CN107096150A - A kind of motor-pumped well rescue equipment for being provided with six rotors - Google Patents
A kind of motor-pumped well rescue equipment for being provided with six rotors Download PDFInfo
- Publication number
- CN107096150A CN107096150A CN201710313413.9A CN201710313413A CN107096150A CN 107096150 A CN107096150 A CN 107096150A CN 201710313413 A CN201710313413 A CN 201710313413A CN 107096150 A CN107096150 A CN 107096150A
- Authority
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- China
- Prior art keywords
- stepper motor
- connecting rod
- motor
- frame
- groups
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
Abstract
A kind of motor-pumped well rescue equipment for being provided with six rotors, belongs to fire service inventory field.It is by frame, two groups of manipulators, what six groups of driving supporting legs and six groups of rotors were constituted, there is video camera in frame, the element such as searchlight and electrical control, manipulator has mechanical paw, sleeve screw, shaft coupling, sleeve, sleeve stepper motor, the structure such as linking arm and linking arm stepper motor, driving has roller on supporting leg, roller stepper motor, lower connecting rod, lower connecting rod stepper motor, upper connecting rod, the mechanisms such as upper connecting rod stepper motor, rotor is by rotor blade, what brushless electric machine and brushless electric machine bearing were constituted, when the device works, six groups of propeller blades of rotation can promote the flowing of air in motor-pumped well at a high speed, auxiliary power is provided for frame, mitigate the support force of driving supporting leg, the device mobility strong, can real-time remote monitoring, improve rescue efficiency.
Description
Technical field
The present invention relates to a kind of motor-pumped well rescue equipment for being provided with six rotors, specifically employ bottom and be provided with six
A kind of motor-pumped well that six groups of screw wings are provided with six prism frames of group driving supporting leg and two groups of manipulators, its top hexagonal is rescued
Shaking apparatus, belongs to fire service inventory field.
Background technology
There are many motor-pumped wells in China rural area, these motor-pumped wells typically there are tens meters of depths, it is most deep up to rice up to a hundred, villagers
So deep motor-pumped well is beaten, primarily to exploitation Deep Groundwater, for groundwater abstraction irrigated farmland.But these motor-pumped wells
The most very little of well head, it is generally several centimetres to tens centimetres, usually unattended, it is mostly exposed on ground or only with simple screening
Block material is covered.Because rural area villager's universal security realizes thin, discarded motor-pumped well do not fill, untreated also increasingly increases
Many, these unserviced motor-pumped wells have huge potential safety hazard, easily cause child to slip and fall.
There are many deficiencies in some current motor-pumped well Rescue Kits, such as equipment is huge, and cost is high, be difficult to carry, limitation
Greatly, rescue efficiency is low, it is difficult to which the need for meeting modern rescue aid, people rescue in the urgent need to more practical motor-pumped well
Device.
Six rotors, i.e. six rotorcraft, are a kind of to have six groups of propellers and propeller to be in the flight that regular hexagon is arranged
Device.Six rotors do not need runway just can in the air be hovered after taking off with VTOL.Six rotor structures are simple, compact,
Motion is flexible, because six rotor manipulating principles are simple and safe and reliable, although often applying in terms of taking photo by plane, investigating,
The application of deep well rescue is more rare above, more lacks the case applied on motor-pumped well rescue equipment.
The content of the invention
For above-mentioned deficiency, the invention provides a kind of motor-pumped well rescue equipment for being provided with six rotors.
The present invention is achieved by the following technical solutions：A kind of motor-pumped well rescue equipment for being provided with six rotors, is by machine
What frame, two groups of manipulators, six groups of driving supporting legs and six groups of rotors were constituted, it is characterised in that：Described frame is in hexagon,
Machine frame inside is provided with the electric controling elements such as controller, battery pack, the various sensors of electricity mediation, and frame lower is provided with shooting
The equipment such as machine and searchlight, described manipulator have mechanical paw, sleeve screw, shaft coupling, sleeve, sleeve stepper motor,
The structure such as linking arm and linking arm stepper motor, two groups of linking arm stepper motors are fixed on bottom of the frame, and symmetrical distribution connects
Connect arm stepper motor with one end of linking arm to be connected, sleeve and sleeve stepper motor are fixed on the other end in linking arm, sleeve
There are three raised grooves bottom, and three mechanical paws are by pin hinges on groove, and the top of three mechanical paws is half
Circular gear structure, and closely screwed with sleeve screw, sleeve screw is connected by shaft coupling with sleeve stepper motor, described
Driving has roller, roller stepper motor, lower connecting rod, lower connecting rod stepper motor, upper connecting rod, upper connecting rod on supporting leg
The mechanisms such as stepper motor, six groups of upper connecting rod stepper motors are separately fixed on six corner angle of frame, the two ends of upper connecting rod
Upper connecting rod stepper motor and lower connecting rod stepper motor are connected respectively, and the two ends of lower connecting rod connect lower connecting rod stepping respectively
Roller is installed on motor and roller stepper motor, roller stepper motor, described rotor be by rotor blade, brushless electric machine and
What brushless electric machine bearing was constituted, six groups of brushless electric machine bearings are separately fixed on six corner angle of frame, and brushless electric machine is fixed on
On brushless electric machine bearing, rotor blade is fixed on brushless electric machine.
The usefulness of the invention is, when the device works, six groups of propeller blades high speed under the driving of brushless electric machine
Operating, it can provide auxiliary power to one side for frame, mitigate the support force of driving supporting leg, so as to bear larger lotus
Carry, improve the stability and reliability of device work, on the other hand, the propeller blade of rotation can also promote in motor-pumped well at a high speed
The flowing of air, is conducive to the convection current of air in motor-pumped well, improves underground air quality, down-hole trapped personnel is ensured to greatest extent
Living environment.In addition, the device mobility strong, is swift in response, when accident comes interim, rescue personnel can be by remotely grasping
The device is controlled, makes to reach the spot in its very first time, and rescue work can be carried out automatically immediately, rescuing for a large amount of preciousnesses is saved
Help the time.
Brief description of the drawings
Accompanying drawing 1 is the structural representation of the present invention；
Accompanying drawing 2 is the structural representation of mechanical arm of the present invention；
Accompanying drawing 3 is sectional view at mechanical arm A-A of the present invention；
Accompanying drawing 4 drives the structural representation of support base for the present invention；
Accompanying drawing 5 is the structural representation of rotor of the present invention.
In figure, 1, manipulator, 101, mechanical paw, 102, sleeve, 103, linking arm, 104, sleeve stepper motor, 105,
Linking arm stepper motor, 106, sleeve screw, 107, shaft coupling, 2, frame, 201, video camera, 202, searchlight, 3, driving branch
Support leg, 301, roller, 302, roller stepper motor, 303, lower connecting rod, 304, lower connecting rod stepper motor, 305, upper connection
Bar, 306, upper connecting rod stepper motor, 4, rotor, 401, rotor blade, 402, brushless electric machine, 403, brushless electric machine bearing.
Embodiment
A kind of motor-pumped well rescue equipment for being provided with six rotors, is by two groups of manipulators 1, frame 2, six groups of driving supporting legs 3
Constituted with six groups of rotors 4, it is characterised in that：Described frame 2 is in hexagon, and machine frame inside is provided with various electrical controls
Element, frame lower is provided with the equipment such as video camera 201 and searchlight 202, and described manipulator 1 has mechanical paw 101, set
The knots such as cylinder screw rod 106, shaft coupling 107, sleeve 102, sleeve stepper motor 104, linking arm 103 and linking arm stepper motor 105
Structure, two groups of linking arm stepper motors 105 are fixed on the bottom of frame 2, symmetrical distribution, and linking arm stepper motor 105 is with being connected
One end of arm 103 is connected, and sleeve 102 and sleeve stepper motor 104 are fixed on the other end in linking arm 103, the bottom of sleeve 102
There are three raised grooves, three mechanical paws 101 are by pin hinges on groove, and the top of three mechanical paws 101 is
Semi-circular teeth wheel construction, and closely screwed with sleeve screw 106, sleeve screw 105 passes through shaft coupling 107 and sleeve stepper motor
104 are connected, and have roller 301, roller stepper motor 302, lower connecting rod 303, lower connecting rod step on described driving supporting leg 3
The mechanisms such as stepper motor 304, upper connecting rod 305, upper connecting rod stepper motor 306, six groups of upper connecting rod stepper motors 306 are solid respectively
It is scheduled on six corner angle of frame 2, the two ends of upper connecting rod 305 connect upper connecting rod stepper motor 306 and lower connecting rod respectively
Stepper motor 304, the two ends of lower connecting rod 303 connect lower connecting rod stepper motor 303 and roller stepper motor 302 respectively, rolling
Roller 301 is installed on wheel stepper motor 302, described rotor 4 is by rotor blade 401, brushless electric machine 402 and brushless electric machine
What bearing 403 was constituted, six groups of brushless electric machine bearings 403 are separately fixed on six corner angle of frame 2, and brushless electric machine 402 is fixed
On brushless electric machine bearing 403, rotor blade 401 is fixed on brushless electric machine 402.
When the device works, the video camera 201 and searchlight 202 of the bottom of frame 2 are opened, the various electricity inside frame 2
Device control element start working, rescue personnel can real-time remote monitoring, six groups of driving supporting legs 3 are flexed outward, in upper connecting rod
Under the driving of stepper motor 306 and lower connecting rod stepper motor 304, upper connecting rod 305 and lower connecting rod 303 deploy to the periphery,
Under the drive of the upper roller stepper motor 302 of lower connecting rod 303, roller 301 compresses motor-pumped well inwall and moved up and down, so as to drive
The motion of frame 2, six groups of propeller blades 401 run at high speed under the driving of brushless electric machine 402, promote the stream of air in motor-pumped well
It is dynamic, it is that frame 2 provides auxiliary power, mitigates the support force of driving supporting leg 3, when the device reaches down-hole trapped personnel position
When, manipulator 1 starts action, and under the driving of linking arm stepper motor 105, it is suitable that linking arm 103 is moved to trapped personnel
Position, the sleeve stepper motor 104 of the end of linking arm 103 drives sleeve screw 106 to rotate, so that mechanical paw 101 is clamped
The body of trapped personnel, implements rescue.
For the ordinary skill in the art, according to the teachings of the present invention, do not depart from the present invention principle with
In the case of spirit, changes, modifications, replacement and the modification carried out to embodiment still fall within protection scope of the present invention it
It is interior.
Claims (2)
1. a kind of motor-pumped well rescue equipment for being provided with six rotors, is by frame, two groups of manipulators, six groups of driving supporting legs and six groups
Rotor composition, it is characterised in that：Described frame is in hexagon, and machine frame inside is provided with controller, battery pack, electricity and reconciled
The electric controling elements such as various sensors, frame lower is provided with the equipment such as video camera and searchlight, and described manipulator has
The structures such as mechanical paw, sleeve screw, shaft coupling, sleeve, sleeve stepper motor, linking arm and linking arm stepper motor, two groups
Linking arm stepper motor is fixed on bottom of the frame, and symmetrical distribution, linking arm stepper motor is connected with one end of linking arm, set
Cylinder and sleeve stepper motor are fixed on the other end in linking arm, and sleeve bottom end has three raised grooves, three mechanical paws
By pin hinges on groove, the top of three mechanical paws is semi-circular teeth wheel construction, and is closely screwed with sleeve screw,
Sleeve screw is connected by shaft coupling with sleeve stepper motor, on described driving supporting leg have roller, roller stepper motor,
The mechanisms such as lower connecting rod, lower connecting rod stepper motor, upper connecting rod, upper connecting rod stepper motor, six groups of upper connecting rod stepping electricity
Machine is separately fixed on six corner angle of frame, and the two ends of upper connecting rod connect upper connecting rod stepper motor and lower connecting rod respectively
Stepper motor, the two ends of lower connecting rod are connected on lower connecting rod stepper motor and roller stepper motor, roller stepper motor respectively
Roller is installed, described rotor is made up of rotor blade, brushless electric machine and brushless electric machine bearing, six groups of brushless electric machine branch
Seat is separately fixed on six corner angle of frame, and brushless electric machine is fixed on brushless electric machine bearing, and rotor blade is fixed on brushless
On motor.
2. a kind of motor-pumped well rescue equipment for being provided with six rotors as claimed in claim 1, it is characterised in that six described rotors
It is a kind of to have six groups of propellers and propeller to be in the aircraft that regular hexagon is arranged.Six rotors are equidistantly placed in six of frame
On corner angle, six rotors can be with VTOL and hovering, and when six rotors work, it provides auxiliary power for frame, mitigates
The support force of supporting leg is driven, larger load is born, promotes the flowing of air in motor-pumped well, is conducive to pair of air in motor-pumped well
Stream, operator can long-range real-time control device, it is quickly reached rescue site, and automatic development rescue work immediately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710313413.9A CN107096150A (en) | 2017-05-05 | 2017-05-05 | A kind of motor-pumped well rescue equipment for being provided with six rotors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710313413.9A CN107096150A (en) | 2017-05-05 | 2017-05-05 | A kind of motor-pumped well rescue equipment for being provided with six rotors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107096150A true CN107096150A (en) | 2017-08-29 |
Family
ID=59656892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710313413.9A Withdrawn CN107096150A (en) | 2017-05-05 | 2017-05-05 | A kind of motor-pumped well rescue equipment for being provided with six rotors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107096150A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247616A (en) * | 2018-03-14 | 2018-07-06 | 金陵科技学院 | A kind of factory is with land sky double-purpose sorting machine people |
| CN108578925A (en) * | 2018-05-09 | 2018-09-28 | 桑炜童 | A kind of deep well rescue device |
| CN110193153A (en) * | 2019-06-03 | 2019-09-03 | 河南大域航空科技有限公司 | A kind of outdoor fire disaster rescue auxiliary device based on unmanned plane |
| CN110404203A (en) * | 2019-08-03 | 2019-11-05 | 任玉志 | A kind of deep well rescue machine people |
| CN114789903A (en) * | 2022-05-06 | 2022-07-26 | 武汉诺得佳科技有限公司 | Intelligent robot snatchs handling device |
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| US4561825A (en) * | 1982-03-26 | 1985-12-31 | Hitachi, Ltd. | Apparatus for fetching component parts |
| CN101507865A (en) * | 2009-03-24 | 2009-08-19 | 山东科技大学 | Rescue robot capable of falling into well |
| CN101703829A (en) * | 2009-10-28 | 2010-05-12 | 东北大学 | Underground rescue robot |
| CN103465263A (en) * | 2013-09-16 | 2013-12-25 | 江苏尚诚精密模具科技有限公司 | Intelligent transfer robot |
| CN104494818A (en) * | 2014-11-28 | 2015-04-08 | 吉林大学 | Novel four-rotor-wing amphibious robot |
| CN204495579U (en) * | 2015-03-18 | 2015-07-22 | 三峡大学 | A kind of nuclear accident spot sampling and monitoring wireless deliverance apparatus |
| WO2015167103A1 (en) * | 2014-05-02 | 2015-11-05 | 안정철 | Drone for rescuing drowning person |
| KR20160046582A (en) * | 2014-10-21 | 2016-04-29 | 연세대학교 산학협력단 | Apparatus and method for dropping multiple objects from UAV |
| CN106240808A (en) * | 2016-07-31 | 2016-12-21 | 丁皇刚 | A kind of rollover vehicular rescue unmanned plane |
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Patent Citations (9)
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| US4561825A (en) * | 1982-03-26 | 1985-12-31 | Hitachi, Ltd. | Apparatus for fetching component parts |
| CN101507865A (en) * | 2009-03-24 | 2009-08-19 | 山东科技大学 | Rescue robot capable of falling into well |
| CN101703829A (en) * | 2009-10-28 | 2010-05-12 | 东北大学 | Underground rescue robot |
| CN103465263A (en) * | 2013-09-16 | 2013-12-25 | 江苏尚诚精密模具科技有限公司 | Intelligent transfer robot |
| WO2015167103A1 (en) * | 2014-05-02 | 2015-11-05 | 안정철 | Drone for rescuing drowning person |
| KR20160046582A (en) * | 2014-10-21 | 2016-04-29 | 연세대학교 산학협력단 | Apparatus and method for dropping multiple objects from UAV |
| CN104494818A (en) * | 2014-11-28 | 2015-04-08 | 吉林大学 | Novel four-rotor-wing amphibious robot |
| CN204495579U (en) * | 2015-03-18 | 2015-07-22 | 三峡大学 | A kind of nuclear accident spot sampling and monitoring wireless deliverance apparatus |
| CN106240808A (en) * | 2016-07-31 | 2016-12-21 | 丁皇刚 | A kind of rollover vehicular rescue unmanned plane |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247616A (en) * | 2018-03-14 | 2018-07-06 | 金陵科技学院 | A kind of factory is with land sky double-purpose sorting machine people |
| CN108578925A (en) * | 2018-05-09 | 2018-09-28 | 桑炜童 | A kind of deep well rescue device |
| CN110193153A (en) * | 2019-06-03 | 2019-09-03 | 河南大域航空科技有限公司 | A kind of outdoor fire disaster rescue auxiliary device based on unmanned plane |
| CN110404203A (en) * | 2019-08-03 | 2019-11-05 | 任玉志 | A kind of deep well rescue machine people |
| CN114789903A (en) * | 2022-05-06 | 2022-07-26 | 武汉诺得佳科技有限公司 | Intelligent robot snatchs handling device |
| CN114789903B (en) * | 2022-05-06 | 2023-06-06 | 武汉诺得佳科技有限公司 | Intelligent robot snatchs handling device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170829 |
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| WW01 | Invention patent application withdrawn after publication |