine, the miniature hoist engine of main hook, sound equipment, pinching action motor, mike, semi-girder receipts arm motor, pinhole camera, illuminator are all connected with power supply.
5. deep well rescue device as claimed in claim 3, it is characterised in that described support means is tower structure, and described mechanical hand is two, described mechanical hand includes that semi-girder is received arm configuration, rotational structure, risen and put hook structure；Described mechanical hand is received arm motor by steel wire rope with electric rotating machine, subsidiary minute hoist engine, the miniature hoist engine of main hook, pinching action motor, semi-girder and is connected.
6. deep well rescue device as claimed in claim 3, it is characterised in that described illuminator includes that major light and the low light level, described main camera are provided with multi-path high-definition monitoring screen.
7. deep well rescue device as claimed in claim 1, it is characterized in that, described deep well rescue device also includes that family members comfort that district, family members comfort that district includes that aboveground wireless headset and wireless capacitance microphone, described aboveground wireless headset and wireless capacitance microphone are connected with audio amplifier and the mike of mechanical arm.
8. deep well rescue device as claimed in claim 1, it is characterized in that, described lowering or hoisting gear includes hoist engine, steel wire rope and external brake, steel wire rope is installed on hoist engine, hoist engine electrically connects with external brake, described external brake electrically connects with the control main frame controlling equipment, and described mechanical arm hangs on the hook that hoist engine is arranged.
9. deep well rescue device as claimed in claim 1, it is characterized in that, described well head adjusting means is provided with well head actuator, described well head actuator is made up of two deceleration hollow motor and screw rod, well head actuator is for regulating the center of the steel wire rope of lowering or hoisting gear, and described communication antenna is arranged on directly over deep-well well head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610228035.XA CN105816977A (en) | 2016-04-12 | 2016-04-12 | Deep-well rescuing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610228035.XA CN105816977A (en) | 2016-04-12 | 2016-04-12 | Deep-well rescuing device |
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| CN105816977A true CN105816977A (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610228035.XA Pending CN105816977A (en) | 2016-04-12 | 2016-04-12 | Deep-well rescuing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107837472A (en) * | 2016-09-18 | 2018-03-27 | 湖北汽车工业学院 | A kind of deep well rescue is without secondary damage device |
| CN109260623A (en) * | 2018-07-19 | 2019-01-25 | 佛山市洵腾科技有限公司 | A kind of Underwell rescue device |
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| US20110227354A1 (en) * | 2008-11-24 | 2011-09-22 | Jainendra Kumar Singh | Rescue device for marooned victims |
| 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 |
| CN203139454U (en) * | 2013-04-16 | 2013-08-21 | 吕子强 | Rescue equipment with guard ring |
| CN103397902A (en) * | 2013-08-22 | 2013-11-20 | 赵元杰 | Intelligent rescue machine used for vertical shaft |
| US20150306433A1 (en) * | 2014-04-23 | 2015-10-29 | King Abdul Aziz City for Science and Technology (KACST) | Well rescue device |
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| US20110227354A1 (en) * | 2008-11-24 | 2011-09-22 | Jainendra Kumar Singh | Rescue device for marooned victims |
| 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 |
| CN203139454U (en) * | 2013-04-16 | 2013-08-21 | 吕子强 | Rescue equipment with guard ring |
| CN103397902A (en) * | 2013-08-22 | 2013-11-20 | 赵元杰 | Intelligent rescue machine used for vertical shaft |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107837472A (en) * | 2016-09-18 | 2018-03-27 | 湖北汽车工业学院 | A kind of deep well rescue is without secondary damage device |
| CN109260623A (en) * | 2018-07-19 | 2019-01-25 | 佛山市洵腾科技有限公司 | A kind of Underwell rescue device |
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Application publication date: 20160803 |
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