CN109731253A - A kind of flexible deep well rescue machine people based on air pressure driving - Google Patents
A kind of flexible deep well rescue machine people based on air pressure driving Download PDFInfo
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- CN109731253A CN109731253A CN201910137780.7A CN201910137780A CN109731253A CN 109731253 A CN109731253 A CN 109731253A CN 201910137780 A CN201910137780 A CN 201910137780A CN 109731253 A CN109731253 A CN 109731253A
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Abstract
A kind of flexible deep well rescue machine people based on air pressure driving, it is related to a kind of deep well rescue machine people, it includes top control platform, flexible arm, connecting rod, clamping device and aeration rescue device；More connecting rods connecting with the two are disposed between the bottom and aeration rescue device of top control platform, the aeration rescue device annular hollow structure, in the annular space that more connecting rods surround, the bottom of top control platform is circumferentially connected with the multiple flexible arms swung with upper and lower stretching motion, and the lower end of flexible arm is connected with the clamping device for holding clothes；The clamping device is placed in the middle vacancy of the aeration rescue device, the Double-layer flexible air bag that can inflate cladding human body is connected on aeration rescue device, the hollow connecting rod both ends are tightly connected with gas source on Double-layer flexible air bag and ground respectively.Structure of the invention is compact, and flexibility is good, is suitble to the rescue operation in small space.
Description
Technical field
The present invention relates to a kind of deep well rescue machine people, and in particular to a kind of flexible deep well rescue device based on air pressure driving
Device people.
Background technique
At present for deep well rescue, since its operating space is narrow, large-scale rescue aid can not enter from well head, because
And current rescue method is to excavate the rescue method in well side soil using large type drill and excavating machinery, but this method
Cost is high, once and captive depths located underground, then the position of captive can not be positioned, easily causes to excavate dislocation,
Even injury captive.
Summary of the invention
The present invention to overcome the shortcomings of the existing technology, provide it is a kind of based on air pressure driving flexible deep well rescue machine people, should
Robot adaptability and flexibility are good, convenient for the rescue operation under the deep-well of small space.
The technical scheme is that
It is a kind of based on air pressure driving flexible deep well rescue machine people include top control platform, flexible arm, connecting rod, folder
Hold device and aeration rescue device；Be disposed between the bottom and aeration rescue device of top control platform with both connect it is more
Root connecting rod, the aeration rescue device annular hollow structure, in the annular space that more connecting rods surround, top control
The bottom of platform is circumferentially connected with the multiple flexible arms swung with upper and lower stretching motion, and the lower end of flexible arm connects useful
In the clamping device of holding clothes；The clamping device is placed in the middle vacancy of the aeration rescue device, on aeration rescue device
It is connected with the Double-layer flexible air bag that can inflate cladding human body, at least one connecting rod is hollow structure, the hollow connection
Bar both ends are tightly connected with gas source on Double-layer flexible air bag and ground respectively.
Further, clamping device includes terminal pad, connection frame, power mechanism, transmission mechanism and friction pulley；On connection frame
The terminal pad connecting with the flexible arm is installed, power mechanism and gear drive, driver are also equipped on connection frame
Structure is driven by power mechanism, and the output end driving of transmission mechanism has at least a pair of of friction pulley, each pair of friction pulley arranged for interval and rotation
To opposite.
Further, transmission mechanism is worm-gear speed reducer, the output end of worm-gear speed reducer and rotational installation
Master gear connection on connection frame, the friction pulley are the friction pulley for coating rubber sleeve.
Further, transmission mechanism includes two gear three and two gears four of gear two, two of gear one, two；Two
Gear three and two gear four of gear two, two of a gear one, two is rotatably installed on connection frame respectively, master gear with wherein
One gear one engages, and one of gear one is engaged with one of gear two, one of gear two and its
In gear three engage, one of gear three is engaged with one of gear four, two engagements of gears two, another
Gear one is engaged with another gear two, another gear three is nibbled with another described gear two and another gear four respectively
Close, the gear shaft both ends of each gear four are respectively equipped with a friction pulley, positioned at four same side of gear two friction pulleys just
To setting.
Further, aeration rescue device includes inner ring, middle ring and outer ring；Inner ring circumferential lateral surface is machined with external screw thread, in
It is machined with internal screw thread and external screw thread in ring in circumferential lateral surface respectively, the inner circumferential side of outer ring is machined with internal screw thread, and middle ring knob exists
In inner ring, in middle ring, the outer layer of Double-layer flexible air bag is clamped at the contact connectio of outer ring and middle ring outer ring knob, double
Layer flexible gas-filled bag internal layer be clamped at the contact connectio of middle ring and inner ring, air flue is processed in middle ring, the air flue with it is hollow
Connecting rod and the perforation of Double-layer flexible air bag, the friction pulley is placed in vacancy in inner ring.
Further, each flexible arm includes bellows, bellows support frame, two connecting flanges and three steel wires
Rope；The bellows connecting with the two is disposed between two connecting flanges, one of connecting flange and top control platform connect
Connect, another connecting flange and terminal pad are affixed, and bellows support frame is embedded in the groove of bellows, bellows support frame and
Circumferentially there are three groups of axial edge holes on one of connecting flange, is equipped with a bar steel in every group of axial edge hole
One end of cord, every wirerope is fixed by the control assembly in the control platform of top, and the other end of every wirerope is fixed in
On another described connecting flange, wirerope is controlled flexible by the control assembly in the control platform of top.
The beneficial effect of the present invention compared with prior art is
The entire robot of the present invention is to be connected by rope with the external world, can go deep into underground, and itself is fixed on underground, is fitted
Close the rescue operation under deep-well.The present patent application greatly reduces rigid mechanism, uses flexible arm and Steel rope drive, increases
The flexibility and adaptability of device, is suitble to the rescue operation in small space.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the structural perspective of clamping device；
Fig. 3 is the structural schematic diagram for removing the clamping device of terminal pad and gear drive；
Fig. 4 is power mechanism and gear drive arrangement relation figure in clamping device；
Fig. 5 is the structural schematic diagram for removing the clamping device of terminal pad；
Fig. 6 is the structural schematic diagram of top control platform；
Fig. 7 is the schematic diagram that control valve and power supply are disposed in middle seat storehouse；
Fig. 8 is the structural schematic diagram that motor is disposed in pedestal storehouse；
Fig. 9 is the structural schematic diagram of flexible arm；
Figure 10 is the schematic diagram of aeration rescue device；
Figure 11 is the cross-sectional view of aeration rescue device；
Figure 12 is cross-sectional view at aeration rescue device K；
Figure 13 is cross-sectional view at aeration rescue device C；
Figure 14 is the schematic diagram that pedestal orlop portion is disposed with headlamp and camera.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
It is shown in Figure 1, a kind of flexible deep well rescue machine people based on air pressure driving, including it is top control platform 1, soft
Property arm 2, connecting rod 3, clamping device 4 and aeration rescue device 5；
More connecting rods 3 connecting with the two are disposed between the bottom and aeration rescue device 5 of top control platform 1,
5 annular hollow structure of aeration rescue device, in the annular space that more connecting rods 3 surround, top control platform 1
Bottom is circumferentially connected with the multiple flexible arms 2 swung with upper and lower stretching motion, and the lower end of flexible arm 2 is connected with for pressing from both sides
Hold the clamping device 4 of clothing；The clamping device 4 is placed in the middle vacancy of the aeration rescue device 5, on aeration rescue device 5
It is connected with the Double-layer flexible air bag 6 that can inflate cladding human body, at least one connecting rod 3 is hollow structure, the hollow company
3 both ends of extension bar are tightly connected with gas source on Double-layer flexible air bag 6 and ground respectively.It is connected on well at the top of top control platform 1
Rope control the lifting of entire platform.
Referring to fig. 2 shown in-Fig. 5, in order to ensure holding device design is reasonable, it is suitble to certain occasion and crowd, clamping dress
Setting 4 includes terminal pad 40, connection frame 41, power mechanism 42, transmission mechanism 43 and friction pulley 44；It is equipped on connection frame 41 and institute
The terminal pad 40 of the connection of flexible arm 2 is stated, is also equipped with power mechanism 42 and gear drive 43, transmission mechanism on connection frame 41
43 are driven by power mechanism 42, and the output end driving of transmission mechanism 43 has at least a pair of of friction pulley 44, and each pair of friction pulley 44 is spaced
It arranges and oppositely oriented.
In general, transmission mechanism 43 is worm-gear speed reducer, the output end of worm-gear speed reducer and the company of being rotatably installed in
The master gear 431 connect on frame 41 connects, in general, the friction pulley 44 is the friction pulley for coating rubber sleeve.Rubber sleeve can mention
For biggish frictional force.In order to provide the reliability of transmission, shafting dynamic property is improved, the output shaft of worm-gear speed reducer is logical
Shaft coupling is crossed to connect with master gear 431.Master gear 431 is set to rotate with the transmission of worm-gear speed reducer.
Shown in Figure 4, the transmission mechanism 43 includes two gears three of gear 2 435, two of gear one 434, two
436 and two gears 4 437；Two gears 3 436 of gear 2 435, two of gear one 434, two and two 4 437 points of gear
It is not rotatably installed on connection frame 41, master gear 431 is engaged with one of gear 1, one of gear 1
Engaged with one of gear 2 435, one of gear 2 435 is engaged with one of gear 3 436, it is described wherein
One gear 3 436 is engaged with one of gear 4 437, and two gears 2 435 engage, another gear 1 with it is another
A gear 2 435 engages, another gear 3 436 is nibbled with another described gear 2 435 and another gear 4 437 respectively
It closes, the gear shaft both ends of each gear 4 437 are respectively equipped with a friction pulley 44, positioned at two of 4 437 same side of gear
The setting of 44 face of friction pulley.Gear drive also has compact-sized, the big operating condition of gear range.It is main in above embodiment
Gear 431, gear 2 435, gear 3 436 and gear 4 437 are all made of spur gear.Preferably, using the modulus of gear 1
For 1.5 spur gear.
Referring to shown in Figure 10-Figure 13, the aeration rescue device 5 includes inner ring 51, middle ring 52 and outer ring 53；Outside inner ring 51
All sides are machined with external screw thread, are machined with internal screw thread and external screw thread, the inner circumferential side of outer ring 53 in middle ring 52 in circumferential lateral surface respectively
Face is machined with internal screw thread, and 52 knob of middle ring is in inner ring 51, and 53 knob of outer ring is in middle ring 52, outside Double-layer flexible air bag 6
Layer is clamped at B at the contact connectio of outer ring 53 and middle ring 52, the internal layer of Double-layer flexible air bag 6 be clamped at middle ring 52 with it is interior
D at the contact connectio of ring 51, air flue 521, the air flue 521 and hollow connecting rod 3 are processed in middle ring 52 and Double-layer flexible is inflated
Bag 6 penetrates through, and the friction pulley 44 is placed in vacancy in inner ring 51.Outer ring 51 and inner ring 53 are carried out by whole screw thread and middle ring 52
Connection, coupling part will be in the Double-layer flexible air bags 6 of lower part and the groove of sealing ring indentation middle ring.Aeration rescue device 5 exists
Underground is inflated by a connecting flange and inflating port, and Double-layer flexible air bag 6 selects plastic inflatable bag, and injection section can wrap up
Firmly most of body of child is rescued child from underground using the friction of plastics and child in the state of compared with hyperbar.It is double
Layer flexible gas-filled bag 6 slowly contacts with child and adapts to majority of case, steady effective and will not cause to child secondary
Injury.
It is shown in Figure 5, in above embodiment, as an improvement scheme, each flexible arm 2 include ripple
Pipe 22,23, two connecting flanges 25 of bellows support frame and three wirerope 24；
The bellows 22 connecting with the two, one of connecting flange 25 and top are disposed between two connecting flanges 25
Control platform 1 connects, another connecting flange 25 and terminal pad 40 are affixed, and bellows support frame 23 is embedded in the recessed of bellows 22
In slot, circumferentially there are three groups of axial edge holes on bellows support frame 23 and one of connecting flange 25, every group
A wire rope 24 is equipped in axial edge hole, one end of every wirerope 24 is by the control assembly in top control platform 1
Fixed, the other end of every wirerope 24 is fixed on another described connecting flange 25, and wirerope 24 is by top control platform 1
Interior control assembly control is flexible.So set, the movement of wirerope 24 drives flexible arm 2 to make swing and upper and lower stretching motion,
Realize the pose adjustment of five freedom degrees.
Preferably, bellows support frame 23 is designed as 7, it is right that each bellows support frame 23 is independently arranged in bellows 22
In the groove answered, that is, the quantity of the groove on bellows 22 is consistent with the quantity of bellows support frame 23.Bellows support
Frame 23 is the annular disk with trunnion, and the edge hole for wearing wirerope is opened up on trunnion, and annular disk is embedded in by interference fit
In the groove of bellows 22.
Preferably, ginseng is as shown in figure 3 and figure 4, the top control platform 1 includes the control storehouse of arrangement control assembly, institute
Stating control assembly includes control valve 16, power supply 17 and motor 18；The electricity for being disposed with motor 18 in control storehouse and powering to motor 18
The quantity in source 17, motor 18 is consistent with the quantity of wirerope 24 and is arranged in a one-to-one correspondence, and the output shaft of each motor 18 is affixed
One has the wheel disc of race, and one end of wirerope 24 is fixed on the fixation hole of race, and wirerope 24 is wound on race, hollow
It manages and is provided with control valve 16 on the pipeline connecting with gas source on ground, the control valve 16 is motor-operated control valve, is supplied by power supply 17
Electricity.It is exported and is rotated by motor 18, controlled the contraction of three wirerope, reach the spatially lower movement of flexible arm 2 and random pendulum
Dynamic purpose.
Referring to shown in Fig. 6-Fig. 8, as further limiting for above scheme, controlling storehouse includes upper cover 12, middle 13 and of seat storehouse
Pedestal storehouse 14；Upper cover 12, middle seat storehouse 13 and 14 three of pedestal storehouse are from top to bottom stacked and link together；Control valve 16 and electricity
Source 17 is arranged in bottom in middle seat storehouse 13, and motor 18 is arranged in bottom in pedestal storehouse 14, between 14 bottom of pedestal storehouse and middle ring 52
The more piece connecting rods 3 affixed with the two are disposed with, hollow connecting rod 3 is connect with air flue 521.So set, by control assembly
It is arranged in different storehouses, it is compact-sized, it is convenient for disassembly and assembly.
Shown in Figure 6, upper cover 12, middle seat storehouse 13 and 14 three of pedestal storehouse are from top to bottom stacked and are equipped with and have
The lower end of the stock 26 of hanging ring, the stock 26 with hanging ring is fixed on the pedestal 14 by nut, and the hanging ring is fixed on
The top of upper cover 12.As further limits scheme, the stock 11 with hanging ring uses eight, and the stock 11 with hanging ring divides
Not Chuan Guo upper cover 12, middle seat storehouse 13 and pedestal storehouse 14, the nut that lower part is threadedly engaged by eight with downrod lower end by upper cover 12,
Middle seat storehouse 13 and pedestal storehouse 14 are fixed, and entire top control platform 1 is connected together by eight root long bars 11, and the hanging ring connects well
On rope control the lifting of entire top control platform 1.
Shown in Figure 14, accurately quick to rescue target in order to guarantee, rescue operations are safe and reliable to operation, top control
Platform 1 further includes camera 10 and two headlamps 19；The bottom of pedestal 14 is equipped with camera 10 and two headlamps 19, and two
A headlamp 19 is arranged in 10 two sides of camera, and camera 10 and headlamp 19 are powered by power supply 17.Camera 10 is to shoot prison
Control downhole conditions.Two headlamps 19 are evenly arranged on 14 bottom of pedestal storehouse, to illuminate the pitch-dark environment in underground.In order to realize that operation can
By stabilization, bottom is disposed with the wiring board 15 for the realization signal transmission communication being connected with control machine in the external world, line in middle seat storehouse 13
Road plate 15 controls the movement and signal feedback of motor 18, control valve 16, camera 10 and worm-gear speed reducer.
Working principle: robot of the present invention is by motor-driven flexible arm 2, the clamping device 4 of clothing, aeration rescue device
5 combinations in a system, efficiently use the mutual supplement with each other's advantages of subsystems, form a set of effective deep well rescue equipment.It rescues
When helping, entire robot device is put into well along well head first, top control platform 1 is connected by hanging ring with ground, when setting
When the standby specified well section for reaching rescue, 1 stop motion of top control platform, or blocked with the surrounding borehole wall, fixed top control is flat
Platform 1.And then control flexible arm 2 and reach suitable position, the friction pulley 44 for controlling the clamping device 4 of end clamps captive clothing
Object, suitably lifting captive, allow captive to reach the posture of setting.Then, it inflates to aeration rescue device 5, Double-layer flexible fills
Airbag 6 wraps captive and clamps captive.Hanging ring is lifted, entire robot and captive are mentioned together to come up, then
The clamped clothing of the release of friction pulley 44 is discharged, and releases gas in Double-layer flexible air bag 6, so that captive is from clamped condition
Release, so completion downhole rescuing.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, when the structure and technology contents that can use the disclosure above are done
A little change or it is modified to the equivalence enforcement case of equivalent variations out, but it is all without departing from technical solution of the present invention
Hold, any simple modification, equivalent change and modification done according to the technical essence of the invention to the above case study on implementation still belong to
Technical solution of the present invention range.
Claims (10)
1. a kind of flexible deep well rescue machine people based on air pressure driving, it is characterised in that: including top control platform (1), soft
Property arm (2), connecting rod (3), clamping device (4) and aeration rescue device (5)；
More connecting rods connecting with the two are disposed between the bottom of top control platform (1) and aeration rescue device (5)
(3), aeration rescue device (5) annular hollow structure is located in the annular space that more connecting rods (3) surround, top control
The bottom of platform (1) processed is circumferentially connected with the multiple flexible arms (2) swung with upper and lower stretching motion, flexible arm (2)
Lower end is connected with the clamping device (4) for holding clothes；The clamping device (4) is placed in the aeration rescue device (5)
Middle vacancy is connected with the Double-layer flexible air bag (6) that can inflate cladding human body, at least one connection on aeration rescue device (5)
Bar (3) is hollow structure, and described hollow connecting rod (3) both ends are close with gas source on Double-layer flexible air bag (6) and ground respectively
Envelope connection.
2. a kind of flexible deep well rescue machine people based on air pressure driving according to claim 1, it is characterised in that: the folder
Holding device (4) includes terminal pad (40), connection frame (41), power mechanism (42), transmission mechanism (43) and friction pulley (44)；
The terminal pad (40) connecting with the flexible arm (2) is installed on connection frame (41), is also equipped on connection frame (41) dynamic
Force mechanisms (42) and gear drive (43), transmission mechanism (43) by power mechanism (42) drive, transmission mechanism (43) it is defeated
Outlet driving has at least a pair of of friction pulley (44), each pair of friction pulley (44) arranged for interval and oppositely oriented.
3. a kind of flexible deep well rescue machine people based on air pressure driving according to claim 2, it is characterised in that: driver
Structure (43) is worm-gear speed reducer, the output end of worm-gear speed reducer and the master gear being rotatably installed on connection frame (41)
(431) it connects, the friction pulley (44) is the friction pulley for coating rubber sleeve.
4. a kind of flexible deep well rescue machine people based on air pressure driving according to claim 3, it is characterised in that: the biography
Motivation structure (43) includes two gears one (434), two gears two (435), two gears three (436) and two gears four
(437)；
Two gears one (434), two gears two (435), two gears three (436) and two gears four (437) rotate respectively
It is mounted on connection frame (41), master gear (431) is engaged with one of gear one (434), one of gear one
(434) it is engaged with one of gear two (435), one of gear two (435) is nibbled with one of gear three (436)
It closes, one of gear three (436) is engaged with one of gear four (437), two gear two (435) engagements, another
A gear one (434) is engaged with another gear two (435), another gear three (436) respectively with another described gear two
(435) it is engaged with another gear four (437), the gear shaft both ends of each gear four (437) are respectively equipped with a friction pulley
(44), two friction pulley (44) faces positioned at gear four (437) same side are arranged.
5. a kind of flexible deep well rescue machine people driven based on air pressure according to any one of claim 2 to 4 claim,
It is characterized by: the aeration rescue device (5) includes inner ring (51), middle ring (52) and outer ring (53)；Inner ring (51) peripheral side
Face is machined with external screw thread, is machined with internal screw thread and external screw thread, the inner circumferential side of outer ring (53) in middle ring (52) interior circumferential lateral surface respectively
Face is machined with internal screw thread, and middle ring (52) knob is on inner ring (51), and outer ring (53) knob is on middle ring (52), Double-layer flexible inflation
The outer layer of bag (6) is clamped at the contact connectio of outer ring (53) and middle ring (52) (B), the internal layer of Double-layer flexible air bag (6)
It is clamped at the contact connectio of middle ring (52) and inner ring (51) (D), processes air flue (521) in middle ring (52), the air flue (521)
It is penetrated through with hollow connecting rod (3) and Double-layer flexible air bag (6), the friction pulley (44) is placed in vacancy in inner ring (51).
6. a kind of flexible deep well rescue machine people based on air pressure driving according to claim 5, it is characterised in that: Mei Gesuo
Stating flexible arm (2) includes bellows (22), bellows support frame (23), two connecting flanges (25) and three wirerope (24)；
The bellows (22) connecting with the two is disposed between two connecting flanges (25), one of connecting flange (25) and top are controlled
Platform (1) connection processed, another connecting flange (25) and terminal pad (40) are affixed, and bellows support frame (23) is embedded in bellows
(22) in groove, circumferentially there are three groups of axial directions on bellows support frame (23) and one of connecting flange (25)
Edge hole is equipped with a wire rope (24) in every group of axial edge hole, and one end of every wirerope (24) is controlled flat by top
Control assembly in platform (1) is fixed, and the other end of every wirerope (24) is fixed on another described connecting flange (25), steel
Cord (24) is controlled flexible by the control assembly in top control platform (1).
7. a kind of flexible deep well rescue machine people based on air pressure driving according to claim 6, it is characterised in that: on described
Portion's control platform (1) includes the control storehouse of arrangement control assembly, and the control assembly includes control valve (16), power supply (17) and electricity
Machine (18)；
The power supply (17) for being disposed with motor (18) in control storehouse and powering to motor (18), the quantity and wirerope of motor (18)
(24) quantity is consistent and is arranged in a one-to-one correspondence, and output shaft affixed one of each motor (18) has the wheel disc of race, steel
One end of cord (24) is fixed on the fixation hole of race, and wirerope (24) is wound on race, and gas source connects on hollow pipe and ground
It is provided on the pipeline connect control valve (16), the control valve (16) is motor-operated control valve, is powered by power supply (17).
8. a kind of flexible deep well rescue machine people based on air pressure driving according to claim 7, it is characterised in that: the control
Storehouse processed includes upper cover (12), middle seat storehouse (13) and pedestal storehouse (14)；Upper cover (12), middle seat storehouse (13) and pedestal storehouse) (14) three
It is from top to bottom stacked and links together；One of connecting flange (25) connect with the outer bottom of pedestal storehouse (14), control
Valve (16) and power supply (17) are arranged in the interior bottom of middle seat storehouse (13), and motor (18) is arranged in pedestal storehouse (14) interior bottom, pedestal storehouse
(14) the more piece connecting rods (3) affixed with the two, hollow connecting rod (3) and air flue are disposed between outer bottom and middle ring (52)
(521) it connects.
9. a kind of flexible deep well rescue machine people based on air pressure driving according to claim 8, it is characterised in that: on described
Portion's control platform (1) further includes camera (10) and two headlamps (19)；The bottom of pedestal (14) is equipped with camera (10)
With two headlamps (19), two headlamps (19) be arranged in camera (10) two sides, camera (10) and headlamp (19) by
Power supply (17) power supply.
10. a kind of flexible deep well rescue machine people based on air pressure driving according to claim 8 or claim 9, it is characterised in that: institute
Upper cover (12), middle seat storehouse (13) and pedestal storehouse (14) three is stated from top to bottom to be stacked and be equipped with the stock with hanging ring
(11), the lower end of the stock with hanging ring (11) is fixed on the pedestal (14) by nut, and the hanging ring is fixed on upper cover
(12) top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137780.7A CN109731253B (en) | 2019-02-25 | 2019-02-25 | Flexible deep well rescue robot based on air pressure drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137780.7A CN109731253B (en) | 2019-02-25 | 2019-02-25 | Flexible deep well rescue robot based on air pressure drive |
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| Publication Number | Publication Date |
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| CN109731253A true CN109731253A (en) | 2019-05-10 |
| CN109731253B CN109731253B (en) | 2020-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150306433A1 (en) * | 2014-04-23 | 2015-10-29 | King Abdul Aziz City for Science and Technology (KACST) | Well rescue device |
| CN206366110U (en) * | 2017-01-04 | 2017-08-01 | 九江市飞翔航空科技有限公司 | Deep well rescue Aerated safety airbag apparatus |
| CN107376153A (en) * | 2017-06-30 | 2017-11-24 | 江苏大学 | A kind of small diameter deep well automates rescue outfit |
| 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 |
| CN107837473A (en) * | 2017-10-23 | 2018-03-27 | 张宇川 | Underground rescue robot |
| CN207789524U (en) * | 2017-12-04 | 2018-08-31 | 六安市路安包装制品有限公司 | A kind of extrusion device of inflating thin film |
-
2019
- 2019-02-25 CN CN201910137780.7A patent/CN109731253B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150306433A1 (en) * | 2014-04-23 | 2015-10-29 | King Abdul Aziz City for Science and Technology (KACST) | Well rescue device |
| 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 |
| CN206366110U (en) * | 2017-01-04 | 2017-08-01 | 九江市飞翔航空科技有限公司 | Deep well rescue Aerated safety airbag apparatus |
| CN107376153A (en) * | 2017-06-30 | 2017-11-24 | 江苏大学 | A kind of small diameter deep well automates rescue outfit |
| CN107837473A (en) * | 2017-10-23 | 2018-03-27 | 张宇川 | Underground rescue robot |
| CN207789524U (en) * | 2017-12-04 | 2018-08-31 | 六安市路安包装制品有限公司 | A kind of extrusion device of inflating thin film |
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| Publication number | Publication date |
|---|---|
| CN109731253B (en) | 2020-11-13 |
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