CN209630474U - Flexible deep well rescue device - Google Patents
Flexible deep well rescue device Download PDFInfo
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- CN209630474U CN209630474U CN201920306750.XU CN201920306750U CN209630474U CN 209630474 U CN209630474 U CN 209630474U CN 201920306750 U CN201920306750 U CN 201920306750U CN 209630474 U CN209630474 U CN 209630474U
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Abstract
The flexible deep well rescue device comprises a supporting mechanism, a manipulator posture adjusting mechanism and a flexible manipulator; the supporting mechanism provides a supporting and mounting platform for the manipulator posture adjusting mechanism; the manipulator posture adjustment mechanism is installed on the supporting mechanism, the flexible manipulator is installed on the manipulator posture adjustment mechanism, the adjustment of the position and the angle of the flexible manipulator is realized through the manipulator posture adjustment mechanism, the flexible manipulator comprises an air bag mechanism and a plurality of end-to-end hand sections, the adjacent hand sections are connected through electric joints, each electric joint provides power for each hand section connected to the flexible manipulator, the adjustment of the rotation angle of each hand section is realized through controlling each electric joint, and then the effective grabbing or winding is realized, and the air bag mechanism comprises air bag flaps arranged on each hand section. The utility model discloses a flexible robot hand and gasbag mechanism all have good laminating ability to different positions of human body, snatch reliably, and it is little to human body secondary injury effect.
Description
Technical field
The utility model relates to downhole rescuing equipment technical fields, and it is deep to be specifically related to a kind of flexibility for downhole rescuing
Well rescuing device.
Background technique
According to incompletely statistics, the annual deep-well accident frequency up to Wan Yuqi in China.It is at present to adopt in deep well rescue more
Or fire fighters handstand is gone into the well method, rescue of going into the well.However underground situation is complicated, the fire fighter to go into the well carries greatly
Rescue risk.
And current deep well rescue equipment, because the limitation of its structure flexibly carries out pose adjustment so that it can not reach,
The different design of manipulator closes ergonomics, safe and reliable can not support, protect trapped person, it is also possible to because rescuing
The fault of construction for helping equipment causes secondary injury.Therefore, need to design it is a kind of can be flexibly light, safe and reliable towards underground
The rescue aid of rescue.
Utility model content
In view of the defects existing in the prior art, the utility model provides a kind of flexible deep-well for carrying flexible manipulator for rescue
Rescuing device has the characteristics that ductility is strong and freedom degree is more, by waist and armpit that flexible manipulator is wrapped in captive
Under, it is lifted by external hoistable platform, implements rescue.
For the technical purpose for realizing the utility model, using following technical scheme:
Flexible deep-well rescue device, including supporting mechanism, gripper pose adjustment mechanism and flexible manipulator, flexible mechanical
Hand is 1 or more；The supporting mechanism provides support and mounting platform for gripper pose adjustment mechanism；The manipulator appearance
State adjustment mechanism is mounted on supporting mechanism, and flexible manipulator is mounted on gripper pose adjustment mechanism, passes through mechanical hand adjustment
Complete machine structure realizes the adjustment of its position of flexible manipulator and angle, and the flexible manipulator includes air bag mechanism and multiple head
The connected hand section of tail, adjacent hand internode are connected by electronic joint, and each electronic joint provides dynamic for each hand section for being connected thereto
Power realizes that each hand section rotates the effective crawl of adjustment realization or winding of angle, the gas by controlling each electronic joint
Capsule mechanism includes the air bag valve being arranged on each hand section.
As the optimal technical scheme of the utility model, the supporting mechanism includes support frame and support chassis, support
Chassis is fixedly connected on the lower section of support frame, and the support chassis is circular ring shape chassis.
As the optimal technical scheme of the utility model, the corresponding gripper pose adjustment mechanism of a flexible manipulator,
The gripper pose adjustment mechanism includes circumference regulating mechanism, radiai adjustment mechanism and vertical expansion regulating mechanism；Wherein
The position of flexible manipulator circumferencial direction locating on circular ring shape chassis is adjusted by circumference regulating mechanism；Pass through radiai adjustment
Mechanism adjusts location of the flexible manipulator on circular ring shape chassis radially；It is adjusted by vertical telescopic regulation structure flexible
Manipulator is at a distance from the vertical direction of circular ring shape chassis.
As the optimal technical scheme of the utility model, the lower disk on the circular ring shape chassis be equipped with inner circle annular groove,
Outer circle annular groove and the circular ring shape rack gear being arranged between interior annular groove and outer ring sliding slot；It is inner circle annular groove, outer
Circular ring shape sliding slot, circular ring shape rack gear and circular ring shape chassis concentric are arranged.
Circumference regulating mechanism includes sliding block, the upper side of the sliding block be provided with respectively with the annular on circular ring shape chassis
The corresponding inner arc sliding block of sliding slot, outer ring sliding slot, outer arcuate sliding block；Inner arc sliding block is slidably connected in annular sliding slot,
Outer arcuate sliding block is slidably connected in outer ring sliding slot；The sky for accommodating gear and gear drive motor is provided on the sliding block
Between, gear drive motor is fixedly mounted on sliding block, and the output shaft of gear drive motor is connect with gear, gear and circular ring shape bottom
Circular ring shape rack gear is corresponding on disk, is circled on circular ring shape rack gear using gear drive motor driving gear, and then drive
The all components installed on entire sliding block and sliding block, which synchronize, to be circled.
As the optimal technical scheme of the utility model, the downside of its sliding block of the circumference regulating mechanism is provided with radial direction
Regulating mechanism, radiai adjustment mechanism include the guide rail being arranged radially along arc-shaped chassis, mounting base and being capable of drive installation seat
Along the radial drive motor of guide rail radial motion, the guide rail being arranged radially along arc-shaped chassis is equipped on the downside of sliding block,
Mounting base is slidably mounted on guide rail；Radial drive motor, the output of mounting base and radial drive motor are assembled on the left of mounting base
Axis connection, under the driving of radial drive motor, mounting base make on guide rail it is radial move back and forth, and then drive mounting base and
The all components installed in mounting base, which synchronize, to be circled.
As the optimal technical scheme of the utility model, it is equipped in the mounting base of the radiai adjustment mechanism vertical flexible
Adjustment structure, vertical expansion regulating mechanism include the screw rod driven by vertical telescopic drive motor, and the end of screw rod is connected with support
Disk, flexible manipulator installation are connected on pallet；Vertical telescopic drive motor driving screw rod makees vertical stretching motion, and then drives
Pallet on screw rod and the flexible manipulator being mounted on pallet synchronize and make vertical stretching motion.
As the optimal technical scheme of the utility model, support frame as described above includes top supporting frame and support column, top branch
Support is an annular support member, and annular support member is equipped with multiple lifting members for promotion, lifting member and promotion power
Connection can smoothly be promoted the underground that entire flexible manipulator for rescue and flexible manipulator for rescue are clasped by oppressive/object
Out；Pass through more support column connections between top supporting frame and support chassis.
As the optimal technical scheme of the utility model, shield is additionally provided on the supporting mechanism, shield is by more
Block cover is put together, and the installation component for connecting cover, cover are provided on the outside of the vertical supporting section of each support column
It is mounted on installation component by connecting rod, outer each connecting rod of power drive can be realized the gathering and expansion of each cover.
As the optimal technical scheme of the utility model, the air bag mechanism includes the air bag being arranged on each hand section
Valve, gas circuit, vacuum pump and pressure sensor pass through gas circuit between the air pocket pump on external vacuum pump and each hand section and connect
It connects, the gas circuit includes gas-guide tube and the valve being arranged on each gas-guide tube and detection sensor, table in the air bag valve
Face is provided with pressure sensor, and the groove of placement air bag valve is provided on each hand section, and when air bag valve unaerated, the folding of air bag valve is set
In the groove of Yu Shoujie, after vacuum pump inflates air bag valve, air bag valve forms effective package in hand section periphery.Further, soft
Property manipulator least significant end hand section outer end be set as semicircle, and be mounted with camera and oxygen system gas outlet.
As the optimal technical scheme of the utility model, the electronic joint is crossed universal shaft, peace in crossed universal shaft
Equipped with two groups of driving mechanisms, one group of driving mechanism respectively includes a steering engine and a micro speed reducing case, two groups of driving mechanisms point
The two hand sections connected on electronic joint Dui Ying be drivingly connected, is hand section powered rotation, each hand section is made to gain freedom
Degree.
Compared with prior art, the utility model can generate following technical effect:
1, scalable, the rotatable biomimetic features of flexible machine hand getting, flexibly, flexibility is good, right for total movement
Human body different parts have good winding ability, well adapting to property, in order to increase contact of the flexible machine hand with human body
Area improves comfort, and the flexible machine hand in the utility model has been also arranged air bag mechanism, to flat in holding lifting process
Stability also has a certain effect.
2, its overall structure of the utility model is small in size and simple, using flexible machine hand and air bag mechanism, not to human body
All there is good fitting ability with position, Grasping skill is strong, and crawl reliably acts on human body secondary injury small.
3, the quantity of the flexible manipulator in the utility model is preferably three, and three flexible machine hands can pass through machinery
Hand attitude-adjusting system adjusts position, and according to trapped person's posture and subsurface environment, takes suitable posture, capture wait rescue
The oxter and both legs root of personnel is rescued, and ensures that crawl is firm.Each flexible machine is adjusted by gripper pose adjustment mechanism
Device hand horizontal attitude and vertical displacement can guarantee that gripper pose adjustment mechanism adapts to different human body size, and posture is different
Demand.
4, its is small in size for the utility model, and structure is simple, can take in protective cover in flexible manipulator decentralization process, one
Aspect can protect flexible machine hand, on the other hand can provide support when necessary for the borehole wall.
It 5, can be in gripper pose adjustment mechanism or/and flexible machine hand it is possible to further in the present invention
Upper integration, which is installed additional, to be communicated, monitoring, illuminates, being more efficiently completed for the functional modules such as warm oxygen supply, guidance and assistance ground staff
Rescue, and comprehensive care is provided for trapped person.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram (cover for removing partial protection cover) of the utility model；
Fig. 3 is the structural schematic diagram (removing shield) of the utility model；
Fig. 4 is the structural schematic diagram of the utility model flexible manipulator；
Fig. 5 is the structural schematic diagram of electronic joint (crossed universal shaft)；
Fig. 6 is the structural schematic diagram of hand section；
Fig. 7 is the position control servomechanism control figure of hand section；
Fig. 8 is the gas circuit control figure of air bag mechanism.
Figure label:
1, flexible manipulator；2, top supporting frame；3, support column；4, support chassis；5, lifting member；6, shield；7,
Connecting rod；8, inner circle annular groove；9, outer circle annular groove；10, circular ring shape rack gear；11, sliding block；12, inner arc sliding block；13, outer
Arc shaped slider；14, gear；15, guide rail；16, mounting base；17, screw rod；18, pallet；19, hand section；20；Electronic joint；21, ditch
Slot.
Specific embodiment
With reference to the accompanying drawing, the embodiments of the present invention is described in further detail.
Referring to figs. 1 to Fig. 6, the utility model provides a kind of flexible deep-well rescue device, including supporting mechanism, gripper pose
Adjustment mechanism and flexible manipulator 1, flexible manipulator 1 are 1 or more；The supporting mechanism is gripper pose adjustment mechanism
Support and mounting platform are provided；The gripper pose adjustment mechanism is mounted on supporting mechanism, and flexible manipulator 1 is mounted on
On gripper pose adjustment mechanism, the adjustment of its position of flexible manipulator and angle, institute are realized by manipulator adjustment mechanism
Stating flexible manipulator 1 includes air bag mechanism and multiple end to end hand sections 19, passes through electronic joint 20 between adjacent hand section 19
Connection, each electronic joint 20 is that each hand section 1 being connected thereto provides power, realizes each hand section by controlling each electronic joint 20
The adjustment and then the effective crawl of realization or winding of 19 rotation angles, the air bag mechanism includes the gas being arranged on each hand section
Capsule valve.
Referring to Fig.1,2 and 3, the supporting mechanism, including top supporting frame 2, support column 3 and support chassis 4.Top branch
Support 2 is an annular support member, and top supporting frame 2 is equipped with multiple lifting members 5 for promotion, lifting member 5 such as lifting lug
Deng.Lifting member 5 is connected by power with promotion, the well that can clasp entire flexible deep-well rescue device and flexible deep-well rescue device
Under smoothly enhanced by oppressive/object.Therefore, the distribution of lifting member 5 is because promoting entire flexible deep-well rescue device
Steady in the process to be promoted, in the present embodiment, lifting member 5 is 3 lifting lugs, and 3 lifting members 5 are evenly distributed on annular support member
On 2.Lifting lug is connected by rope and the hanging device of promotion power is provided.
Referring to Fig. 3, connected between top supporting frame 2 and support chassis 4 by more support columns 3.The support chassis 4 is
Circular ring shape chassis.In order to mitigate the weight of total, the inside hollow out or the support chassis 4 of the support chassis 4 are set
For the inside and outside circle ring disk of two concentrics.More support columns 3 are connected with below top supporting frame 2.It is described in the present embodiment
Support chassis 4 is set as the inside and outside circle ring disk of two concentrics.Support column is L shape hollow support column, is connected whole in L
The vertical supporting section of shape and horizontally-supported section.The upper end of vertical supporting section is fixedly connected with top supporting frame 2, horizontally-supported section
Lower section is fastened on the upper disk surface on circular ring shape chassis 4.
Referring to Fig.1 with 2, shield 6 is additionally provided on the supporting mechanism.Shield 6 is put together by muti-piece cover.In
The installation component such as mounting hole etc. for connecting cover is provided on the outside of the vertical supporting section of each support column 3, cover passes through company
Bar 7 is mounted on installation component.Each connecting rod 7 of external force (motor, hydraulic or manpower etc.) driving can be realized the gathering of each cover
And expansion.Connecting rod 7 in the present embodiment uses parallelogram connection-rod, and connecting rod 7, which can have, to be realized contraction using hydraulic-driven and stretch
Exhibition.When parallelogram connection-rod is shunk, each cover of shield 6 can keep vertical side under parallelogram connection-rod driving
It is collapsed and is unfolded while constant to posture.On the one hand it can protect each internal structure on the inside of shield, on the other hand
Cover can play a supporting role to wall, prevent wall from collapsing close to wall, avoid secondary injury when rescue.Liquid
Pressure system can be placed in supporting mechanism hollow position, meet specificity by the support force that hydraulic control system exports connecting rod
Energy.
Referring to Fig. 3, the lower disk on the circular ring shape chassis 4 is equipped with inner circle annular groove 8, outer circle annular groove 9 and sets
Set the circular ring shape rack gear 10 between interior annular groove 8 and outer ring sliding slot 9.Inner circle annular groove 8, outer circle annular groove 9, circle
Annular rack 10 and 4 concentric of circular ring shape chassis are arranged.
Gripper pose adjustment mechanism includes circumference regulating mechanism, radiai adjustment mechanism and vertical expansion regulating mechanism.
The wherein position of the circumferencial direction locating on circular ring shape chassis by the adjustable manipulator of circumference regulating mechanism.Pass through radial direction
Location of the adjustable manipulator of regulating mechanism on circular ring shape chassis radially.It can be with by vertical telescopic regulation structure
Manipulator is adjusted at a distance from the vertical direction of circular ring shape chassis.
Circumference regulating mechanism includes sliding block 11, the upper side of the sliding block 11 be provided with respectively on circular ring shape chassis in
Circular ring shape sliding slot 8, the corresponding inner arc sliding block 12 of outer circle annular groove 9, outer arcuate sliding block 13.Inner arc sliding block 12 is slidably connected
In interior circular ring shape sliding slot 8, outer arcuate sliding block 13 is slidably connected in outer circle annular groove 9.Appearance is provided on the sliding block 11
Receive the space of gear 14 and gear drive motor, gear drive motor is fixedly mounted on sliding block 11, gear drive motor
Output shaft is connect with gear 14, and gear 14 is corresponding with circular ring shape rack gear 10 on circular ring shape chassis 4, is driven using gear drive motor
Gear 14 circles on circular ring shape rack gear 10, and then drives all components installed on entire sliding block 1 and sliding block 11
It synchronizes and circles.
The downside of the sliding block 11 is provided with radiai adjustment mechanism, and radiai adjustment mechanism includes along arc-shaped 4 diameter of chassis
To the guide rail 15 of setting, mounting base 16 and can drive installation seat 16 along 15 radial motion of guide rail radial drive motor.In
The downside of sliding block 11 is equipped with the guide rail 15 being arranged radially along arc-shaped chassis 4, and mounting base 16 is slidably mounted on guide rail 15.
Radial drive motor, the output axis connection of mounting base 16 and radial drive motor, in radial drive electricity are assembled on the left of mounting base 16
Under the driving of machine, mounting base 16 can make radial direction on guide rail 15 and move back and forth, and then drive mounting base 16 and mounting base 16
The all components of upper installation, which synchronize, to be circled.
Vertical telescopic regulation structure is installed, vertical expansion regulating mechanism includes by the driving electricity that vertically stretches in mounting base 16
The screw rod 17 of machine driving, the end of screw rod 17 are connected with pallet 18, and the installation of flexible manipulator 1 is connected on pallet 18.Vertically stretch
Contracting driving motor driving screw rod 17 makees vertical stretching motion, and then drives pallet 18 on screw rod 17 and be mounted on pallet 18
Flexible manipulator 1 synchronize and make vertical stretching motion.
Referring to figs. 1 to 4, the flexible machine hand 1 in the utility model mainly uses for reference the characteristics of biomimetic features are flexibly wound, will
The structure of class snake-shaped robot is introduced into the design of mechanical hand, keeps rescue more safe and efficient.It include three in the present embodiment
Flexible machine hand 1.Referring to Fig. 4, each flexible machine hand 1 includes a pallet 18 and several hand sections 19.Pallet 18 and flexible machine
It is connected by electronic joint 20 between the first hand section 19 of tool hand 1 and between adjacent hand section 19, electronic joint in the present embodiment
20 be cross universal axis connection.Pallet 18 be control its hand section of flexible machine hand 1 movement node and flexible machine hand 1 with
The connected mechanism of vertical telescopic regulation structure, to realize modularized design.Rescue personnel is realized by control mechanical hand to stranded
Effective winding of personnel, to implement to rescue.Referring to figure 5 and figure 6, crossed universal shaft includes cross axle, installation in crossed universal shaft
Have two groups of driving mechanisms, two groups of driving mechanisms be installed in crossed universal shaft, one group of driving mechanism respectively include a steering engine and
One micro speed reducing case, two adjacent hand sections are respectively adopted gear and are connected on electronic joint on a pair of opposite axis, and two groups
Driving mechanism respectively corresponds the two hand sections for being drivingly connected and connecting on electronic joint by the way of gear driving, rotates for hand section
Power is provided, each hand section degree of gaining freedom is made.Be provided with position control servomechanism on the hand section, the position of opponent's section into
Row detection, realizes the position feedback of hand section, the closed-loop control of forming position servo-system, realize to the monitoring of mechanical hand posture and
Control, entire control process is referring to Fig. 7.The hand section outer end of flexible manipulator least significant end is set as semicircle shape, placement camera and
Oxygen system gas outlet.
Flexible machine hand further includes air bag mechanism, and air bag mechanism includes the air bag valve being arranged on each hand section, gas circuit, true
Sky pumps and pressure sensor, passes through air circuit connection, the gas circuit between the air pocket pump on external vacuum pump and each hand section
Including gas-guide tube and the valve being arranged on each gas-guide tube and detection sensor, the air bag valve inner surface is provided with pressure
Sensor, is provided with the groove 21 of placement air bag valve on each hand section, and when air bag valve unaerated, air bag valve is folded and placed to the ditch of hand section
In slot.Referring to Fig. 8, when inflation, is supplied by external vacuum pump to each air bag valve, conveyed through gas-guide tube, after being inflated to air bag valve,
Air bag valve forms effective package in hand section periphery.Pressure sensor is arranged in air bag valve inner surface.
When being rescued using the utility model, the utility model rescuing device and simple triangle lifting hoisting platform are combined
It is placed on well head upper end, is then dropped to the utility model rescuing device single unit system to rescue personnel using lifting hoisting platform
Top 20cm or so, this process can be uploaded borehole image by the camera installed additional on this rescuing device, according to from underground
The video pictures of real-time transmission accurately control.When approaching indicator of trapped personnel, shield is strutted by shrinking connecting-rod, makes itself and well
Wall pressure contact, can also prevent while fixing flexible manipulator has rubble to fall off in rescue operations carries out secondary wound to personnel
Evil.Then, the oxygen supply installed additional on this rescuing device and heating installation are opened, using the communication module installed additional on this rescuing device with to
Rescue personnel keeps linking up, and stablizes the mood of trapped person.Rescue personnel divides underground situation according to video real-time pictures
Analysis, makes 3 flexible manipulators be located at the surface to rescue personnel oxter and waist by gripper pose adjustment mechanism
Or better position.According to the information for the mechanics sensor feedback that flexible mechanical is distributed on hand, control flexible manipulator is twined
Around.In order to increase the effective contact area of flexible manipulator and human body, flexible air-bag is installed in flexible manipulator outer surface
Valve, before being wound to human body, air bag valve is in contraction-like body, once in place later once be inflated, in this way may be used
To increase the contact area of flexible manipulator and human body, the effect centainly buffered is provided, keeps winding more comfortable and safe, alleviates
Hang the influence of the unstable equal fluctuations of process speed.It, can be by being risen from hoisting platform after trapped person and device cooperate
Well will drag the purpose that rescue is realized from stranded region to rescue personnel.During lifting can also according to the variation of human body attitude into
The minor adjustment of row winding posture, the different parts that the guarantee moment is all close to people carry out effectively fixed.
The foregoing is merely the preferred embodiments of the utility model, are not intended to limit the utility model, for
For those skilled in the art, various modifications and changes may be made to the present invention.All spirit and original in the utility model
Within then, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this utility model.
Claims (10)
1. flexible deep-well rescue device, it is characterised in that: including supporting mechanism, gripper pose adjustment mechanism and flexible mechanical
Hand, flexible manipulator are 1 or more；The supporting mechanism provides support and mounting platform for gripper pose adjustment mechanism；
The gripper pose adjustment mechanism is mounted on supporting mechanism, and flexible manipulator is mounted on gripper pose adjustment mechanism,
The adjustment of its position of flexible manipulator and angle is realized by manipulator adjustment mechanism, the flexible manipulator includes air bag machine
Structure and multiple end to end hand sections, adjacent hand internode are connected by electronic joint, and each electronic joint is connected thereto
Each hand section provides power, by control each electronic joint realize each hand section rotate angle adjustment realize effectively grab or
Winding, the air bag mechanism includes the air bag valve being arranged on each hand section.
2. it is according to claim 1 flexibility deep-well rescue device, it is characterised in that: the supporting mechanism include support frame and
Support chassis, support chassis are fixedly connected on the lower section of support frame, and the support chassis is circular ring shape chassis；
The corresponding gripper pose adjustment mechanism of one flexible manipulator, the gripper pose adjustment mechanism include that circumference is adjusted
Mechanism, radiai adjustment mechanism and vertical expansion regulating mechanism；Flexible manipulator is wherein adjusted in circle by circumference regulating mechanism
The position of locating circumferencial direction on annular chassis；Flexible manipulator is adjusted in circular ring shape chassis radial direction by radiai adjustment mechanism
On location；By vertical telescopic regulation structure adjust on flexible manipulator and circular ring shape chassis vertical direction away from
From.
3. flexibility deep-well rescue device according to claim 2, it is characterised in that: the lower disk on the circular ring shape chassis is equipped with
Inner circle annular groove, outer circle annular groove and the circular ring shape rack gear being arranged between interior annular groove and outer ring sliding slot；It is interior
Circular ring shape sliding slot, outer circle annular groove, circular ring shape rack gear and circular ring shape chassis concentric are arranged；
Circumference regulating mechanism includes sliding block, and the upper side of the sliding block is provided with sliding with the inner circle annular on circular ring shape chassis respectively
The corresponding inner arc sliding block of slot, outer circle annular groove, outer arcuate sliding block；Inner arc sliding block is slidably connected at inner circle annular groove
In, outer arcuate sliding block is slidably connected in outer circle annular groove；It is provided on the sliding block and accommodates gear and gear driving electricity
The space of machine, gear drive motor are fixedly mounted on sliding block, and the output shaft of gear drive motor is connect with gear, gear and circle
Circular ring shape rack gear is corresponding on annular chassis, is circled on circular ring shape rack gear using gear drive motor driving gear, into
And it drives all components installed on entire sliding block and sliding block to synchronize and circles.
4. flexibility deep-well rescue device according to claim 3, it is characterised in that: under described its sliding block of circumference regulating mechanism
Side is provided with radiai adjustment mechanism, radiai adjustment mechanism include the guide rail being arranged radially along arc-shaped chassis, mounting base and
Can drive installation seat along guide rail radial motion radial drive motor, on the downside of sliding block be equipped with along arc-shaped chassis diameter
To the guide rail of setting, mounting base is slidably mounted on guide rail；Radial drive motor, mounting base and radial drive are assembled on the left of mounting base
The output axis connection of dynamic motor, under the driving of radial drive motor, mounting base is made radial direction on guide rail and is moved back and forth, and then band
The all components installed in dynamic mounting base and mounting base, which synchronize, to be circled.
5. flexibility deep-well rescue device according to claim 4, it is characterised in that: in the mounting base of the radiai adjustment mechanism
Vertical telescopic regulation structure is installed, vertical expansion regulating mechanism includes the screw rod driven by vertical telescopic drive motor, screw rod
End be connected with pallet, flexible manipulator installation is connected on pallet；Vertical telescopic drive motor driving screw rod work is vertically stretched
Contracting movement, and then drive pallet and the flexible manipulator that is mounted on pallet on screw rod to synchronize and make vertical stretching motion.
6. the flexible deep-well rescue device according to any claim in claim 2 to 5, it is characterised in that: the support
Frame includes top supporting frame and support column, and top supporting frame is an annular support member, and annular support member is equipped with multiple for mentioning
The lifting member risen, lifting member are connected by power with promotion, can be by entire flexible manipulator for rescue and flexible rescue machinery
The underground that hand is clasped smoothly is enhanced by oppressive/object；Connected between top supporting frame and support chassis by more support columns
It connects.
7. flexibility deep-well rescue device according to claim 6, it is characterised in that: be additionally provided with protection on the supporting mechanism
Cover, shield are put together by muti-piece cover, are provided on the outside of the vertical supporting section of each support column for connecting cover
Installation component, cover are mounted on installation component by connecting rod, and outer each connecting rod of power drive can be realized the gathering and exhibition of each cover
It opens.
8. according to claim 1 to flexible deep-well rescue device described in any claim in 5, it is characterised in that: the air bag
Mechanism includes air bag valve, gas circuit, vacuum pump and the pressure sensor being arranged on each hand section, external vacuum pump with it is each
By air circuit connection between air pocket pump on hand section, the gas circuit include gas-guide tube and the valve being arranged on each gas-guide tube with
And detection sensor, the air bag valve inner surface are provided with pressure sensor, and the groove of placement air bag valve is provided on each hand section,
When air bag valve unaerated, air bag valve is folded and placed in the groove of hand section, and after vacuum pump inflates air bag valve, air bag valve is outside hand section
It encloses to form effective package.
9. according to claim 1 to flexible deep-well rescue device described in any claim in 5, it is characterised in that: described electronic
Joint is crossed universal shaft, and two groups of driving mechanisms are equipped in crossed universal shaft, and one group of driving mechanism respectively includes a steering engine
With a micro speed reducing case, two groups of driving mechanisms respectively correspond the two hand sections for being drivingly connected and connecting on electronic joint, are hand section
Powered rotation makes each hand section degree of gaining freedom.
10. flexibility deep-well rescue device according to claim 9, it is characterised in that: outside the hand section of flexible manipulator least significant end
End is set as semicircle, and is mounted with camera and oxygen system gas outlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920306750.XU CN209630474U (en) | 2019-03-12 | 2019-03-12 | Flexible deep well rescue device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920306750.XU CN209630474U (en) | 2019-03-12 | 2019-03-12 | Flexible deep well rescue device |
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| Publication Number | Publication Date |
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| CN209630474U true CN209630474U (en) | 2019-11-15 |
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ID=68495727
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920306750.XU Active CN209630474U (en) | 2019-03-12 | 2019-03-12 | Flexible deep well rescue device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112843526A (en) * | 2021-04-05 | 2021-05-28 | 毛正书 | Deep well rescue equipment |
| CN115535116A (en) * | 2022-09-19 | 2022-12-30 | 北京华新凯业物资再生有限公司 | Production process for disassembling scrapped cars |
-
2019
- 2019-03-12 CN CN201920306750.XU patent/CN209630474U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112843526A (en) * | 2021-04-05 | 2021-05-28 | 毛正书 | Deep well rescue equipment |
| CN115535116A (en) * | 2022-09-19 | 2022-12-30 | 北京华新凯业物资再生有限公司 | Production process for disassembling scrapped cars |
| CN115535116B (en) * | 2022-09-19 | 2024-04-30 | 北京华新凯业物资再生有限公司 | Production process for disassembling scrapped car |
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