CN110841214A - Deep well rescue robot - Google Patents
Deep well rescue robot Download PDFInfo
- Publication number
- CN110841214A CN110841214A CN201911287268.7A CN201911287268A CN110841214A CN 110841214 A CN110841214 A CN 110841214A CN 201911287268 A CN201911287268 A CN 201911287268A CN 110841214 A CN110841214 A CN 110841214A
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- motor
- lifesaving
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- excircle
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- 210000001217 buttock Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
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- General Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
Deep well rescue robot, including tripod (1) and electric hoist (2), be equipped with on tripod (1) and hang horizontal pole (3), electric hoist (2) hang on hanging horizontal pole (3) of tripod (1), have robot fixing device (5) through lifting rope (4) on the lifting hook of electric hoist (2), are fixing electronic armpit life saving equipment (6) and electronic lifesaving bracket (7) that open and shut on robot fixing device (5). Compared with the prior art, the deep well rescue robot can effectively avoid the back-and-forth swinging of the deep well rescue robot in the underground through controlling the fixed robot device, and meanwhile, the lifesaving guard plate is arranged on the underarm lifesaving device, so that a person to be rescued can lean on the lifesaving guard plate to avoid directly rubbing against the well wall.
Description
Technical Field
The invention relates to a rescue device, in particular to a deep well rescue robot.
Background
The invention discloses a deep well rescue operation and control robot, which is disclosed in Chinese patent application with the patent number of 2016211407887 and the application publication number of CN206120986U, wherein a rescued person generally leans against a well wall, so that the deep well rescue operation and control robot can swing left and right in the well, and a shoulder gripping part and a hip supporting part of the deep well rescue operation and control robot cannot reach the armpit and the hip of the rescued person leaning against the well wall, thereby causing rescue failure. Therefore, the design of the deep well rescue robot with the shoulder grasping and hip supporting parts capable of smoothly reaching the armpit and the buttock of the rescued person is the technical problem to be solved at present.
Disclosure of Invention
The invention aims to solve the technical problem of providing a deep well rescue robot
The technical scheme for solving the technical problem is as follows:
the deep well rescue robot comprises a tripod and an electric hoist, wherein a hanging cross rod is arranged on the tripod, the electric hoist is hung on the hanging cross rod of the tripod, a robot fixing device is hung on a lifting hook of the electric hoist through a lifting rope, and an electric rescue device is fixed on the robot fixing device.
As a preferred scheme of the invention, the robot fixing device comprises a motor I and a motor base, the motor I is arranged on the motor base, an output shaft of the motor I is connected with a lead screw I, a lead screw nut I is arranged on the lead screw I, a lifting ring is fixedly connected to the upper part of the excircle of the motor base and is connected with a lifting rope, three support legs are uniformly welded in the middle of the excircle of the motor base, the lower ends of the three support legs are connected with a life-saving ring, three hinged supports I are uniformly welded on the lower part of the excircle of the motor base, the hinged supports I are hinged to the upper end of a support arm through a rotating shaft I, an adjusting screw is arranged at the lower end of the support arm, an inclined support is hinged to a hole in the middle of the support arm through a connecting shaft I, three hinged supports II are uniformly welded on the excircle of the lead screw nut I, the other end of the inclined support is hinged to, the screw nut I reciprocates on the screw I to drive the supporting arm to move in an opening and closing manner, so that the well wall is tightly supported or loosened.
As another preferable scheme of the invention, the electric lifesaving device consists of an electric underarm lifesaving device and an electric opening and closing lifesaving bracket, the electric opening and closing lifesaving bracket comprises a long sleeve, the upper end of the long sleeve is in threaded connection with a small excircle of a connector on the long sleeve and is locked by a set screw, a large excircle of the connector on the long sleeve is connected with a motor connecting sleeve and is fastened by a positioning stud, a motor II is connected on the motor connecting sleeve, the motor II is axially connected with the upper end of a screw II, a screw nut is arranged on the screw II, the lower end of the screw nut is fixedly connected with a screw nut sleeve, the lower end of the screw nut sleeve is fixedly connected with a push rod, the lower end of the push rod is hinged with an inclined strut through a rotating shaft IV, a long hole is arranged in the longitudinal direction of the screw nut sleeve, the width of the long hole meets the requirement that an anti-rotation pin freely slides, the anti-rotation pin is used for locking, the lower end of the outer circle of the long sleeve is connected with a long sleeve lower connector which is fastened by a set screw, a hole in the long sleeve lower connector is hinged with a hip supporting rod through a rotating shaft III, and the hip supporting rod is hinged with the other end of the inclined stay bar through a connecting shaft II; the electric underarm lifesaving device comprises a lifesaving guard plate, the outer side of the lifesaving guard plate is fixedly connected with the long sleeve, and two electric underarm lifesaving clamp rings are distributed on the left side and the right side of the inner side of the lifesaving guard plate.
As another preferable scheme of the invention, the electric underarm lifesaving snap ring comprises a lifesaving snap ring shell and an annular rack, the inner diameter of the lifesaving snap ring shell is matched with the outer diameter of the annular rack, an inner fixing connecting plate and an outer fixing connecting plate are fixed at the outer end of the lifesaving snap ring shell, a motor iii is mounted on the outer fixing connecting plate through a motor mounting plate, a gear is arranged on an output shaft of the motor iii and meshed with the annular rack, a gear cover is mounted on the inner fixing connecting plate, a bayonet is formed when the lifesaving snap ring shell and the annular rack are in a non-closed state, a hanging ring is formed when the lifesaving snap ring shell and the annular rack are in a closed state, and a small arc plate is welded on the inner side of the.
As another preferable embodiment of the present invention, three slings are uniformly distributed on the upper portion of the outer circle of the motor base and are respectively connected with three equal-length lifting ropes.
As another preferable scheme of the invention, the motor i is mounted on the motor base through a socket head cap screw, and after an output shaft of the motor i is connected with the screw rod i, the motor i is locked through a ring washer and a positioning stud, so that the sliding connection between the motor base and the screw rod i is ensured.
Compared with the prior art, the shoulder grabber (the electric underarm lifesaving device) and the hip supporting part (and the electric opening and closing lifesaving bracket) can smoothly reach the underarm and the hip of the rescued person, and the rescue success rate is high.
Drawings
Fig. 1 is a schematic structural diagram of a deep well rescue robot;
FIG. 2 is a schematic view at A in FIG. 1;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a schematic view of the structure of the member 5;
FIG. 5 is a schematic view of the connection of members 5-1, 5-2 and 5-12;
FIG. 6 is a schematic view of the structures of members 6 and 7;
FIG. 7 is a cross-sectional view E-E of FIG. 6;
fig. 8 is a sectional view taken along line F-F in fig. 7.
Detailed Description
As shown in the figure, the deep well rescue robot comprises a tripod 1 and an electric hoist 2, wherein a hanging cross rod 3 is arranged on the tripod 1, the electric hoist 2 is hung on the hanging cross rod 3 of the tripod 1, a robot fixing device 5 is hung on a lifting hook of the electric hoist 2 through a lifting rope 4, and an electric rescue device is fixed on the robot fixing device 5.
The robot fixing device 5 comprises a motor I5-1 and a motor base 5-2, the motor I5-1 is installed on the motor base 5-2, an output shaft of the motor I5-1 is connected with a lead screw I5-12, a lead screw nut I5-13 is installed on the lead screw I5-12, a lifting ring 5-3 is fixedly connected to the upper portion of the excircle of the motor base 5-2, the lifting ring 5-3 is connected with a lifting rope 4, three supporting legs 5-5 are uniformly welded in the middle of the excircle of the motor base 5-2, the lower ends of the three supporting legs 5-5 are connected with a life ring 5-15, three hinged supports I5-4 are uniformly welded to the lower portion of the excircle of the motor base 5-2, and the hinged supports I5-6 are hinged to the hinged supports I5-4 through a rotating shaft I5-7, the lower end of the supporting arm 5-6 is provided with an adjusting screw 5-11, the middle part of the supporting arm 5-6 is provided with a hole which is hinged with an inclined support 5-8 through a connecting shaft I5-9, the excircle of a screw nut I5-13 is uniformly welded with three hinged supports II 5-14, the other end of the inclined support 5-8 is hinged with the hinged supports II 5-14 through a rotating shaft II 5-10, a motor I5-1 drives the screw I5-12 to rotate, and the screw nut I5-13 reciprocates on the screw I5-12 to drive the supporting arm 5-6 to do opening and closing movement, so that the supporting with a well wall is tightened or loosened.
The electric rescue device consists of an electric underarm lifesaving device 6 and an electric opening and closing lifesaving bracket 7, wherein the electric opening and closing lifesaving bracket 7 comprises a long sleeve 7-2, the upper end of the long sleeve 7-2 is in threaded connection with the small excircle of a long sleeve upper connector 7-12 and is locked by a set screw 7-16, the large excircle of the long sleeve upper connector 7-12 is connected with a motor connecting sleeve 7-10 and is fastened by a positioning stud 7-11, a motor II 7-1 is connected on the motor connecting sleeve 7-10, the motor II 7-1 is axially connected with the upper end of a screw II 7-14, a screw nut 7-13 is arranged on the screw II 7-14, the lower end of the screw nut 7-13 is fixedly connected with a screw nut sleeve 7-15, the lower end of the screw nut sleeve 7-15 is fixedly connected with a push rod 7-8, the lower end of a push rod 7-8 is hinged with an inclined strut 7-6 through a rotating shaft IV 7-7, a long hole is formed in the longitudinal direction of a screw nut sleeve 7-15, the width of the long hole meets the requirement that an anti-rotation pin 7-18 slides freely, a life ring 5-15 is fixedly connected to the middle of the excircle of a long sleeve 7-2 and locked by the anti-rotation pin 7-18, a long sleeve lower connector 7-17 is connected to the lower end of the excircle of the long sleeve 7-2 and fastened by a fastening screw 7-16, a hole in the long sleeve lower connector 7-17 is hinged with a hip supporting rod 7-3 through a rotating shaft III 7-4, and the hip supporting rod 7-3 is hinged with the other end of the inclined strut 7-6 through a connecting shaft II 7-5; the electric underarm lifesaving device 6 comprises a lifesaving guard plate 6-1, the outer side of the lifesaving guard plate 6-1 is fixedly connected with the long sleeve 7-2, and two electric underarm lifesaving clamp rings are distributed on the left and right sides of the inner side of the lifesaving guard plate 6-1.
The electric underarm lifesaving clamp ring comprises a lifesaving clamp ring shell 6-4 and an annular rack 6-3, the inner diameter of the lifesaving clamp ring shell 6-4 is matched with the outer diameter of the annular rack 6-3, the outer end of the lifesaving clamp ring shell 6-4 is fixedly provided with an inner fixed connecting plate 6-10 and an outer fixed connecting plate 6-10, the outer fixed connecting plate 6-10 is provided with a motor III 6-5 through a motor mounting plate 6-7, an output shaft of the motor III 6-5 is provided with a gear 6-8, the gear 6-8 is meshed with the annular rack 6-3, a gear cover 6-9 is arranged on the inner fixed connecting plate 6-10, a bayonet is formed when the lifesaving clamp ring shell 6-4 and the annular rack 6-3 are in a non-closed state, and a hanging ring is formed when the lifesaving clamp ring shell 6-4 and the annular rack 6, a small arc plate 6-2 is welded on the upper side of the inner ring of the life-saving clasp shell 6-4.
Three lifting rings 5-3 are uniformly distributed on the upper part of the excircle of the motor base 5-2 and are respectively connected with three lifting ropes 4 with equal length.
The motor I5-1 is installed on the motor base 5-2 through a cylindrical head hexagon socket head cap screw 5-16, and after an output shaft of the motor I5-1 is connected with the screw I5-12, the motor I5-2 is locked through a ring washer 5-17 and a positioning stud 5-18, so that the motor base 5-2 is ensured to be in sliding connection with the screw I5-12.
Claims (6)
1. Deep well rescue robot, including tripod (1) and electric hoist (2), be equipped with on tripod (1) and hang horizontal pole (3), electric hoist (2) hang on hanging horizontal pole (3) of tripod (1), its characterized in that has hung robot fixing device (5) through lifting rope (4) on the lifting hook of electric hoist (2), is fixing electronic rescue device on robot fixing device (5).
2. The deep well rescue robot according to claim 1, wherein the robot fixing device (5) comprises a motor I (5-1) and a motor base (5-2), the motor I (5-1) is installed on the motor base (5-2), an output shaft of the motor I (5-1) is connected with a lead screw I (5-12), a lead screw nut I (5-13) is installed on the lead screw I (5-12), a lifting ring (5-3) is fixedly connected with the upper part of the excircle of the motor base (5-2), the lifting ring (5-3) is connected with a lifting rope (4), three supporting legs (5-5) are uniformly welded in the middle of the excircle of the motor base (5-2), the lower ends of the three supporting legs (5-5) are connected with a life-saving ring (5-15), the lower part of the excircle of the motor base (5-2) is uniformly welded with three hinged supports I (5-4), the hinged supports I (5-4) are hinged with the upper ends of the supporting arms (5-6) through rotating shafts I (5-7), the lower ends of the supporting arms (5-6) are provided with adjusting screws (5-11), the middle part of each supporting arm (5-6) is provided with a hole, a diagonal support (5-8) is hinged with the corresponding connecting shaft I (5-9), the excircle of each lead screw nut I (5-13) is uniformly welded with three hinged supports II (5-14), the other end of each diagonal support (5-8) is hinged with the corresponding hinged support II (5-14) through a rotating shaft II (5-10), the motor I (5-1) drives the lead screw I (5-12) to rotate, the lead screw nut I (5-13) reciprocates on the lead screw I (5-12), the supporting arms (5-6) are driven to open and close, so that the well wall is tightly supported or loosened.
3. The deep well rescue robot according to claim 1, wherein the electric rescue device is composed of an electric underarm rescue device (6) and an electric opening and closing rescue bracket (7), the electric opening and closing rescue bracket (7) comprises a long sleeve (7-2), the upper end of the long sleeve (7-2) is in threaded connection with the small excircle of the upper connector (7-12) of the long sleeve and is locked by a set screw (7-16), the large excircle of the upper connector (7-12) of the long sleeve is connected with the motor connecting sleeve (7-10) and is fastened by a positioning stud (7-11), the motor II (7-1) is connected on the motor connecting sleeve (7-10), the motor II (7-1) is in shaft connection with the upper end of a screw rod II (7-14), and a screw rod nut (7-13) is arranged on the screw rod II (7-14), the lower end of a screw nut (7-13) is fixedly connected with a screw nut sleeve (7-15), the lower end of the screw nut sleeve (7-15) is fixedly connected with a push rod (7-8), the lower end of the push rod (7-8) is hinged with an inclined strut (7-6) through a rotating shaft IV (7-7), a long hole is formed in the longitudinal direction of the screw nut sleeve (7-15), the width of the long hole enables an anti-rotation pin (7-18) to freely slide, the middle part of the excircle of a long sleeve (7-2) is fixedly connected with a life ring (5-15) and locked by the anti-rotation pin (7-18), the lower end of the excircle of the long sleeve (7-2) is connected with a long sleeve connector lower connector (7-17) and fastened by a fastening screw (7-16), a hole in the long sleeve lower connector (7-17) is hinged with a hip supporting rod (7-3) through a rotating shaft III (7-4), the hip supporting rod (7-3) is hinged with the other end of the diagonal brace (7-6) through a connecting shaft II (7-5); the electric underarm lifesaving device (6) comprises a lifesaving guard plate (6-1), the outer side of the lifesaving guard plate (6-1) is fixedly connected with the long sleeve (7-2), and two electric underarm lifesaving clamp rings are distributed on the left and right sides of the inner side of the lifesaving guard plate (6-1).
4. The deep well rescue robot according to claim 1 or 3, wherein the electric underarm lifesaving snap ring comprises a lifesaving snap ring shell (6-4) and an annular rack (6-3), the inner diameter of the lifesaving snap ring shell (6-4) is matched with the outer diameter of the annular rack (6-3), the outer end of the lifesaving snap ring shell (6-4) is fixed with an inner fixed connecting plate and an outer fixed connecting plate (6-10), the outer fixed connecting plate (6-10) is provided with a motor III (6-5) through a motor mounting plate (6-7), an output shaft of the motor III (6-5) is provided with a gear (6-8), the gear (6-8) is engaged with the annular rack (6-3), and the inner fixed connecting plate (6-10) is provided with a gear cover (6-9), a bayonet is formed when the life-saving snap ring shell (6-4) and the annular rack (6-3) are in a non-closed state, a hanging ring is formed when the life-saving snap ring shell (6-4) and the annular rack (6-3) are in a closed state, and a small arc plate (6-2) is welded on the upper side of the inner ring of the life-saving snap ring shell (6-4).
5. The deep well rescue robot according to claim 1 or 2, characterized in that three lifting rings (5-3) are evenly distributed on the upper part of the outer circle of the motor base (5-2) and are respectively connected with three lifting ropes (4) with equal length.
6. A deep well rescue robot as claimed in claim 1 or 2, characterized in that the motor I (5-1) is mounted on the motor base (5-2) through a socket head cap screw (5-16), and after the output shaft of the motor I (5-1) is connected with the screw I (5-12), the motor base (5-2) is locked with the screw I (5-12) through a ring washer (5-17) and a positioning stud (5-18), so as to ensure the sliding connection of the motor base (5-2) and the screw I (5-12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911287268.7A CN110841214A (en) | 2019-12-14 | 2019-12-14 | Deep well rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911287268.7A CN110841214A (en) | 2019-12-14 | 2019-12-14 | Deep well rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110841214A true CN110841214A (en) | 2020-02-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911287268.7A Pending CN110841214A (en) | 2019-12-14 | 2019-12-14 | Deep well rescue robot |
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| Country | Link |
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| CN (1) | CN110841214A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201046307Y (en) * | 2007-06-12 | 2008-04-16 | 张志国 | Down-hole lifesaving device |
| CN201692549U (en) * | 2010-06-08 | 2011-01-05 | 李佩佩 | Life preserver |
| CN202052233U (en) * | 2011-05-09 | 2011-11-30 | 谢虎 | Deep small-diameter well rescue device |
| CN104645523A (en) * | 2015-01-16 | 2015-05-27 | 陈建强 | Deep well life-saving device |
| CN206120986U (en) * | 2016-10-20 | 2017-04-26 | 陈建强 | Robot is controlled in deep well rescue |
| CN107175666A (en) * | 2017-06-05 | 2017-09-19 | 西安誉博机器人系统技术有限公司 | Underground rescue robot |
| CN108096739A (en) * | 2017-11-09 | 2018-06-01 | 刘永风 | A kind of deep well rescue device for adapting to various postures |
| CN110421573A (en) * | 2019-07-22 | 2019-11-08 | 大连理工大学 | A kind of rescue robot support device based on small diameter deep well |
| CN211634964U (en) * | 2019-12-14 | 2020-10-09 | 河北非常机器人科技有限公司 | Deep well rescue robot |
-
2019
- 2019-12-14 CN CN201911287268.7A patent/CN110841214A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201046307Y (en) * | 2007-06-12 | 2008-04-16 | 张志国 | Down-hole lifesaving device |
| CN201692549U (en) * | 2010-06-08 | 2011-01-05 | 李佩佩 | Life preserver |
| CN202052233U (en) * | 2011-05-09 | 2011-11-30 | 谢虎 | Deep small-diameter well rescue device |
| CN104645523A (en) * | 2015-01-16 | 2015-05-27 | 陈建强 | Deep well life-saving device |
| CN206120986U (en) * | 2016-10-20 | 2017-04-26 | 陈建强 | Robot is controlled in deep well rescue |
| CN107175666A (en) * | 2017-06-05 | 2017-09-19 | 西安誉博机器人系统技术有限公司 | Underground rescue robot |
| CN108096739A (en) * | 2017-11-09 | 2018-06-01 | 刘永风 | A kind of deep well rescue device for adapting to various postures |
| CN110421573A (en) * | 2019-07-22 | 2019-11-08 | 大连理工大学 | A kind of rescue robot support device based on small diameter deep well |
| CN211634964U (en) * | 2019-12-14 | 2020-10-09 | 河北非常机器人科技有限公司 | Deep well rescue robot |
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