CN107837473A - Underground rescue robot - Google Patents
Underground rescue robot Download PDFInfo
- Publication number
- CN107837473A CN107837473A CN201710991090.9A CN201710991090A CN107837473A CN 107837473 A CN107837473 A CN 107837473A CN 201710991090 A CN201710991090 A CN 201710991090A CN 107837473 A CN107837473 A CN 107837473A
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- China
- Prior art keywords
- inner cylinder
- monolithic
- outer barrel
- suspension bracket
- cylinder
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- 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
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Emergency Lowering Means (AREA)
Abstract
A kind of underground rescue robot, including bracket institution and sleeve mechanism are set；Base is in the both sides of well head, and pole is ridden upon on two bases, and roller is sleeved on pole, and steel wire rope is around in roller set outer surface；Suspension bracket bottom surface is provided with multiple minitype cylinders along its circumference；Sleeve mechanism includes outer barrel and inner cylinder；Outer barrel is flexibly connected with suspension bracket；Inner cylinder is combined by the inner cylinder monolithic of several arcs；The medial surface bottom of each inner cylinder monolithic is provided with a supporting plate；Each corresponding inner cylinder monolithic of minitype cylinder, the output end of minitype cylinder at the top of inner cylinder monolithic with being fixedly connected；Each inner cylinder monolithic is inserted between two neighboring parting bead；It is pulled together between supporting plate and inner cylinder monolithic by electromagnetism.This rescue robot, it is simple in construction, the outer personnel control of complete well, rescue sleeve is fallen by the elastic mechanism of human body, and personnel are integrally wrapped in cylinder, effectively avoid borehole wall secondary injury to caused by it during pulling.
Description
Technical field
It is particularly a kind of to implement to rescue the robot of people suitable for narrow underground the present invention relates to a kind of rescue robot.
Background technology
In life, usually there is the situation that many adults or child fall into narrow well.Typically there is this emergency
When, all it is to be sued and laboured by officers and men according to actual conditions using rescue facility.Due to narrow space in well, the personnel fallen into
If directly on earth, be all to be supported on by the frictional force between body and the borehole wall on the borehole wall, slightly movement will
Continue to drop, influence to rescue.
There are many kinds in the existing robot for downhole rescuing.Such as Chinese patent " rescue robot capable of falling into well
（ZL2009100197362）" it is disclosed be exactly a kind of practical rescue robot.This robot disclosed in this application
It is after underground part is probeed into underground, crosses rescue personnel, then deploys the seat board on bracket, personnel to fall into well is held with this, need
Arm mechanism will be visited and trailing arm mechanism puts in personnel lower section in well simultaneously, can just be sued and laboured.In actual use, but due to
Almost tight between the body and the borehole wall of personnel, personnel are unable to normal activity in well, therefore whole trailing arm mechanism enters people
Member lower section is relatively difficult, more thick and heavy because there is mechanical control part in whole trailing arm mechanism, in implementation process, it is likely that because
Cause not hold also to allow trailing arm mechanism to move down and move for personnel, personnel just down continue situation about dropping.
In addition, existing rescue robot is all that personnel are directly held or hung, pull then up.Due to personnel with
Space is smaller between the borehole wall, during pull-up, it is likely that causes secondary injury to personnel.
The content of the invention
The present invention be directed to the technological deficiency referred in background technology, there is provided and it is a kind of simple to operation, personnel will not be made
Into the underground rescue robot of secondary injury.
The technical solution adopted by the present invention is：A kind of underground rescue robot, including it is arranged on the bracket institution at well head
With enter well in sleeve mechanism,
The bracket institution includes base, pole, roller, steel wire rope and suspension bracket；
The base is separately positioned on the both sides of well head, and pole is ridden upon on two bases, and roller is sleeved on pole, the steel wire
Rope is around in roller set outer surface, and the upper surface of the free end of the steel wire rope respectively with the suspension bracket is connected；Suspension bracket bottom surface edge
Its circumference is provided with multiple minitype cylinders；
The sleeve mechanism includes outer barrel and inner cylinder；
The outer barrel is flexibly connected with suspension bracket, and parting bead is evenly arranged with the inwall of the outer barrel；
The inner cylinder is combined by the inner cylinder monolithic of several arcs；The medial surface bottom of each inner cylinder monolithic is provided with a support
Plate, the supporting plate is by connector together with inner cylinder unitary piece hinge；Each corresponding inner cylinder monolithic of the minitype cylinder, it is miniature
The output end of cylinder at the top of inner cylinder monolithic with being fixedly connected；Each inner cylinder monolithic be inserted into the two neighboring parting bead it
Between；
It is pulled together between supporting plate and the inner cylinder monolithic by electromagnetism.
It is to be flexibly connected relation between outer barrel and suspension bracket；
The both sides of the suspension bracket are set respectively is provided with a motor, and motor output end is set with gear；Motor is arranged on suspension bracket
Above, gear is arranged on below suspension bracket；
The both sides of the outer barrel top edge have been respectively and fixedly connected with one section of rack, the rack and the meshed transmission gear.
Outer barrel is the movable cylinder that iron plate encloses, and edge junction, its side is thin plate, and opposite side is built-in slot, institute
State thin plate to be inserted into the built-in slot, realize expansion and diminution that outer barrel cylinder encloses.
Motor driven gear rotates, the movement of gear band carry-over bar, the movement of rack drives outer barrel, adjusts the thin plate insertion of outer barrel
Length in built-in slot, realize the regulation that outer barrel cylinder encloses.
It is lifting attachment structure between outer barrel and suspension bracket；
The top edge of the outer barrel is provided with multiple hanging wheels；
The built-in slide way of an annular is provided with the bottom surface of the suspension bracket；
It is to be slidably matched between the hanging wheel and built-in slide way.
On suspension bracket bottom surface, its circumferencial direction is provided with some minitype cylinders；The lower section of each minitype cylinder is corresponding one
Inner cylinder monolithic；Each inner cylinder monolithic is inserted between two neighboring parting bead；
Multiple inner cylinder monolithics are combined into an inner cylinder.
The corresponding minitype cylinder of one inner cylinder monomer；The quantity of inner cylinder monomer is 8-12 blocks.
The bottom of inner cylinder monolithic medial surface is provided with a supporting plate, and the bottom of the supporting plate is cut with scissors by connector and interior bucket monolithic
It is connected together；Linked together on the inside of the supporting plate upper end between interior bucket monolithic by chain sling；The inner cylinder monolithic and described
Between supporting plate upper end by electromagnetic actuation together.
The bottom of inner cylinder monomer is provided with sensor, and sensor is connected with the control device being arranged on outside well；
The electromagnet is connected with the control device；
The minitype cylinder is connected with the control device.
The bottom of inner cylinder monomer medial surface is provided with air bag, and the air inlet on the air bag is by air inlet pipeline with being arranged on
Air pump connection on suspension bracket.
It is fixed together outside the side of air bag by connection strap and inner cylinder monomer medial surface, the another side of the air bag
It is bonded in by adhesive sticker on the wall of interior bucket monomer medial surface.
Outer barrel uses steel plate of the thickness for 0.6-0.8mm；The inner cylinder monomer uses steel plate of the thickness for 0.8-1.0mm.
Compared with prior art, this rescue robot disclosed in this invention, simple in construction, the outer personnel's control of complete well
System, is fallen rescue sleeve by the elastic mechanism of human body, and personnel are integrally wrapped in cylinder, effectively avoids pulling process
Middle borehole wall secondary injury to caused by it.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the top view of outer barrel.
Fig. 3 is the side view of outer barrel.
Fig. 4 is the attachment structure schematic diagram of inner cylinder monolithic.
Fig. 5 is the top view of inner cylinder monolithic.
Fig. 6 is structural representation when inner cylinder monolithic closes with supporting plate.
Fig. 7 is structural representation when inner cylinder monolithic deploys with supporting plate.
Fig. 8 is suspension bracket and outer barrel mounting structure schematic diagram.
Fig. 9 is air bag mounting structure schematic diagram.
In figure：Motor 1, steel wire rope 2, roller 3, base 4, suspension bracket 5, the borehole wall 6, outer barrel 7, rack 8, parting bead 9, minitype cylinder
10, inner cylinder monolithic 11, supporting plate 12, chain sling 13, hanging wheel 14, air bag 15.
Embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to accompanying drawing 1-8, this underground rescue robot disclosed in this invention, primarily to avoiding personnel from pulling up
During between the borehole wall rub caused by secondary injury.
This underground rescue robot, including it is arranged on the bracket institution at well head and the sleeve mechanism entered in well.
Bracket institution includes base 4, pole, roller 3, steel wire rope 2 and suspension bracket 5.
Base is separately positioned on the both sides of well head, and pole is ridden upon on two bases, and roller is sleeved on pole, steel wire rope around
Outer surface is covered in roller, the upper surface of the free end of steel wire rope respectively with the suspension bracket is connected.Suspension bracket bottom surface is provided with along its circumference
Multiple minitype cylinders 10.
The both sides of suspension bracket are set respectively is provided with a motor 1, and motor output end is set with gear.Motor is arranged on suspension bracket
Above, motor take-off lever passes through suspension bracket, and gear is arranged on below suspension bracket.The built-in cunning of an annular is provided with the bottom surface of suspension bracket
Road.
Suspension bracket bottom is provided with the audio facilities such as the first-class video facilities of shooting, speech sound device.
Sleeve mechanism includes outer barrel 7 and inner cylinder.Outer barrel uses steel plate of the thickness for 0.6-0.8mm；The inner cylinder monomer is adopted
The steel plate for being 0.8-1.0mm with thickness.
Parting bead 9 is evenly arranged with the inwall of outer barrel, parting bead is slightly convex slice, primarily serve guiding and it is spacing
Act on, guide groove is formed between adjacent two parting bead.The both sides of outer barrel top edge have been respectively and fixedly connected with one section of rack 8, rack with it is described
Meshed transmission gear.The top edge of outer barrel is provided with multiple hanging wheels, and hanging wheel is slidably matched with built-in slide way.Hanging wheel and built-in slide way
Between relation, both can guarantee that the installation of outer barrel, moreover it is possible to ensure the activity of outer barrel.
Outer barrel is the movable cylinder that encloses of iron plate, and as shown in Figure 2, edge junction, its side is thin plate, opposite side
For built-in slot.Thin plate is inserted into built-in slot, realizes expansion and diminution that outer barrel cylinder encloses.It is to be flexibly connected between outer barrel and suspension bracket
Relation.Motor driven gear rotates, and the movement of gear band carry-over bar, the movement of rack drives outer barrel, adjusts in the thin plate insertion of outer barrel
The length in groove is put, realizes the regulation that outer barrel cylinder encloses.The driving machine of outer barrel can also be used as by the use of cylinder according to actual design needs
Structure, the expansion link of cylinder are connected with outer barrel, pass through the flexible inserting position realized between outer barrel and inner cylinder of expansion link.
Inner cylinder is combined by the inner cylinder monolithic 11 of several arcs.The medial surface bottom of each inner cylinder monolithic is provided with one
Supporting plate 12, the supporting plate is by connector together with inner cylinder unitary piece hinge.
Preferably, the bottom of inner cylinder monomer medial surface is provided with air bag 15, among the inner cylinder monomer put at least
One its medial surface bottom is air bag, and the air inlet on air bag is connected by air inlet pipeline with the air pump being arranged on suspension bracket.Gas
It is fixed together outside the side of capsule by connection strap and inner cylinder monomer medial surface, the another side of air bag is bonded by adhesive sticker
On the wall of interior bucket monomer medial surface, after ensureing that airbag aeration is opened, its side is fixed with inner cylinder monomer, and opposite side passes through gas
Body is crowded with whole outer barrels.The installation of air bag, first, in order to prevent because faulty sensor, supporting plate can not be given when opening not in place
Personnel effectively support, second, in order to prevent after personnel fall on bottom, rear supporting plate can not be opened inner cylinder monomer in time on earth, and can not be
Personnel provide effectively support in time.
On suspension bracket bottom surface, its circumferencial direction is provided with some minitype cylinders 10；The lower section corresponding one of each minitype cylinder
Individual inner cylinder monolithic；Each inner cylinder monolithic is inserted between two neighboring parting bead；Multiple inner cylinder monolithics are combined into an inner cylinder,
The number of inner cylinder monomer is 8-12, according to actual conditions, the number of the adjustable inner cylinder monomer used, by inner cylinder monomer with it is micro-
Dismantled between type cylinder.
Each corresponding inner cylinder monolithic of the minitype cylinder, the output end of minitype cylinder and the top of inner cylinder monolithic are fixed
Connection；Each inner cylinder monolithic is inserted between two neighboring parting bead.The bottom of inner cylinder monolithic medial surface is provided with a supporting plate, supporting plate
Bottom by connectors such as bearing pins together with interior bucket unitary piece hinge.Pass through chain sling between interior bucket monolithic on the inside of supporting plate upper end
13 link together.Between inner cylinder monolithic and the supporting plate upper end by electromagnetic actuation together.
Preferably, the bottom of inner cylinder monomer is provided with sensor, sensor is connected with the control device being arranged on outside well.
Sensor is disposed proximate to sensor, conducts a data when sensor first time is close to personnel, when away from personnel, i.e.,
To reach below personnel, sensor transmits data again to controller, and now, controller control electromagnet is closed, and loses suction
Supporting plate it is horizontal by vertical displacement under self gravitation effect, chain sling plays a part of lifting, both can guarantee that pallets level, moreover it is possible to
Give the pulling force of supporting plate one.
Minitype cylinder is connected with the control device.
Suspension bracket under steel wire rope pulling, wire rope roll on roller, roller central shaft by motor control, for ensure rescue and
When, it is all extremely short that motor control roller rotates the time that the inner/outer tube whereabouts put down on suspension bracket, and suspension bracket needs.
It is first that bracket institution is rack-mounted in well head in rescue, sleeve mechanism is goed deep into well, according to well head bore, adjustment
The degree of enclosing of outer barrel, then suspension bracket, outer barrel and inner cylinder are put down simultaneously by steel wire rope, the sensor of inner cylinder bottom is close to personnel
Send and instruct to controller afterwards, minitype cylinder control inner cylinder monomer continues to decline, because human body micro-elasticity body, outer barrel and inner cylinder are equal
For ultra thin plate, during the decline of inner cylinder monomer, along personnel's body periphery, there is the inner cylinder monomer near the position in space first to fall
Under, when personnel and the inner cylinder monomer of borehole wall closed position can not decline, minitype cylinder pause action, it is fallen with inner cylinder monomer
Afterwards, supporting plate automatically opens up, and now gives personnel one sustainable position, and personnel move body using the position, ensures other
Inner cylinder monomer all declines；Now, inner cylinder monomer forms the cylinder that a bottom is made up of multiple supporting plates, once personnel are by inner cylinder
Hold, control device controlled motor motion, outer barrel is tightened up again, and personnel are played a part of with clamping, and then roller rotates, suspension bracket
Sling by steel wire rope, complete the work of suing and labouring of personnel.
Claims (10)
1. a kind of underground rescue robot, including the bracket institution at well head and the sleeve mechanism entered in well are arranged on, it is special
Sign is：
The bracket institution includes base, pole, roller, steel wire rope and suspension bracket；
The base is separately positioned on the both sides of well head, and pole is ridden upon on two bases, and roller is sleeved on pole, the steel wire
Rope is around in roller set outer surface, and the upper surface of the free end of the steel wire rope respectively with the suspension bracket is connected；Suspension bracket bottom surface edge
Its circumference is provided with multiple minitype cylinders；
The sleeve mechanism includes outer barrel and inner cylinder；
The outer barrel is flexibly connected with suspension bracket, and parting bead is evenly arranged with the inwall of the outer barrel；
The inner cylinder is combined by the inner cylinder monolithic of several arcs；The medial surface bottom of each inner cylinder monolithic is provided with a support
Plate, the supporting plate is by connector together with inner cylinder unitary piece hinge；Each corresponding inner cylinder monolithic of the minitype cylinder, it is miniature
The output end of cylinder at the top of inner cylinder monolithic with being fixedly connected；Each inner cylinder monolithic be inserted into the two neighboring parting bead it
Between；
It is pulled together between supporting plate and the inner cylinder monolithic by electromagnetism.
2. underground rescue robot according to claim 1, it is characterised in that：It is that activity connects between the outer barrel and suspension bracket
Connect relation；
The both sides of the suspension bracket are set respectively is provided with a motor, and motor output end is set with gear；Motor is arranged on suspension bracket
Above, gear is arranged on below suspension bracket；
The both sides of the outer barrel top edge have been respectively and fixedly connected with one section of rack, the rack and the meshed transmission gear.
3. underground rescue robot according to claim 2, it is characterised in that：The outer barrel is the work that iron plate encloses
Dynamic cylinder, edge junction, its side is thin plate, and opposite side is built-in slot, and the thin plate is inserted into the built-in slot, is realized outer
The expansion and diminution that cylinder cylinder encloses.
4. underground rescue robot according to claim 2, it is characterised in that：The motor driven gear rotates, gear
Band carry-over bar moves, the movement of rack drives outer barrel, adjusts the length in the thin plate insertion built-in slot of outer barrel, realizes what outer barrel cylinder enclosed
Regulation.
5. underground rescue robot according to claim 1, it is characterised in that：Connect between the outer barrel and suspension bracket for lifting
Binding structure；
The top edge of the outer barrel is provided with multiple hanging wheels；
The built-in slide way of an annular is provided with the bottom surface of the suspension bracket；
It is to be slidably matched between the hanging wheel and built-in slide way.
6. underground rescue robot according to claim 1, it is characterised in that：On the suspension bracket bottom surface, along its circumference side
To being provided with some minitype cylinders；The corresponding inner cylinder monolithic in lower section of each minitype cylinder；Each inner cylinder monolithic is inserted into phase
Between adjacent two parting beads；
Multiple inner cylinder monolithics are combined into an inner cylinder.
7. underground rescue robot according to claim 6, it is characterised in that：The corresponding miniature gas of one inner cylinder monomer
Cylinder；The quantity of inner cylinder monomer is 8-12 blocks.
8. underground rescue robot according to claim 1, it is characterised in that：The bottom of the inner cylinder monolithic medial surface is set
It is equipped with a supporting plate, the bottom of the supporting plate is by connector together with interior bucket unitary piece hinge；On the inside of the supporting plate upper end with it is interior
Linked together between bucket monolithic by chain sling；By electromagnetic actuation one between the inner cylinder monolithic and the supporting plate upper end
Rise.
9. underground rescue robot according to claim 1, it is characterised in that the bottom of the inner cylinder monomer is provided with biography
Sensor, sensor are connected with the control device being arranged on outside well；
The electromagnet is connected with the control device；
The minitype cylinder is connected with the control device.
10. underground rescue robot according to claim 1, it is characterised in that the bottom of the inner cylinder monomer medial surface
It is provided with air bag, the air inlet on the air bag is connected by air inlet pipeline with the air pump being arranged on suspension bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710991090.9A CN107837473B (en) | 2017-10-23 | 2017-10-23 | Underground rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710991090.9A CN107837473B (en) | 2017-10-23 | 2017-10-23 | Underground rescue robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107837473A true CN107837473A (en) | 2018-03-27 |
| CN107837473B CN107837473B (en) | 2023-07-07 |
Family
ID=61662686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710991090.9A Active CN107837473B (en) | 2017-10-23 | 2017-10-23 | Underground rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107837473B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109701179A (en) * | 2019-02-25 | 2019-05-03 | 哈尔滨工业大学 | A kind of narrow space flexibility package deliverance apparatus |
| CN109731253A (en) * | 2019-02-25 | 2019-05-10 | 哈尔滨工业大学 | A kind of flexible deep well rescue machine people based on air pressure driving |
| CN109806522A (en) * | 2019-02-28 | 2019-05-28 | 牛恒昕 | Deep well rescue device and its rescue mode |
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| US3977495A (en) * | 1973-06-05 | 1976-08-31 | Societe Soberal S.A. | Rescue apparatus |
| CN201235160Y (en) * | 2008-08-11 | 2009-05-13 | 鲁玉民 | Multifunctional special purpose tools for rescuing person lost-in-hole |
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| CN103147791A (en) * | 2013-03-18 | 2013-06-12 | 中煤平朔集团有限公司 | Lifting escape capsule |
| WO2016064011A1 (en) * | 2014-10-24 | 2016-04-28 | 조제환 | Heavy object- lifting apparatus for lifesaving, and lifesaving kit including same |
| CN105641827A (en) * | 2015-12-30 | 2016-06-08 | 沈阳师范大学 | Undershaft rescue device |
| CN105771114A (en) * | 2016-04-26 | 2016-07-20 | 河南师范大学 | Deep well rescue device |
| CN205835326U (en) * | 2016-06-03 | 2016-12-28 | 河南中原高分子材料有限公司 | A kind of rescue robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3977495A (en) * | 1973-06-05 | 1976-08-31 | Societe Soberal S.A. | Rescue apparatus |
| CN201235160Y (en) * | 2008-08-11 | 2009-05-13 | 鲁玉民 | Multifunctional special purpose tools for rescuing person lost-in-hole |
| JP2012180717A (en) * | 2011-03-03 | 2012-09-20 | Masahiko Komuro | Shelter for evacuation |
| CN103147791A (en) * | 2013-03-18 | 2013-06-12 | 中煤平朔集团有限公司 | Lifting escape capsule |
| WO2016064011A1 (en) * | 2014-10-24 | 2016-04-28 | 조제환 | Heavy object- lifting apparatus for lifesaving, and lifesaving kit including same |
| CN105641827A (en) * | 2015-12-30 | 2016-06-08 | 沈阳师范大学 | Undershaft rescue device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109701179A (en) * | 2019-02-25 | 2019-05-03 | 哈尔滨工业大学 | A kind of narrow space flexibility package deliverance apparatus |
| CN109731253A (en) * | 2019-02-25 | 2019-05-10 | 哈尔滨工业大学 | A kind of flexible deep well rescue machine people based on air pressure driving |
| CN109806522A (en) * | 2019-02-28 | 2019-05-28 | 牛恒昕 | Deep well rescue device and its rescue mode |
| CN109806522B (en) * | 2019-02-28 | 2023-11-03 | 牛恒昕 | Deep well rescue device and rescue method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107837473B (en) | 2023-07-07 |
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