CN201516249U - Mine rescue robot - Google Patents
Mine rescue robot Download PDFInfo
- Publication number
- CN201516249U CN201516249U CN2009202476483U CN200920247648U CN201516249U CN 201516249 U CN201516249 U CN 201516249U CN 2009202476483 U CN2009202476483 U CN 2009202476483U CN 200920247648 U CN200920247648 U CN 200920247648U CN 201516249 U CN201516249 U CN 201516249U
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Abstract
The utility model provides a mine rescue robot capable of implementing the mine rescue tasks in a labor-saving, quick, high accuracy and high-efficient manner, and belongs to the technical field of robots. The robot comprises a frame, wherein a fixed station with a through hole is fixed in the frame, a jacking motor is fixed above the fixed station, and the motor shaft of the jacking motor is connected with a lead screw through the through hole of the fixed station; a lifting table with threads is arranged under the fixed station, and the threads of the lifting table correspond to the lead screw; hydraulic cylinders are respectively arranged under the fixed station and above the lifting table, and the piston rods and the telescopic links of the hydraulic cylinders are connected; and an electric rotating motor is fixed above the lifting table, the motor shaft of the electric rotating motor is connected with one end on one side of a three-end connecting piece through the through hole on the lifting table, two ends on the other side of the three-end connecting piece are connected with the top ends of a first fixed plate and a second fixed plate with grooves and through holes, and mechanical arms are arranged on the first and the second fixed plates.
Description
Technical field:
The utility model belongs to the Robotics field, and particularly a kind of underground rescue robot is mainly used in mechanical rescue field.
Background technology:
That is that all right is ripe for existing Underwell rescue device, generally all is to implement rescue by manpower, and the concrete mode of suing and labouring is that the rescuer is being inverted at well head, will person be rescued pulls or with buoyant apparatus such as ropes person to be rescued is pulled out well head.So not only time-consuming but also consume power, and efficient is low, key is that this method might not be all desirable, success rate is little.
At present, the minority Underwell rescue device that is adopted in the rescue process all is in case of emergency homemade temporarily by the rescue personnel.For example, Chinese police's net was once reported: on September 2nd, 2009, Liyang town, Xunxian, Henan Province Sang Zhuan village one peasant woman crashes in the milpa motor-pumped well accidentally, and firefighters utilizes homemade downhole rescuing instrument that it is rescued safely.The homemade rescue tool of firefighters is very simple and easy, and several are coated with red iron plate and screw down, and have become the rescue tool of " scissors shape ".Firefighters is thrown to the shaft bottom with this rescue tool, and on one's body captive tied up to rescue tool, firefighters utilized tripod directly captive to be pulled out from the shaft bottom again.Though this type of easy self-control Underwell rescue device has played certain effect in the rescue process,, still there is following shortcoming in it:
1, by manual work, deliverance apparatus can not be adjusted to only rescue angle according to the concrete orientation of captive after arriving the position of captive; 2, effort is consuming time, and artificial application of force instability can not guarantee that whole rescue process carries out reposefully, causes damage to captive; 3, assemble temporarily, can not guarantee the integrality of whole device, and the scope of application is little.
The utility model content:
At the existing down-hole time-consuming consumption power of mode of suing and labouring, sometimes inadvisable, and existing Underwell rescue device mostly is interim homemade problem greatly, and the utility model provides that a kind of downhole rescuing is laborsaving, quick, accuracy is high, can implement the underground rescue robot of downhole rescuing task expeditiously.
To achieve these goals, the utility model adopts following technical scheme, a kind of underground rescue robot, comprise frame, be fixed with the fixed station with through hole in frame, in the upper fixed of fixed station lifting motor arranged, the motor shaft of lifting motor links to each other with leading screw by the through hole of fixed station; Be provided with the lifting platform with screw thread below fixed station, the screw thread of described lifting platform is corresponding with leading screw; Below the fixed station, lifting platform above be respectively arranged with hydraulic cylinder, the piston rod of hydraulic cylinder links to each other with expansion link; Upper fixed at lifting platform has electric rotating machine, the motor shaft of electric rotating machine links to each other by the end of the through hole on the lifting platform with three end connections, one side, the two ends of the other side of three end connections link to each other with the top of first fixed head with groove and three through holes and second fixed head respectively, and first fixed head, second fixed head are provided with manipulator; Described manipulator comprises that first grabs part, second and grab part, the 3rd and grab part and the 4th and grab part, and wherein, described first grabs part and second, and to grab part corresponding, and the 3rd grabs part and the 4th, and to grab part corresponding; Grabbing part, second first grabs part, the 3rd and grabs part and the 4th and grab the upper end of part and be respectively arranged with groove and two side through hole, first grabs part and second grabs the interior side through hole of part and links together by the elevating lever with screw thread, the screw thread of elevating lever is corresponding with screw rod, and the bottom of screw rod is connected with the opening and closing drive axle of motor by two intermeshing bevel gears; The 3rd grabs part and the 4th grabs the interior side through hole of part and links together by described elevating lever, described first fixed head and first is grabbed part, second, and to grab part corresponding in conjunction with the groove that the back forms, and described second fixed head and the 3rd is grabbed part, the 4th, and to grab part corresponding in conjunction with the groove of back formation; Have three through holes on described first fixed head: first through hole, second through hole and third through-hole, first grabs part and first fixed head is fixed together by being arranged on first first bearing pin of grabbing in first through hole of the outer side through hole of part and first fixed head, and second grabs part and first fixed head is fixed together by being arranged on second second bearing pin of grabbing in the third through-hole of the outer side through hole of part and first fixed head; Have three through holes on described second fixed head: first through hole, second through hole and third through-hole, the 3rd grabs part and second fixed head is fixed together by being arranged on the 3rd the 3rd bearing pin of grabbing in the third through-hole of the outer side through hole of part and second fixed head, and the 4th grabs part and second fixed head is fixed together by being arranged on the 4th the 4th bearing pin of grabbing in first through hole of the outer side through hole of part and second fixed head; Second through hole of described first fixed head, second through hole of second fixed head are corresponding with elevating lever; The hydraulic cylinder of the hydraulic cylinder of described leading screw, lifting motor, fixed station below, lifting platform top, be arranged on the expansion link on the hydraulic cylinder piston rod of fixed station below and the expansion link that is arranged on the hydraulic cylinder piston rod of lifting platform top all is set at least two; Wherein, the lifting motor number is identical with the leading screw number, the hydraulic cylinder number of lifting platform top is identical with expansion link number on the hydraulic cylinder piston rod that is arranged on the lifting platform top, the hydraulic cylinder number of fixed station below be arranged on fixed station below hydraulic cylinder piston rod on the expansion link number identical.
The hydraulic cylinder of the hydraulic cylinder of described leading screw, lifting motor, fixed station below, lifting platform top, be arranged on the expansion link on the hydraulic cylinder piston rod of fixed station below and the expansion link that is arranged on the hydraulic cylinder piston rod of lifting platform top all is set to four.
Described opening and closing motor is fixed on second fixed head.
Outer end at expansion link is provided with sheet rubber.
The beneficial effects of the utility model:
Underground rescue robot of the present utility model is a semi-automatic controller, can replace manpower that captive is sued and laboured; Not only time saving and energy saving, the accuracy height; And can effectively avoid causing damage to captive, the scope of application is extensive.In addition, underground rescue robot of the present utility model has been used hydraulic system, but but its characteristics that have the big stepless speed regulation of power-weight ratio, stable working, the fast frequent starting of response, brake and turn to.In case dangerous the generation, underground rescue robot of the present utility model can the fastest speed drop to position to be rescued, and implements rescue rapidly, and captive is taken out of outside the well.Because the upper fixed at lifting platform of the present utility model has electric rotating machine, after deliverance apparatus arrives the position of captive, can rotate to only rescue angle according to the concrete orientation control electric rotating machine of captive; Under the control action of electric rotating machine, manipulator can freely rotate flexible positioning by 360 degree.
Description of drawings:
Fig. 1 is the structural representation of underground rescue robot of the present utility model;
Fig. 2 is the right view of Fig. 1;
Fig. 3 is the structural representation of manipulator;
Fig. 4 is the right view (B-B cutaway view) of Fig. 3;
Fig. 5 is the A-A cutaway view of Fig. 3;
Wherein, 1-frame, 2-manipulator, 3-three end connections, the 4-leading screw, 5-through hole, 6-electric rotating machine, 7-lifting platform, the 8-screw thread, 9-lifting motor, 10-fixed station, 11-hydraulic cylinder, the 12-expansion link, the 13-sheet rubber, 14-second grabs part, and 15-first grabs part, side through hole in the 16-, the outer side through hole of 17-, 18-the 3rd grabs part, the 19-bevel gear, 20-opening and closing motor, 21-elevating lever, 22-power transmission shaft, the 24-screw rod, 25-groove, 26-first fixed head, 27-first bearing pin, 28-second bearing pin, 29-second fixed head, 30-the 3rd bearing pin, 31-third through-hole, 32-second through hole, 33-first through hole, 34-the 4th bearing pin, 35-the 4th grabs part.
The specific embodiment:
Below in conjunction with drawings and Examples the utility model is described further:
Embodiment 1:
As shown in the figure, a kind of underground rescue robot comprises frame 1, is fixed with the fixed station 10 with through hole 5 in frame 1, in the upper fixed of fixed station 10 lifting motor 9 is arranged, and the motor shaft of lifting motor 9 links to each other with leading screw 4 by the through hole 5 of fixed station 10; Be provided with the lifting platform 7 with screw thread 8 below fixed station 10, the screw thread 8 of described lifting platform 7 is corresponding with leading screw 4; Below the fixed station 10, lifting platform 7 above be respectively arranged with hydraulic cylinder 11, the piston rod of hydraulic cylinder 11 links to each other with expansion link 12; Upper fixed at lifting platform 7 has electric rotating machine 6, the motor shaft of electric rotating machine 6 links to each other with an end of three end connections, 3 one sides by the through hole 5 on the lifting platform 7, the two ends of three end connections, 3 other sides link to each other with the top of first fixed head 26 with groove 25 and three through holes and second fixed head 29 respectively, and first fixed head 26, second fixed head 29 are provided with manipulator 2; Described manipulator 2 comprises that first grabs part 15, second and grab part the 14, the 3rd and grab part 18 and the 4th and grab part 35, and wherein, described first grabs part 15 and second, and to grab part 14 corresponding, and the 3rd grabs part 18 and the 4th, and to grab part 35 corresponding; Grabbing part 15, second first grabs part the 14, the 3rd and grabs part 18 and the 4th and grab the upper end of part 35 and be respectively arranged with groove 25 and two side through hole, first grabs part 15 and second grabs the interior side through hole 16 of part 14 and links together by the elevating lever 21 with screw thread, the screw thread of elevating lever 21 is corresponding with screw rod 24, and the bottom of screw rod 24 is connected with the power transmission shaft 22 of opening and closing motor 20 by two intermeshing bevel gears 19; The 3rd grabs part 18 and the 4th grabs the interior side through hole 16 of part 35 and links together by described elevating lever 21, described first fixed head 26 and first is grabbed part 15, second, and to grab part 14 corresponding in conjunction with the groove 25 that the back forms, and described second fixed head 29 and the 3rd is grabbed part the 18, the 4th, and to grab part 35 corresponding in conjunction with the groove 25 of back formation; Have three through holes on described first fixed head 26: first through hole 33, second through hole 32 and third through-hole 31, first grabs part 15 and first fixed head 26 is fixed together by being arranged on first first bearing pin 27 of grabbing in first through hole 33 of the outer side through hole 17 of part 15 and first fixed head 26, and second grabs part 14 and first fixed head 26 grabs the outer side through hole 17 of part 14 and the third through-hole 31 second interior bearing pins 28 of first fixed head 26 are fixed together by being arranged on second; Have three through holes on described second fixed head 29: first through hole 33, second through hole 32 and third through-hole 31, the 3rd grabs part 18 and second fixed head 29 is fixed together by being arranged on the 3rd the 3rd bearing pin 30 of grabbing in the third through-hole 31 of the outer side through hole 17 of part 18 and second fixed head 29, and the 4th grabs part 35 and second fixed head 29 grabs the outer side through hole 17 of part 35 and first through hole, 33 the 4th interior bearing pins 34 of second fixed head 29 are fixed together by being arranged on the 4th; Second through hole 32 of described first fixed head 26, second through hole 32 of second fixed head 29 are corresponding with elevating lever 21.The hydraulic cylinder 11 of described leading screw 4, lifting motor 9, fixed station 10 belows, the hydraulic cylinder 11 of lifting platform 7 tops, be arranged on the expansion link 12 on hydraulic cylinder 11 piston rods of fixed station 10 belows and the expansion link 12 that is arranged on hydraulic cylinder 11 piston rods of lifting platform 7 tops all is set to four.Described opening and closing motor 20 is fixed on second fixed head 29, moves more steadily in order to make rescue robot of the present utility model in the down-hole, in the outer end of expansion link 12 sheet rubber 13 is set.The control end of described lifting motor 9, hydraulic cylinder 11, electric rotating machine 6 and opening and closing motor 20 links to each other with external remote, rescue robot of the present utility model is controlled outside well by the rescue personnel.
Embodiment 2:
As shown in the figure, a kind of underground rescue robot comprises frame 1, is fixed with the fixed station 10 with through hole 5 in frame 1, in the upper fixed of fixed station 10 lifting motor 9 is arranged, and the motor shaft of lifting motor 9 links to each other with leading screw 4 by the through hole 5 of fixed station 10; Be provided with the lifting platform 7 with screw thread 8 below fixed station 10, the screw thread 8 of described lifting platform 7 is corresponding with leading screw 4; Below the fixed station 10, lifting platform 7 above be respectively arranged with hydraulic cylinder 11, the piston rod of hydraulic cylinder 11 links to each other with expansion link 12; Upper fixed at lifting platform 7 has electric rotating machine 6, the motor shaft of electric rotating machine 6 links to each other with an end of three end connections, 3 one sides by the through hole 5 on the lifting platform 7, the two ends of three end connections, 3 other sides link to each other with the top of first fixed head 26 with groove 25 and three through holes and second fixed head 29 respectively, and first fixed head 26, second fixed head 29 are provided with manipulator 2; Described manipulator 2 comprises that first grabs part 15, second and grab part the 14, the 3rd and grab part 18 and the 4th and grab part 35, and wherein, described first grabs part 15 and second, and to grab part 14 corresponding, and the 3rd grabs part 18 and the 4th, and to grab part 35 corresponding; Grabbing part 15, second first grabs part the 14, the 3rd and grabs part 18 and the 4th and grab the upper end of part 35 and be respectively arranged with groove 25 and two side through hole, first grabs part 15 and second grabs the interior side through hole 16 of part 14 and links together by the elevating lever 21 with screw thread, the screw thread of elevating lever 21 is corresponding with screw rod 24, and the bottom of screw rod 24 is connected with the power transmission shaft 22 of opening and closing motor 20 by two intermeshing bevel gears 19; The 3rd grabs part 18 and the 4th grabs the interior side through hole 16 of part 35 and links together by described elevating lever 21, described first fixed head 26 and first is grabbed part 15, second, and to grab part 14 corresponding in conjunction with the groove 25 that the back forms, and described second fixed head 29 and the 3rd is grabbed part the 18, the 4th, and to grab part 35 corresponding in conjunction with the groove 25 of back formation; Have three through holes on described first fixed head 26: first through hole 33, second through hole 32 and third through-hole 31, first grabs part 15 and first fixed head 26 is fixed together by being arranged on first first bearing pin 27 of grabbing in first through hole 33 of the outer side through hole 17 of part 15 and first fixed head 26, and second grabs part 14 and first fixed head 26 grabs the outer side through hole 17 of part 14 and the third through-hole 31 second interior bearing pins 28 of first fixed head 26 are fixed together by being arranged on second; Have three through holes on described second fixed head 29: first through hole 33, second through hole 32 and third through-hole 31, the 3rd grabs part 18 and second fixed head 29 is fixed together by being arranged on the 3rd the 3rd bearing pin 30 of grabbing in the third through-hole 31 of the outer side through hole 17 of part 18 and second fixed head 29, and the 4th grabs part 35 and second fixed head 29 grabs the outer side through hole 17 of part 35 and first through hole, 33 the 4th interior bearing pins 34 of second fixed head 29 are fixed together by being arranged on the 4th; Second through hole 32 of described first fixed head 26, second through hole 32 of second fixed head 29 are corresponding with elevating lever 21.The hydraulic cylinder 11 of described leading screw 4, lifting motor 9, fixed station 10 belows, the hydraulic cylinder 11 of lifting platform 7 tops, be arranged on the expansion link 12 on hydraulic cylinder 11 piston rods of fixed station 10 belows and the expansion link 12 that is arranged on hydraulic cylinder 11 piston rods of lifting platform 7 tops all is set to two.Described opening and closing motor 20 is fixed on second fixed head 29, moves more steadily in order to make rescue robot of the present utility model in the down-hole, in the outer end of expansion link 12 sheet rubber 13 is set.The control end of described lifting motor 9, hydraulic cylinder 11, electric rotating machine 6 and opening and closing motor 20 links to each other with external remote, rescue robot of the present utility model is controlled outside well by the rescue personnel.
A course of action below in conjunction with description of drawings rescue robot of the present utility model:
During use, at first, underground rescue robot of the present utility model is placed on well head, the expansion link 12 of fixed station 10 belows is supported on the well head; Then, by 9 runnings of external remote control lifting motor, lifting motor 9 drives leading screw 4 and rotates, and lifting platform 7 descends.When the expansion link 12 of lifting platform 7 tops dropped to position near frame 1 bottom, the expansion link 12 that makes the hydraulic cylinder 11 of lifting platform 7 tops drive lifting platforms 7 tops by external remote control stretched out, and reaches in the borehole wall; Then, the expansion link 12 that makes the hydraulic cylinder 11 of fixed station 10 belows drive fixed station 10 belows by external remote control shrinks; After contraction is finished, by 9 runnings of external remote control lifting motor, lifting motor 9 drives leading screw 4 and rotates, fixed station 10 is descended, when the expansion link 12 of fixed station 10 belows dropped to position near lifting platform 7 tops, underground rescue robot of the present utility model had been finished the process that once descends.So circulation, when underground rescue robot of the present utility model drops to position near captive till.By 6 runnings of external remote control electric rotating machine, electric rotating machine 6 drives manipulator 2 rotations, makes manipulator 2 rotate to the angle that is fit to rescue.At this moment, by 20 runnings of external remote control opening and closing motor, opening and closing motor 20 drives power transmission shaft 22 and rotates, and power transmission shaft 22 drives screw rod 24 rotations by bevel gear 19, and screw rod 24 drives elevating lever 21 and descends, and manipulator 2 opens.Again by 9 runnings of external remote control lifting motor, make lifting platform 7 drive the position that manipulators 2 drop to the most suitable rescue.At last, by 20 runnings once more of external remote control opening and closing motor, elevating lever 21 is risen, manipulator 2 clamps captive, and captive is rescued outside the well, promptly finishes whole rescue task.
Claims (4)
1. a underground rescue robot is characterized in that comprising frame, is fixed with the fixed station with through hole in frame, in the upper fixed of fixed station lifting motor is arranged, and the motor shaft of lifting motor links to each other with leading screw by the through hole of fixed station; Be provided with the lifting platform with screw thread below fixed station, the screw thread of described lifting platform is corresponding with leading screw; Below the fixed station, lifting platform above be respectively arranged with hydraulic cylinder, the piston rod of hydraulic cylinder links to each other with expansion link; Upper fixed at lifting platform has electric rotating machine, the motor shaft of electric rotating machine links to each other by the end of the through hole on the lifting platform with three end connections, one side, the two ends of the other side of three end connections link to each other with the top of first fixed head with groove and three through holes and second fixed head respectively, and first fixed head, second fixed head are provided with manipulator; Described manipulator comprises that first grabs part, second and grab part, the 3rd and grab part and the 4th and grab part, and wherein, described first grabs part and second, and to grab part corresponding, and the 3rd grabs part and the 4th, and to grab part corresponding; Grabbing part, second first grabs part, the 3rd and grabs part and the 4th and grab the upper end of part and be respectively arranged with groove and two side through hole, first grabs part and second grabs the interior side through hole of part and links together by the elevating lever with screw thread, the screw thread of elevating lever is corresponding with screw rod, and the bottom of screw rod is connected with the opening and closing drive axle of motor by two intermeshing bevel gears; The 3rd grabs part and the 4th grabs the interior side through hole of part and links together by described elevating lever, described first fixed head and first is grabbed part, second, and to grab part corresponding in conjunction with the groove that the back forms, and described second fixed head and the 3rd is grabbed part, the 4th, and to grab part corresponding in conjunction with the groove of back formation; Have three through holes on described first fixed head: first through hole, second through hole and third through-hole, first grabs part and first fixed head is fixed together by being arranged on first first bearing pin of grabbing in first through hole of the outer side through hole of part and first fixed head, and second grabs part and first fixed head is fixed together by being arranged on second second bearing pin of grabbing in the third through-hole of the outer side through hole of part and first fixed head; Have three through holes on described second fixed head: first through hole, second through hole and third through-hole, the 3rd grabs part and second fixed head is fixed together by being arranged on the 3rd the 3rd bearing pin of grabbing in the third through-hole of the outer side through hole of part and second fixed head, and the 4th grabs part and second fixed head is fixed together by being arranged on the 4th the 4th bearing pin of grabbing in first through hole of the outer side through hole of part and second fixed head; Second through hole of described first fixed head, second through hole of second fixed head are corresponding with elevating lever; The hydraulic cylinder of the hydraulic cylinder of described leading screw, lifting motor, fixed station below, lifting platform top, be arranged on the expansion link on the hydraulic cylinder piston rod of fixed station below and the expansion link that is arranged on the hydraulic cylinder piston rod of lifting platform top all is set at least two; Wherein, the lifting motor number is identical with the leading screw number, the hydraulic cylinder number of lifting platform top is identical with expansion link number on the hydraulic cylinder piston rod that is arranged on the lifting platform top, the hydraulic cylinder number of fixed station below be arranged on fixed station below hydraulic cylinder piston rod on the expansion link number identical.
2. a kind of underground rescue robot according to claim 1, it is characterized in that hydraulic cylinder, the lifting platform top of described leading screw, lifting motor, fixed station below hydraulic cylinder, be arranged on the expansion link on the hydraulic cylinder piston rod of fixed station below and the expansion link that is arranged on the hydraulic cylinder piston rod of lifting platform top all is set to four.
3. a kind of underground rescue robot according to claim 1 is characterized in that described opening and closing motor is fixed on second fixed head.
4. a kind of underground rescue robot according to claim 1 is characterized in that in the outer end of expansion link sheet rubber being set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202476483U CN201516249U (en) | 2009-10-28 | 2009-10-28 | Mine rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202476483U CN201516249U (en) | 2009-10-28 | 2009-10-28 | Mine rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201516249U true CN201516249U (en) | 2010-06-30 |
Family
ID=42496960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202476483U Expired - Fee Related CN201516249U (en) | 2009-10-28 | 2009-10-28 | Mine rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201516249U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101703829B (en) * | 2009-10-28 | 2012-11-14 | 东北大学 | Underground rescue robot |
| CN113696192A (en) * | 2020-10-16 | 2021-11-26 | 国网浙江省电力有限公司金华供电公司 | Be used for narrow and small space rescue split type robot |
-
2009
- 2009-10-28 CN CN2009202476483U patent/CN201516249U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101703829B (en) * | 2009-10-28 | 2012-11-14 | 东北大学 | Underground rescue robot |
| CN113696192A (en) * | 2020-10-16 | 2021-11-26 | 国网浙江省电力有限公司金华供电公司 | Be used for narrow and small space rescue split type robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100630 Termination date: 20101028 |