CN113893474A

CN113893474A - Deep well rescue robot

Info

Publication number: CN113893474A
Application number: CN202111347439.8A
Authority: CN
Inventors: 关玉金; 杨杰; 刘连荣; 陈东亮
Original assignee: Jiangsu Sanming Zhida Technology Co ltd
Current assignee: Jiangsu Sanming Zhida Technology Co ltd
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2022-01-07
Anticipated expiration: 2041-11-15
Also published as: CN113893474B

Abstract

The invention discloses a deep well rescue robot, belonging to the technical field of rescue robots, and providing a deep well rescue robot, which comprises a frame body, wherein a lighting camera lamp and a motor can realize monitoring rescue in a whole lighting environment, meanwhile, the positive and negative rotation of the motor is controlled to realize the change fit connection between the guide device and the fixing device and the inner wall of the deep well, when the motor rotates positively, the first guide wheel can fit the inner wall of the deep well for guiding, when the motor rotates reversely, the second lug push plate is pushed to enable the rack to move together, so that the winding disc rotates and one end of the safety rope falls down, then the circular belt is sleeved in the shoulder socket of the difficult person, then when the motor continues to rotate forwards, the two groups of conical blocks are separated from the deep well, the first guide wheel can continue to guide, the circular belt can be accommodated and rolled up through the safety rope to be lifted, so that the difficult patient is in a vertical posture.

Description

Deep well rescue robot

Technical Field

The invention relates to the technical field of rescue robots, in particular to a deep well rescue robot.

Background

The deep well work all belongs to high-risk work all the time, and the craftsman often can lead to unexpected accidents such as health collapse to take place because of various complicated environment when being put into the deep well work, and rescue mode in the past puts down the rope through lifting equipment and carries out the rescue task, but, the staff on ground can't know the condition in the well all the time, and consequently, the rescue task is very difficult, if continue to use the staff to get into the deep well rescue, can cause more accidents to take place.

Disclosure of Invention

Aiming at the technical defects, the invention aims to provide a deep well rescue robot, which controls a hoisting device to hoist the upper end of a vehicle body moving part of the rescue robot to enter the deep well through an intelligent monitoring means, stably moves along the inner wall of the deep well or is fixed on the inner wall of the deep well through a moving mechanism device of the vehicle body, and feeds back to the ground through a lighting and camera system, so as to realize intelligent rescue.

In order to solve the technical problems, the invention adopts the following technical scheme: the invention provides a deep well rescue robot, which comprises a vehicle frame body, wherein a group of mounting grooves are formed in the upper surface of the vehicle frame body, a rotary groove is formed in the bottom surface of the vehicle frame body, a group of first through grooves and a group of second through grooves are formed in the vehicle frame body along the circumference of the rotary groove, a fixed frame is fixedly arranged on the upper surface of the vehicle frame body, a power device is fixedly mounted at the bottom end of the fixed frame, the output end of the power device penetrates through the vehicle frame body and is rotatably connected with a guiding device and a fixing mechanism, the guiding device is sleeved in the first through grooves, the fixing mechanism is sleeved in the second through grooves, the fixing mechanism is rotatably connected with a safety belt mechanism, and a monitoring device is detachably mounted in the mounting grooves.

Preferably, an arc-shaped lifting handle is fixedly arranged on the upper surface of the fixing frame, and the arc-shaped lifting handle is detachably connected with lifting equipment.

Preferably, the power device comprises a motor, the output end of the motor penetrates through the frame body, the driving bevel gear is fixedly connected with the driving bevel gear, the driving bevel gear is meshed with two groups of driven bevel gears, and the driven bevel gears are respectively and fixedly connected with the guide device and the fixing mechanism.

Preferably, the guide device includes a set of first guide cover, the first guide cover is sleeved in the first through groove, a set of the driven bevel gears is fixedly provided with a line-following lead screw, the line-following lead screw penetrates through the first guide cover and is in threaded sleeve connection with a first bump push plate, a first guide groove is formed in the inner wall of the first guide cover, the first bump push plate is slidably arranged in the first guide groove, a set of first push rods is fixedly arranged on the side surface of the first bump push plate, the first push rods penetrate through the other end of the first guide cover and are fixedly connected with a first baffle, the other end of the line-following lead screw is fixedly connected with the first baffle, a first connecting rod is slidably clamped in the line-following lead screw and the first baffle, a first spring is sleeved on the outer surface of the first connecting rod, a first guide wheel is rotatably arranged at the other end of the first connecting rod, and two ends of the first spring and two ends of the first baffle are connected with the first baffle, The first guide wheel is fixedly connected.

Preferably, the fixing mechanism includes a set of second guide cover, the second guide cover is sleeved in the second through groove, another set of the driven bevel gears is fixedly provided with an inverse thread lead screw, the inverse thread lead screw penetrates through the second guide cover and is in threaded sleeve connection with a second bump push plate, a second guide groove and a second sliding groove are formed in the inner wall of the second guide cover, the second bump push plate is slidably arranged in the second guide groove, two sets of second push rods are fixedly arranged on the side surface of the second bump push plate, the second push rods penetrate through the other end of the second guide cover and are fixedly connected with a sliding plate, a second spring is sleeved on the side surface of the sliding plate, a second guide wheel is movably inserted in the sliding plate, and two ends of the second spring are fixedly connected with the sliding plate and the second guide wheel.

Preferably, a first sliding groove is formed in the bottom surface of the frame body, the second sliding groove is connected with the first sliding groove in an overlapped mode, and a conical block is fixedly arranged at the other end of the second push rod.

Preferably, the safety belt mechanism is including a set of rack, rack upper surface and second lug push pedal bottom fixed connection, the meshing of rack bottom is connected with first gear, first gear fixedly connected with is coiled, the safety rope has been coiled around the outer surface of coil, the coil other end rotates and is connected with the fixed block, fixed block upper surface and car frame body bottom surface fixed connection, the circular area of safety rope bottom fixed connection.

Preferably, the monitoring device comprises a base, the base is arranged in the mounting groove, and a lighting camera lamp is fixedly arranged at the bottom end of the base.

The invention has the beneficial effects that: the illumination camera lamp and the motor can realize monitoring and rescue in a whole illumination environment, and simultaneously control the forward and reverse rotation of the motor to realize the change fit connection between the guide device and the fixing device and the inner wall of the deep well, when the motor rotates forwards, the first guide wheel can fit the inner wall of the deep well for guiding, when the motor rotates backwards, the second bump push plate is pushed, the rack can move together, so that the winding disc rotates, one end of the safety rope falls down, then the safety rope is sleeved in a shoulder pit of a difficult person, when the motor continues to rotate forwards, two groups of conical blocks are separated from being fixed with the deep well, the first guide wheel can continue to guide, and the circular belt can be stored and rolled up through the safety rope to be lifted, so that the posture of the difficult person is in an upright state.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a deep well rescue robot provided in an embodiment of the present invention.

Fig. 2 is a schematic cross-sectional view of the frame body.

Fig. 3 is a schematic structural diagram of the transmission mechanism.

Fig. 4 is a schematic view of the structure guide.

Fig. 5 is a schematic view of the structure fixing mechanism and the seatbelt mechanism.

Description of reference numerals: 1. a vehicle frame body; 11. mounting grooves; 12. rotating the groove; 13. a first through groove; 14. a second through groove; 15. a first chute; 2. a fixed mount; 21. an arc-shaped carrying handle; 3. a power plant; 31. a motor; 32. a driving bevel gear; 33. a driven bevel gear; 4. a guide device; 41. a first guide housing; 42. a smooth thread screw rod; 43. a first guide groove; 44. a first bump push plate; 45. a first push rod; 46. a first baffle plate; 47. a first spring; 48. a first link; 49. a first guide wheel; 5. a fixing mechanism; 51. a second guide housing; 52. a reverse thread screw rod; 53. a second guide groove; 54. a second chute; 55. a second bump push plate; 56. a second push rod; 561. a conical block; 57. a slide plate; 58. a second spring; 59. a second guide wheel; 6. a seat belt mechanism; 61. a rack; 62. a first gear; 63. coiling; 64. a safety cord; 65. a fixed block; 66. a circular band; 7. a monitoring device; 71. a base; 72. illuminating the camera lamp.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example (b): as shown in fig. 1 to 5, the invention provides a deep well rescue robot, which comprises a frame body 1, wherein a set of mounting grooves 11 are formed on the upper surface of the frame body 1, a rotary groove 12 is formed on the bottom surface of the frame body 1, a set of first through grooves 13 and a set of second through grooves 14 are formed on the frame body 1 along the circumference of the rotary groove 12, the set of first through grooves 13 and the set of second through grooves 14 are distributed symmetrically along the circumference of the rotary groove 12, a fixed frame 2 is fixedly arranged on the upper surface of the frame body 1, the fixed frame 2 is mounted on the upper surface of the frame body 1 and used for being connected with a lifting device on the ground of a deep well, a power device 3 is fixedly mounted at the bottom end of the fixed frame 2, the power device 3 is fixedly connected with the fixed frame 2, the output end of the power device 3 penetrates through the frame body 1 and is rotatably connected with a guiding device 4 and a fixing mechanism 5, the power device 3 can enable the guiding device 4 and the fixing mechanism 5 to work, through guider 4 and deep well inner wall laminating connection, have and be connected the equipment guide effect, enable equipment through fixed establishment 5 and be fixed in the deep well inner wall, guider 4 cup joints in first logical groove 13, and guider 4 installs in first logical groove 13, fixed establishment 5 cup joints in the logical groove 14 of second, and fixed establishment 5 installs in the logical groove 14 of second, and first logical groove 13 leads to the groove 14 with the second and is the cross form, fixed establishment 5 rotates and is connected with safety belt mechanism 6, and fixed establishment 5 during operation can link safety belt mechanism 6 work, demountable installation has monitoring device 7 in mounting groove 11, and monitoring device 7 installs in mounting groove 11.

Further, the fixed surface of mount 2 is equipped with arc carrying handle 21, arc carrying handle 21 can be dismantled and is connected with and hang and rise equipment to be convenient for place equipment in the deep well, promote as power output for the rescue in addition.

Further, power device 3 is including motor 31, the frame body 1 is run through to motor 31 output to fixedly connected with initiative conical gear 32, initiative conical gear 32 meshing is connected with two sets of driven conical gear 33, driven conical gear 33 respectively with guider 4 and fixed establishment 5 fixed connection, starter motor 31 makes initiative conical gear 32 drive four driven conical gear 33 and rotates, and makes guider 4 and fixed establishment 5 work.

Further, the guiding device 4 includes a set of first guiding covers 41, the first guiding covers 41 are sleeved in the first through grooves 13, a set of first guiding covers 41 are disposed in the first through grooves 13, a set of driven bevel gears 33 are all fixedly provided with a following-grain screw rod 42, when the motor 31 rotates forwards, the driven bevel gears 33 drive the following-grain screw rod 42 to rotate, the following-grain screw rod 42 penetrates through the first guiding covers 41, and is in threaded sleeve connection with a first bump push plate 44, a first guide groove 43 is disposed on an inner wall of the first guiding cover 41, the first bump push plate 44 is slidably disposed in the first guide groove 43, a body of the first bump push plate 44 is slidably clamped in the first guide groove 43 and cannot rotate, but moves along the rotating following-grain screw rod 42, a set of first push rods 45 are fixedly disposed on a side surface of the first bump push plate 44, the first push rods 45 penetrate through the other ends of the first guiding covers 41, and fixedly connected with first baffle 46, the first baffle 46 of following the grain lead screw 42 other end fixed connection, it has first connecting rod 48 to slide joint in the lead screw 42 of following the grain and the first baffle 46, first spring 47 has been cup jointed on the surface of first connecting rod 48, the other end of first connecting rod 48 rotates and is equipped with first guide pulley 49, first spring 47 both ends and first baffle 46, first guide pulley 49 fixed connection, first lug push pedal 44 promote first baffle 46 and a set of first push rod 45 displacement, first baffle 46 drives first guide pulley 49 through first spring (47) and slides along following the grain lead screw 42, thereby make first guide pulley 49 atress and extrude first spring 47, can laminate with the deep well inner wall and lead simultaneously.

Further, the fixing mechanism 5 includes a set of second guide cover 51, the second guide cover 51 is sleeved in the second through groove 14, the other set of driven bevel gears 33 is fixedly provided with an inverse thread lead screw 52, the inverse thread lead screw 52 penetrates through the second guide cover 51 and is in threaded sleeve connection with a second bump push plate 55, the inner wall of the second guide cover 51 is provided with a second guide groove 53 and a second slide groove 54, the second bump push plate 55 is slidably arranged in the second guide groove 53, two sets of second push rods 56 are fixedly arranged on the side surface of the second bump push plate 55, the second push rods 56 penetrate through the other end of the second guide cover 51 and are fixedly connected with a sliding plate 57, a second spring 58 is sleeved on the side surface of the sliding plate 57, a second guide wheel 59 is movably inserted in the sliding plate 57, two ends of the second spring 58 are fixedly connected with the sliding plate 57 and the second guide wheel 59, when the second guide wheel 59 is extruded, extrude second spring 58, and second guide pulley 59 slides along slide 57, when motor 31 reverses, another group of driven bevel gears 33 drive negative thread lead screw 52 and rotate, second lug push pedal 55 body can not rotate because of the slip joint in second guide slot 53, but along pivoted negative thread lead screw 52 displacement, second lug push pedal 55 promotes two sets of second push rods 56 and displaces, thereby make second guide pulley 59 atress and extrude second spring 58, can lead with the laminating of deep well inner wall simultaneously, motor 31 continues the reversal, continue to extrude second spring 58, make two sets of conical blocks 561 can insert the deep well inner wall, thereby make equipment fixed.

Further, a first sliding groove 15 is formed in the bottom surface of the frame body 1, the second sliding groove 54 is connected with the first sliding groove 15 in an overlapping manner, and a tapered block 561 is fixedly arranged at the other end of the second push rod 56.

Further, the safety belt mechanism 6 comprises a set of rack 61, the upper surface of the rack 61 is fixedly connected with the bottom end of the second bump pushing plate 55, when the motor 31 rotates reversely, the second bump pushing plate 55 is pushed to be pushed together with the rack 61, the bottom end of the rack 61 is engaged and connected with a first gear 62, the first gear 62 is fixedly connected with a winding disc 63, the first gear 62 rotates by the movement of the rack 61, the diameter of the first gear 62 is smaller than that of the winding disc 63, a safety rope 64 is wound on the outer surface of the winding disc 63, one end of the safety rope 64 is fixedly arranged on the winding disc 63, the other end of the safety rope 64 falls down by the rotation of the winding disc 63, the other end of the winding disc 63 is rotatably connected with a fixed block 65, the upper surface of the fixed block 65 is fixedly connected with the bottom surface of the vehicle frame 1, a circular belt 66 is fixedly connected with the bottom end of the safety rope 64, so that the circular belt 66 can be sleeved in the shoulder pit of the difficult person, when the motor 31 rotates forward, the two sets of conical blocks 561 are disengaged from the deep well, the first guide wheel 49 of the guide device 4 can be attached to the inner wall of the deep well for guiding, and the circular belt 66 can be stored and rolled up through the safety rope 64 to be lifted, so that the difficult patient is in a vertical posture.

Further, monitoring device 7 is including base 71, base 71 is located in mounting groove 11, base 71 bottom mounting is equipped with illumination camera lamp 72, can realize whole illumination environment and monitor control motor 31's just reversal through illumination camera lamp 72 and motor 31 and realize intelligent rescue.

When the device is used, lifting equipment at the ground of a deep well is connected with the arc-shaped carrying handle 21 of the fixing frame 2, and the illumination camera lamp 72 realizes illumination and monitoring work, specifically, a group of first through grooves 13 and a group of second through grooves 14 at the bottom end of the frame body 1 are distributed along the circumferential axis of the rotary groove 12 in a symmetric manner, so that the guide device 4 and the fixing mechanism 5 are in a cross shape, when the device is placed into the deep well, the motor 31 rotates forwards, the driven conical gear 33 drives the following-grain screw rod 42 to rotate, the first bump push plate 44 body cannot rotate because of being clamped in the first guide groove 43 in a sliding manner, but moves along the rotating following-grain screw rod 42, and pushes the first baffle plate 46 and the group of first push rods 45 to move, so that the first guide wheel 49 is forced to move along the following-grain screw rod 42 and extrude the first spring 47, and can be attached to the inner wall of the deep well for guiding, at the moment, the fixing mechanism 5 is not connected with the inner wall of the deep well, when the area near a difficult person is reached, the motor 31 rotates reversely, the other set of driven bevel gears 33 drives the reverse thread screw 52 to rotate, so that the second guide wheel 59 is stressed to extrude the second spring 58 and can be attached to the inner wall of the deep well for guiding, the first guide wheel 49 moves reversely and is separated from the inner wall of the deep well, the motor 31 continuously rotates reversely and continuously extrudes the second spring 58, so that the two sets of conical blocks 561 can be inserted into the inner wall of the deep well, so that the equipment is fixed, in the process of rotating reversely the motor 31, the second bump push plate 55 pushes the driven rack 61 to move together and drives the first gear 62 and the winding disc 63 to rotate, the diameter of the first gear 62 is smaller than that of the winding disc 63, one end of the safety rope 64 is fixedly arranged on the winding disc 63, the other end of the safety rope can fall through the rotation of the winding disc 63, so that the safety rope can be sleeved in the shoulder socket of a difficult person through the circular belt 66, then the motor 31 is controlled to rotate forwardly, the two sets of conical blocks 561 are separated from the deep well, and the first guide wheel 49 can be attached to the inner wall of the deep well for guiding, meanwhile, the circular belt 66 can be stored and rolled up through the safety rope 64 to be lifted, so that the difficult patient is in a vertical posture to realize intelligent rescue.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The utility model provides a deep well rescue robot, includes car frame body (1), its characterized in that: the upper surface of the bicycle frame body (1) is provided with a group of mounting grooves (11), the bottom surface of the bicycle frame body (1) is provided with a rotating groove (12), a group of first through grooves (13) and a group of second through grooves (14) are arranged on the frame body (1) along the circumference of the rotary groove (12), the upper surface of the frame body (1) is fixedly provided with a fixed frame (2), the bottom end of the fixed frame (2) is fixedly provided with a power device (3), the output end of the power device (3) penetrates through the frame body (1), and is rotationally connected with a guiding device (4) and a fixing mechanism (5), the guiding device (4) is sleeved in the first through groove (13), fixed establishment (5) cup joint in second logical groove (14), fixed establishment (5) rotate and are connected with safety belt mechanism (6), demountable installation has monitoring device (7) in mounting groove (11).

2. A deep well rescue robot as claimed in claim 1, wherein the upper surface of the fixed frame (2) is fixedly provided with an arc-shaped handle (21), and the arc-shaped handle (21) is detachably connected with a hoisting device.

3. A deep well rescue robot as claimed in claim 1, wherein the power device (3) comprises a motor (31), the output end of the motor (31) penetrates through the frame body (1) and is fixedly connected with a driving bevel gear (32), the driving bevel gear (32) is engaged with two groups of driven bevel gears (33), and the driven bevel gears (33) are respectively and fixedly connected with the guiding device (4) and the fixing mechanism (5).

4. A deep well rescue robot as claimed in claim 3, wherein the guide device (4) comprises a set of first guide covers (41), the first guide covers (41) are sleeved in the first through grooves (13), a set of driven bevel gears (33) are fixedly provided with a smooth thread screw (42), the smooth thread screw (42) penetrates through the first guide covers (41) and is in threaded sleeve connection with first bump push plates (44), the inner walls of the first guide covers (41) are provided with first guide grooves (43), the first bump push plates (44) are slidably arranged in the first guide grooves (43), a set of first push rods (45) are fixedly arranged on the side surfaces of the first bump push plates (44), the first push rods (45) penetrate through the other ends of the first guide covers (41) and are fixedly connected with first baffle plates (46), the other ends of the smooth thread screws (42) are fixedly connected with first baffle plates (46), the thread guide screw (42) and the first baffle (46) are connected with a first connecting rod (48) in a sliding and clamping mode, a first spring (47) is sleeved on the outer surface of the first connecting rod (48), a first guide wheel (49) is arranged at the other end of the first connecting rod (48) in a rotating mode, and the two ends of the first spring (47) are fixedly connected with the first baffle (46) and the first guide wheel (49).

5. A deep well rescue robot as claimed in claim 3, wherein the fixing mechanism (5) comprises a set of second guide cover (51), the second guide cover (51) is sleeved in the second through groove (14), the other set of driven bevel gears (33) is fixedly provided with an inverse thread screw (52), the inverse thread screw (52) penetrates through the second guide cover (51) and is in threaded sleeve connection with a second bump push plate (55), the inner wall of the second guide cover (51) is provided with a second guide groove (53) and a second sliding groove (54), the second bump push plate (55) is slidably arranged in the second guide groove (53), two sets of second push rods (56) are fixedly arranged on the side surface of the second bump push plate (55), the second push rods (56) penetrate through the other end of the second guide cover (51) and are fixedly connected with a sliding plate (57), and a second spring (58) is sleeved on the side surface of the sliding plate (57), a second guide wheel (59) is movably inserted in the sliding plate (57), and two ends of the second spring (58) are fixedly connected with the sliding plate (57) and the second guide wheel (59).

6. A deep well rescue robot as claimed in claim 4, wherein the bottom surface of the frame body (1) is provided with a first sliding groove (15), the second sliding groove (54) is connected with the first sliding groove (15) in an overlapping manner, and the other end of the second push rod (56) is fixedly provided with a conical block (561).

7. A deep well rescue robot as claimed in claim 1, wherein the safety belt mechanism (6) comprises a set of rack (61), the upper surface of the rack (61) is fixedly connected with the bottom end of the second bump pushing plate (55), the bottom end of the rack (61) is engaged with a first gear (62), the first gear (62) is fixedly connected with a winding disc (63), a safety rope (64) is wound on the outer surface of the winding disc (63), the other end of the winding disc (63) is rotatably connected with a fixed block (65), the upper surface of the fixed block (65) is fixedly connected with the bottom surface of the frame body (1), and a circular belt (66) is fixedly connected with the bottom end of the safety rope (64).

8. A deep well rescue robot as claimed in claim 1, wherein the monitoring device (7) comprises a base (71), the base (71) is arranged in the mounting groove (11), and a lighting camera lamp (72) is fixed at the bottom end of the base (71).