CN105881542A - Mechanical hand for rescue in deep well - Google Patents
Mechanical hand for rescue in deep well Download PDFInfo
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- CN105881542A CN105881542A CN201410682252.7A CN201410682252A CN105881542A CN 105881542 A CN105881542 A CN 105881542A CN 201410682252 A CN201410682252 A CN 201410682252A CN 105881542 A CN105881542 A CN 105881542A
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Abstract
The invention relates to a mechanical hand for rescue in a deep well. The mechanical hand comprises a supporting claw body, a fishing claw rotating disc, opening-closing claws I, opening-closing claws II, opening-closing claws III, a supporting claw motor and a telescopic motor, wherein a rotating motor is fixedly mounted on a plate frame below the supporting claw motor; the fishing claw rotating disc is arranged below a supporting claw motor supporting plate; the lower end of a driving shaft of the telescopic motor is connected at an interface of a gripper; an interface plate, a motor supporting plate and a clamping frame supporting plate are sequentially arranged below the interface of the gripper; a clamping telescopic motor is arranged on the motor supporting plate; an opening-closing claw bracket is mounted on the clamping frame supporting plate; the opening-closing claws I are movably connected on the two sides of the bottom of the opening-closing claw bracket; and the opening-closing claws I are sequentially connected with the opening-closing claws II and the opening-closing claws III. The mechanical hand has the beneficial effects that the distance can be adjusted in certain range, relevant intelligent instruments are arranged, on-site operation can be carried out more conveniently, the mechanical hand is applicable to different types of small-diameter wells, and the claw can achieve rescue more easily and safely through intelligent control.
Description
Technical field
The present invention relates to a kind of deliverance apparatus, particularly relate to a kind of deep well rescue machinery hand.
Background technology
In recent years, newspaper, the relevant child of the common report of the media such as TV falls into small-diameter deep well (mostly being diameter 25-45cm pipe of cement motor-pumped well) and the message of rescue, owing to the tiny degree of depth of hole diameter is the deepest, adult cannot go into the well rescue, if standing upside down rescue of going into the well by force, personnel's cerebral blood pressure can be made to increase, anoxic, stuck in well, so the method for general rescue is to employ the main equipments such as excavator to sue and labour, this kind of method is time-consuming, arduously, costly, and rescue time is long, poor stability, cannot ensure that the life of personnel is rescued in down-hole, if child falls into the degree of depth more than 15m, utilize excavator also cannot implement rescue.For another example, owing to some water source is not the custom that the most sufficient rural area still maintains drinking water well, plus the laying everywhere of underground piping in city, a series of potential safety hazard brings the deep-well accident taken place frequently, and the demand moment of this kind equipment of deep well rescue is paid close attention to by people.
At present, China Patent No. is the patent only one of which small-diameter deep well salvage device of 2006200826385, and the innovative point of this small-diameter deep well salvage device is the application of 1. " crank cam mechanism "；2. connecting rod simultaneously works as the effect of cam follower and brace；3. coupled by inclined cutout more piece hollow pipe and form rigidity rope, simple in construction, diverse in function.It has also been found that this product also exists some defects, such as: bar is oversize, with hand be inconvenient to operate, wayward, the longest, easily miss rescue opportunity；Can not grab tighter by capturing object during crawl, security is unreliable.This case it is important to note that, the design main purpose of deep well rescue machinery hand is exactly to find a kind of special equipment for small-diameter deep well rescue, by it can convenient, fast, effectively solve the problem of life rescue in small-diameter deep well, the most also for daily life is fallen into small space salvaging accidentally, it is provided that a kind of method；By the design that XF-1 type deep-well is rescued, finally can successfully save more human life, pet life, also be able to salvage many important article simultaneously, retrieve great property loss；Support section, position portion, positioning part, monitor portion, retained part structurally can be set, many places use simple and reliable screw mechanism, achieve in certain scope apart from adjustable, be configured with relevant intelligence instrument, it is possible to operate the most on the spot simultaneously；Telescopic mounting enables this product to be applicable to the small-diameter well of different model, and claw can complete rescue by Based Intelligent Control simpler and saferly.Therefore, for the above, need prior art is reasonably improved.
Summary of the invention
For disadvantages described above, the present invention provide a kind of convenient can operate, can be suitably used for different model on the spot small-diameter well, rescue can be completed more simple and safely, clamping range is adjustable, rescue scope is wide deep well rescue machinery hand, to solve many deficiencies of prior art.
For achieving the above object, the present invention is by the following technical solutions:
A kind of deep well rescue machinery hand, including support claw body, support claw torque arm, support the arm that rises, bailer grab rotating disk, folding pawl I, folding pawl II, folding pawl III, support claw motor, electric rotating machine, telescope motor and steel wire rope, described support claw body both sides are respectively installed one and are connected screw rod I and arrange a sleeve pipe II in the middle part of support claw body, this sleeve pipe II is internal to be inserted support and rises arm leading screw and on support claw body, lower section is respectively provided with screw mandrel upper backup pad successively, support claw motor support plate, arrange rigid staybolt in sleeve pipe I and this sleeve pipe I in the middle part of screw mandrel upper backup pad therein to rise the top of arm leading screw, support claw motor is fixedly mounted bottom support claw motor support plate therein, described support arm leading screw side of rising arranges nut guide post and this nut guide post lower end is fixed on support claw body；Simultaneously, support between support claw body and screw mandrel upper backup pad is risen and is arranged support claw nut on arm leading screw and this support claw nut is pivotally connected with support claw torque arm upper end, this support claw torque arm lower end is flexibly connected support and rises arm and be flexibly connected support rise wheel in support arm lower end of rising, and this support is risen on arm with support claw extension spring I；Additionally, be horizontally mounted connecting plate and arrange a U-shaped screw on this connecting plate on screw rod above described screw mandrel upper backup pad；
Described support claw motor support plate is made up of upper and lower two-layer, electric rotating machine is fixedly mounted on grillage below support claw motor, in bailer grab rotating disk and this rotating disk centre bore are set below described support claw motor support plate, bailer grab rotary shaft is installed, described bailer grab rotating disk lower surface connects telescope motor with expansion bend interface and by this interface, and this bailer grab rotating disk lower surface is with lid；
Described telescope motor drive shaft lower end is connected to clamper interface, interface board it is horizontally disposed with the most successively below described clamper interface, motor support plate, by connecting screw rod II between holding frame support plate and this three ply board body, motor support plate upper surface therein arranges clamping telescope motor, on holding frame support plate therein fixedly mount folding pawl support and at folding pawl carriage center right angle setting folding screw rod, the one end fixing locking steel wire rope on clasp nut and this clasp nut is fixedly mounted on this folding screw rod, folding screw tip therein arranges screw rod adapter sleeve, folding pawl support therein is provided above folding motor；Additionally, arrange telescoping mechanism at holding frame support plate upper surface；
If described folding pawl pedestal lower end face is provided with pulley I and arranges in pulley II in side frame body under pulley I, these folding pawl frame bottom both sides are flexibly connected folding pawl I and each folding pawl I is sequentially connected with folding pawl II, folding pawl III；Steel wire rope is sequentially around on pulley I, pulley II, folding pawl I, folding pawl II, folding pawl III, and steel wire rope top is fixed on support claw extension spring II.
Ground supports part uses existing equipment Rescue Triangular Bracket, the steel cable other end under tripod connects manipulator, because being provided with manual setter on Rescue Triangular Bracket, the lifting of the most manually controllable steel cable, the depth direction of well regulates manipulator on a large scale, again because manual setter is with auto-lock function, can guarantee that the safe and reliable of rescue operations；In order to be suitable for the well of different model, the position portion of deep well rescue machinery hand design is made up of a set of three pawl carrying bodies, support claw screw rod realizes three-jaw and supports, the three-jaw of supporter be three save flexibly support arm link respectively band six rollers, owing to the bore of well differs, three pawl carrying bodies pass through folding, withstand the borehole wall, ensure when the execution action of manipulator for rescue stable, and pass through folding, it is possible to adapt to the well that caliber size differs.
Positioning means suitable can regulate manipulator in position both vertically and horizontally, so that manipulator finds suitably rescues position；For regulating the position of manipulator horizontal direction, have employed 360 ° of rotating disks, below rotating disk, have the expansion link of up and down motion, the position of adjustable mechanical hand vertical direction；Rotating disk uses deceleration motor device, and expansion link uses screw device, by the rotation of rotating disk and stretching of expansion link, adjusts the position of handgrip, makes handgrip be in suitable crawl position, smoothly complete grasping movement.
Monitor portion can be coordinated by illuminating lamp, camera, voice-frequency telephony and display screen composition, in the case of shaft bottom light is bad, shaft bottom is illuminated by illuminating lamp, enables camera clearly to absorb shaft bottom situation, and the image in shaft bottom is passed to ground display screen by camera, conversed by voice-frequency telephony device and captive simultaneously, facilitate operating personnel to understand shaft bottom situation, judge according to the situation in well, controlled the action of manipulator by remote control or wire-controlled apparatus.
Additionally, if implementing to accommodate part, retained part is swung body and movable handgrip and gravity sensitive forms by a set of, by swinging of swing arm body, the lateral attitude of adjustment activity handgrip, make movable handgrip be in suitable position, thus the arm and leg arm to captive performs to grab conjunction action；Operating personnel's remote control or line traffic control are controlled, make movable handgrip stop motion, immediately gravity check weighing is carried out, thus ensure that rescue operation personnel control handgrip dynamics is unlikely to cause trapped person because of the most excessive secondary injury, a following opponent is in substantially parallel position, turbo-dynamo drives little axle and movable handgrip to rotate opening and closing left and right, it is achieved flexibility grabs conjunction.
Having the beneficial effect that of deep well rescue machinery hand of the present invention
(1) use simple and reliable screw mechanism, achieve apart from adjustable in certain scope, the intelligence instrument that configuration is relevant, it is possible to operate the most on the spot；Telescopic mounting can be applicable to the small-diameter well of different model, and claw can complete rescue by Based Intelligent Control simpler and saferly；
(2) for different accident conditions, manipulator can be changed different handgrip operations and implement to rescue:
Water is had for the first situation i.e. shaft bottom, the situation that captive is bubbled through the water column, manipulator first completes to rotate location, makes the gap between handgrip alignment captive and well, then performs the positioning of vertical direction, make handgrip vertically downward through the space between captive and well, after completing two location, handgrip is laterally regained, then drive handgrip to firmly grasp captive by leading screw, finally unclamp positioner, pull on manipulator for rescue and complete rescue；
Water is not had for the second situation i.e. shaft bottom, captive drops to the situation in shaft bottom, manipulator first completes to rotate location, making the gap between device alignment captive and well of giving support to somebody, device of giving support to somebody vertically declines, and makes handgrip be lowered vertically into human body waist, then device of giving support to somebody is used to close up execution action, until captive is embraced completely, then regaining positioner, heaving mechanism completes rescue；
The least for the third situation i.e. hole diameter, captive is confined in the situation of the centre of well, and this kind of situation is to rescue cumbersome one in deep-well accident, and between captive and well, space is little even without space, brings bigger trouble to rescue；Run into this kind of situation to be typically to entangle the hand of captive with rope sling captive is pulled out well, but in this process, owing to the arm of captive is stuck by the borehole wall, movable scope is the least, because captive is distant from rescue personnel, can be highly difficult rescue personnel uses rope sling to entangle captive arm when, need to take a significant amount of time, position can be looked for by swing arm and rotation for this gripper equipment, catch the arm of trapped personnel to rescue rapidly；
(3) retractility of manipulator locating device and handgrip makes manipulator for rescue can be applicable to the rescue of Multiple Type well, and rescue is implemented in comprehensive control, and success rate is high；Observed by camera and audio system and understand the situation in shaft bottom, it is possible to making corresponding operation the most in light of the circumstances, be greatly improved the success rate of rescue；Human oriented design, is unlikely to secondary injury；
(4) avoiding handgrip in rescue operations and trapped person is caused secondary injury, device can be furnished with oxygen cylinder in addition, in time carries oxygen to captive in rescue operations, it is to avoid the expiratory dyspnea that in well, captive is caused by anoxic, suffocates to wait and injures；Apparatus structure is simple, it is easy to controls, can change rapidly handgrip, the most flexibly for different situations.
Accompanying drawing explanation
Below according to accompanying drawing, the present invention is described in further detail.
Fig. 1 is the upper part structural representation of deep well rescue machinery hand described in the embodiment of the present invention；
Fig. 2 is the lower part structural representation of deep well rescue machinery hand described in the embodiment of the present invention.
In figure:
1, support claw body；2, sleeve pipe I；3, support claw torque arm；4, the arm that rises is supportted；5, support claw nut；6, sleeve pipe II；7, the arm leading screw that rises is supportted；8, screw mandrel upper backup pad；9, support claw motor support plate；10, nut guide post；11, the wheel that rises is supportted；12, support claw extension spring I；13, screw rod I is connected；14, connecting plate；15, bailer grab rotating disk；16, lid；17, bailer grab rotary shaft；18, expansion bend interface；
19, clamper interface；20, interface board；21, motor support plate；22, clamping telescope motor；23, telescoping mechanism；24, holding frame support plate；25, folding motor；26, folding pawl support；27, folding screw rod；28, clasp nut；29, folding pawl I；30, folding pawl II；31, folding pawl III；32, screw rod adapter sleeve；33, support claw extension spring II；34, pulley I；35, pulley II；36, screw rod II is connected；37, support claw motor；38, electric rotating machine；39, U-shaped screw；40, telescope motor；41, steel wire rope.
Detailed description of the invention
nullAs shown in Figure 1-2，Deep well rescue machinery hand described in the embodiment of the present invention，Including support claw body 1、Support claw torque arm 3、Support the arm 4 that rises、Bailer grab rotating disk 15、Folding pawl I 29、Folding pawl II 30、Folding pawl III 31、Support claw motor 37、Electric rotating machine 38、Telescope motor 40 and steel wire rope 41，Described support claw body 1 both sides are respectively installed one and are connected screw rod I 13 and arrange a sleeve pipe II 6 in the middle part of support claw body 1，This sleeve pipe II 6 is internal to be inserted support and rises arm leading screw 7 and on support claw body 1、Lower section is respectively provided with screw mandrel upper backup pad 8 successively、Support claw motor support plate 9，Arrange rigid staybolt in sleeve pipe I 2 and this sleeve pipe I 2 in the middle part of screw mandrel upper backup pad 8 therein to rise the top of arm leading screw 7，Support claw motor 37 is fixedly mounted bottom support claw motor support plate 9 therein，Described support arm leading screw 7 side of rising arranges nut guide post 10 and this nut guide post 10 lower end is fixed on support claw body 1；Simultaneously, support between support claw body 1 and screw mandrel upper backup pad 8 is risen and is arranged support claw nut 5 on arm leading screw 7 and this support claw nut 5 is pivotally connected with support claw torque arm 3 upper end, this support claw torque arm 3 lower end is flexibly connected support and rises arm 4 and be flexibly connected support rise wheel 11 in support arm 4 lower end of rising, and this support is risen on arm 4 with support claw extension spring I 12；Additionally, be horizontally mounted connecting plate 14 and arrange a U-shaped screw 39 on this connecting plate 14 on screw rod above described screw mandrel upper backup pad 8；
Correspondingly, described support claw motor support plate 9 is made up of upper and lower two-layer, electric rotating machine 38 is fixedly mounted on grillage below support claw motor 37, in bailer grab rotating disk 15 and this rotating disk centre bore are set below described support claw motor support plate 9, bailer grab rotary shaft 17 is installed, described bailer grab rotating disk 15 lower surface connects telescope motor 40 with expansion bend interface 18 and by this interface, and this bailer grab rotating disk 15 lower surface is with lid 16；
Correspondingly, described telescope motor 40 drive shaft lower end is connected at clamper interface 19, interface board 20 it is horizontally disposed with the most successively below described clamper interface 19, motor support plate 21, by connecting screw rod II 36 between holding frame support plate 24 and this three ply board body, motor support plate 21 upper surface therein arranges clamping telescope motor 22, folding pawl support 26 is fixedly mounted and at folding pawl support 26 center right angle setting folding screw rod 27 on holding frame support plate 24 therein, the one end fixing locking steel wire rope 41 on clasp nut 28 and this clasp nut 28 is fixedly mounted on this folding screw rod 27, folding screw rod 27 top therein arranges screw rod adapter sleeve 32, folding pawl support 26 therein is provided above folding motor 25；Additionally, arrange telescoping mechanism 23 at holding frame support plate 24 upper surface；
Correspondingly, described folding pawl support 26 lower surface is provided with pulley I 34 and arranges some pulley II 35 in 34 times side frame body of pulley I, this folding pawl support 26 two bottom sides is flexibly connected folding pawl I 29 and each folding pawl I 29 is sequentially connected with folding pawl II 30, folding pawl III 31, some steel wire rope 41 correspondence is around on pulley I 34, pulley II 35, folding pawl I 29, folding pawl II 30, folding pawl III 31, and steel wire rope 41 top is fixed on support claw extension spring II 33.
Deep well rescue machinery hand described in the above embodiment of the present invention, ground supports part uses existing equipment Rescue Triangular Bracket, the steel cable other end under tripod connects manipulator, because being provided with manual setter on Rescue Triangular Bracket, the lifting of the most manually controllable steel cable, the depth direction of well regulates manipulator on a large scale, again because manual setter is with auto-lock function, can guarantee that the safe and reliable of rescue operations；In order to be suitable for the well of different model, the position portion of deep well rescue machinery hand design is made up of a set of three pawl carrying bodies, support claw screw rod realizes three-jaw and supports, the three-jaw of supporter be three save flexibly support arm link respectively band six rollers, owing to the bore of well differs, three pawl carrying bodies pass through folding, withstand the borehole wall, ensure when the execution action of manipulator for rescue stable, and pass through folding, it is possible to adapt to the well that caliber size differs.
Positioning means suitable can regulate manipulator in position both vertically and horizontally, so that manipulator finds suitably rescues position；For regulating the position of manipulator horizontal direction, have employed 360 ° of rotating disks, below rotating disk, have the expansion link of up and down motion, the position of adjustable mechanical hand vertical direction；Rotating disk uses deceleration motor device, and expansion link uses screw device, by the rotation of rotating disk and stretching of expansion link, adjusts the position of handgrip, makes handgrip be in suitable crawl position, smoothly complete grasping movement.
Monitor portion can be coordinated by illuminating lamp, camera, voice-frequency telephony and display screen composition, in the case of shaft bottom light is bad, shaft bottom is illuminated by illuminating lamp, enables camera clearly to absorb shaft bottom situation, and the image in shaft bottom is passed to ground display screen by camera, conversed by voice-frequency telephony device and captive simultaneously, facilitate operating personnel to understand shaft bottom situation, judge according to the situation in well, controlled the action of manipulator by remote control or wire-controlled apparatus.
Retained part can the flexible slide block that works independently of left and right and folding handgrip be formed by a pair, by the transverse movement of telescopic arm, the lateral attitude of regulation handgrip, makes handgrip be in suitable position, thus performs to pick up action to captive.Operating personnel's remote control or line traffic control are controlled, and make stop motion, thus ensure handgrip to be unlikely to because of the most excessive and trapped person is caused secondary injury；A pair following handgrip is in generally vertical position, and driven by motor screw mandrel rotates, slide block slide downward, drives handgrip free bend folding, it is achieved clamping；When captive is stuck in well, this device is used to rescue, this device is by screw rod slide block device execution action, owing to the gap between captive and the borehole wall is less, for reducing the space shared by device, during original state, device is in open configuration, during rescue, device passes between the gap between trapped personnel and the borehole wall, stop declining when arriving the underarm region of trapped personnel, two handgrips start expansion and close up, space through between trapped personnel underarm region and the borehole wall, last the two is closed up handgrip and is longitudinally closed up, trapped personnel is caught, device pulls out well both can be rescued by trapped personnel.
The above-mentioned description to embodiment be for the ease of those skilled in the art it will be appreciated that and application this case technology, these examples obviously can be made various amendment by person skilled in the art easily, and General Principle described herein is applied in other embodiments without through performing creative labour.Therefore, this case is not limited to above example, and those skilled in the art should be in the protection domain of this case according to the announcement of this case, the improvement made for this case and amendment.
Claims (6)
1. a deep well rescue machinery hand, including support claw body (1), support claw torque arm (3), support rise arm (4),
Bailer grab rotating disk (15), folding pawl I (29), folding pawl II (30), folding pawl III (31), support claw
Motor (37), electric rotating machine (38), telescope motor (40) and steel wire rope (41), it is characterised in that:
Described support claw body (1) both sides are respectively installed one and are connected screw rod I (13) and at support claw body
(1) middle part arranges a sleeve pipe II (6), this sleeve pipe II (6) is internal insert support rise arm leading screw (7) and
Screw mandrel upper backup pad (8), support claw motor support plate it is respectively provided with successively at support claw body (1) upper and lower
(9), screw mandrel upper backup pad (8) therein middle part is solid in arranging sleeve pipe I (2) and this sleeve pipe I (2)
Determine support to rise the top of arm leading screw (7), support claw motor support plate (9) therein bottom fixed installation support claw electricity
Machine (37), described support arm leading screw (7) side of rising arranges nut guide post (10) and this nut guide post
(10) lower end is fixed on support claw body (1)；Meanwhile, support claw body (1) with screw mandrel prop up
Support between fagging (8) is risen and is arranged support claw nut (5) and this support claw nut (5) on arm leading screw (7)
Being pivotally connected with support claw torque arm (3) upper end, this support claw torque arm (3) lower end is flexibly connected support and rises arm (4)
And being flexibly connected support rise wheel (11) in support arm (4) lower end of rising, this support is risen on arm (4) with support claw extension spring
I(12)；Additionally, be horizontally mounted connecting plate (14) on the screw rod of described screw mandrel upper backup pad (8) top
And a U-shaped screw (39) is set on this connecting plate (14)；
Described support claw motor support plate (9) is made up of upper and lower two-layer, at the plate of support claw motor (37) lower section
Fixedly mounting electric rotating machine (38) on frame, described support claw motor support plate (9) lower section arranges bailer grab and rotates
Bailer grab rotary shaft (17), described bailer grab rotating disk (15) are installed in dish (15) and this rotating disk centre bore
Lower surface connects telescope motor (40) with expansion bend interface (18) and by this interface, and this bailer grab revolves
Rotating disk (15) lower surface is with lid (16)；
Described telescope motor (40) drive shaft lower end is connected to clamper interface (19) place, described clamper
Interface (19) lower section is horizontally disposed with interface board (20), motor support plate (21), holding frame the most successively
By connecting screw rod II (36), motor support plate (21) therein between support plate (24) and this three ply board body
Upper surface arranges clamping telescope motor (22), and holding frame support plate (24) therein upper fixed installation folding pawl props up
Frame (26) and in folding pawl support (26) center right angle setting folding screw rod (27), this folding screw rod
(27) clasp nut (28) and the upper fixing locking steel wire rope (41) of this clasp nut (28) are fixedly mounted on
One end, folding screw rod (27) top therein arranges screw rod adapter sleeve (32), folding pawl support therein
(26) folding motor (25) it is provided above；Additionally, arrange telescopic machine at holding frame support plate (24) upper surface
Structure (23)；
Described folding pawl support (26) lower surface is provided with pulley I (34) and in pulley I (34) downside
Arranging some pulley II (35) on support body, this folding pawl support (26) two bottom sides is flexibly connected folding pawl I
And each folding pawl I (29) is sequentially connected with folding pawl II (30), folding pawl III (31) (29).
Deep well rescue machinery hand the most according to claim 1, it is characterised in that: described steel wire rope (41)
Sequentially it is around pulley I (34), pulley II (35), folding pawl I (29), folding pawl II (30), opens
Closing on pawl III (31), steel wire rope (41) top is fixed on support claw extension spring II (33).
Deep well rescue machinery hand the most according to claim 1, it is characterised in that: ground supports part is adopted
With existing equipment Rescue Triangular Bracket, the steel cable other end under tripod connects manipulator, because rescue triangle
Manual setter is installed on frame, the lifting of the most manually controllable steel cable, on the depth direction of well on a large scale
Regulation manipulator, again because manual setter is with auto-lock function, can guarantee that the safe and reliable of rescue operations；For
Can be suitable for the well of different model, the position portion of deep well rescue machinery hand design is by a set of three pawl carrying bodies
Composition, support claw screw rod realizes three-jaw and supports, and the three-jaw of supporter is three to save support arm flexibly
Link six rollers of band respectively, owing to the bore of well differs, three pawl carrying bodies pass through folding, withstand the borehole wall,
Ensure when the execution action of manipulator for rescue stable, and pass through folding, it is possible to adapt to caliber size and differ
Well.
Deep well rescue machinery hand the most according to claim 1, it is characterised in that: positioning means suitable energy
Enough regulation manipulators are in position both vertically and horizontally, so that manipulator finds suitably rescues position；
For regulating the position of manipulator horizontal direction, have employed 360 ° of rotating disks, below rotating disk, have up and down motion
Expansion link, the position of adjustable mechanical hand vertical direction；Rotating disk uses deceleration motor device, and expansion link is adopted
With screw device, by the rotation of rotating disk and stretching of expansion link, adjust the position of handgrip, make at handgrip
In suitable crawl position, smoothly complete grasping movement.
Deep well rescue machinery hand the most according to claim 1, it is characterised in that: monitor portion can be coordinated
By illuminating lamp, camera, voice-frequency telephony and display screen composition, in the case of shaft bottom light is bad, illumination
Shaft bottom is illuminated by lamp, enables camera clearly to absorb shaft bottom situation, and the image in shaft bottom is passed to ground by camera
Display screen on face, is conversed by voice-frequency telephony device and captive simultaneously, facilitates operating personnel to understand shaft bottom
Situation, judges according to the situation in well, is controlled the action of manipulator by remote control or wire-controlled apparatus.
Deep well rescue machinery hand the most according to claim 1, it is characterised in that: retained part is by a pair
The flexible slide block worked independently about can and folding handgrip composition, by the transverse movement of telescopic arm, regulation is grabbed
The lateral attitude of hand, makes handgrip be in suitable position, thus performs to pick up action to captive.
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| CN201410682252.7A CN105881542B (en) | 2014-11-25 | 2014-11-25 | A kind of deep well rescue machinery hand |
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| CN201410682252.7A CN105881542B (en) | 2014-11-25 | 2014-11-25 | A kind of deep well rescue machinery hand |
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| CN108381546A (en) * | 2018-05-17 | 2018-08-10 | 安徽理工大学 | Foundry robot's forearm with pneumatic gripping device |
| CN108381546B (en) * | 2018-05-17 | 2023-12-22 | 安徽理工大学 | Forearm for casting robot with pneumatic grip |
| CN108655688A (en) * | 2018-05-22 | 2018-10-16 | 阜阳市润泰通用机械有限公司 | A kind of mechanical arm for plank installation |
| CN109794012B (en) * | 2019-03-12 | 2023-09-12 | 中国人民解放军国防科技大学 | Flexible deep well rescue device |
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| CN110420411A (en) * | 2019-08-21 | 2019-11-08 | 青岛大学 | A kind of deep well rescue machine people adapting to a variety of postures |
| CN111037580A (en) * | 2019-12-30 | 2020-04-21 | 武汉大学 | Multi-purpose carborundum wafer transmission machinery hand |
| CN113818828A (en) * | 2020-06-19 | 2021-12-21 | 江门宝锐机械工程有限公司 | Screw principle fishing device |
| CN111846152A (en) * | 2020-07-29 | 2020-10-30 | 何秋锦 | Falling rescue mechanical arm |
| CN112088621A (en) * | 2020-09-01 | 2020-12-18 | 南京信息职业技术学院 | Flower transplanting paw with leaf gathering function |
| CN112843525A (en) * | 2021-02-07 | 2021-05-28 | 孙克宝 | Rescue auxiliary device in pit |
| CN112747486A (en) * | 2021-03-01 | 2021-05-04 | 杨启 | Solar water heater thermal-collecting tube cleaning device |
| CN115591149A (en) * | 2022-10-20 | 2023-01-13 | 河南工业大学（Cn） | Rescue device for variable-caliber deep motor-pumped well |
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