CN104922826B

CN104922826B - Deep well rescue device

Info

Publication number: CN104922826B
Application number: CN201510389042.3A
Authority: CN
Inventors: 李开伟
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-06-30
Filing date: 2015-06-30
Publication date: 2018-03-23
Anticipated expiration: 2035-06-30
Also published as: CN104922826A

Abstract

The present invention relates to deep well rescue field, specifically provides a kind of deep well rescue device.The device includes control unit,Lift part and at least one first manipulator,Each first manipulator includes the first control stick,First lever arm,Second lever arm and the 3rd lever arm,Second lever arm and the 3rd lever arm are arc-shaped,First lever arm includes the first branch being fixedly secured to one another,Second branch and the 3rd branch,First branch and the movable connection of the first control stick,Second branch and the movable connection of the second lever arm,The movable connection of 3rd branch and the 3rd lever arm and the second lever arm and the 3rd respective concave surface of lever arm each other inward against,So that the second lever arm and the 3rd lever arm form handgrip,Second lever arm and the 3rd lever arm are each provided with the first lifting hole being used cooperatively with lifting part,Each first manipulator also includes the first driver element and the second driver element for being controlled by control unit.

Description

Deep well rescue device

Technical field

The present invention relates to deep well rescue field, in particular to a kind of deep well rescue device.

Background technology

At present, when rescue falls into the trapped person in deep-well, the both legs of the adult rescuer by pinioning smaller body type And the rescuer is sent into the deep-well upside down to rescue trapped person, such rescue mode is less efficient and may be right It is all dangerous for rescuer and trapped person.In addition, when trapped person tired deep-well undersize be sent into rescuer progress Sue and labour work when, can generally use machinery equipment to be bunged down beside the deep-well with facilitate be sent into rescuer carry out Rescue, or can use excavator excavated beside the deep-well by progressively close to trapped person in a manner of deploy work of suing and labouring Make, but this needs to put into substantial amounts of manpower and time, and caused soil, even stone, the pole such as landslide in rescue operations Easily injury trapped person.As can be seen here, lack in the prior art efficiently and relatively safe to apply to the trapped person in deep-well The deep well rescue device rescued.

The content of the invention

It is an object of the invention to provide a kind of deep well rescue device, with improve lack in the prior art can efficiently and compared with The problem of deep well rescue device safely sued and laboured to the trapped person in deep-well.

What the present invention was realized in：

A kind of deep well rescue device, including control unit, lifting part and at least one first manipulator, described at least one Each first manipulator in individual first manipulator includes the first control stick, the first lever arm, the second lever arm and the 3rd activity Arm, second lever arm and the 3rd lever arm are arc-shaped, and first lever arm includes what is be fixedly secured to one another First branch, the second branch and the 3rd branch, first branch and the movable connection of the first control stick, described second point Branch connection movable with second lever arm, the movable connection of the 3rd branch and the 3rd lever arm and described the Two lever arms and the respective concave surface of the 3rd lever arm each other inward against so that second lever arm is lived with the described 3rd Swing arm forms handgrip, and second lever arm and the 3rd lever arm are each provided with what is be used cooperatively with the lifting part First lifting hole, each first manipulator also include being used to change between second lever arm and the 3rd lever arm Folding angle the first driver element, and for changing the first branch of first lever arm and first control stick Between relative angle the second driver element, first driver element and second driver element are controlled by the control Unit processed.

Further, the deep well rescue device also includes display unit, and each first manipulator is also included to institute The first image acquisition units of display unit transmission image are stated, described first image collecting unit is arranged at first activity Arm.When the first manipulator including the first image acquisition units is admitted in deep-well, rescuer can be in deep-well external monitor Situation in deep-well, so as to take suitable scheme of suing and labouring according to the practical situation of trapped person.

Further, first driver element includes：Connect the second branch and the described 3rd of first lever arm First folding screw rod of lever arm；The first motor of the first folding screw rod is acted on, first motor is arranged at described Second branch of the first lever arm；Connect the 3rd branch of first lever arm and the second folding spiral shell of second lever arm Bar；And the second motor of the second folding screw rod is acted on, second motor is arranged at the of first lever arm Three branches.In practical operation, by the first motor for making to act on the first folding screw rod and the second folding screw rod is acted on At least one of second motor changes between forward and reverse, it is possible to adjusts between the second lever arm and the 3rd lever arm Folding angle.

Further, the first branch of first lever arm and first control stick be by the movable connection of pivot pin, Second driver element is the 3rd motor being fixedly connected with the first branch of first lever arm, and the 3rd motor is set Put the junction in first branch and first control stick.Using such a connected mode, it is fixedly connected with the 3rd motor The first branch can be under the drive of motor relative to not rotated with the first control stick of the 3rd motor connection so that Ke Yigai Become the angle of the first lever arm, the second lever arm and the 3rd lever arm three relative to the first control stick.

Further, described control unit is wireless energy control units, first motor, second motor and described Three motors are wireless controlled motor.In the case, rescuer can relatively easily control turning for the first motor outside deep-well The dynamic, rotation of the second motor and the rotation of the 3rd motor, and thus relatively easily control the first lever arm, the second lever arm and 3rd lever arm three is relative to the angle of the first control stick, and the folding angle between the second lever arm and the 3rd lever arm Degree.

Further, the described one end of second lever arm of each first manipulator away from first lever arm is provided with First roller, and the described one end of 3rd lever arm away from first lever arm is provided with the second roller.It is arranged at first The roller of manipulator contributes to the first manipulator relatively easily to grasp the body part of trapped person, and can prevent the first machinery Hand is done to ache or injure trapped person during grasping.

Further, the deep well rescue device also includes the second manipulator, and second manipulator includes second and manipulated Bar and the second mechanical arm being detachably connected with second control stick, the second mechanical arm include flat segments and put down with described The crotch section that straight section is fixedly connected, the second mechanical arm are detachably connected to second control stick by the flat segments, The second mechanical arm also includes the second lifting hole being used cooperatively with the lifting part, and the second lifting hole is arranged at institute State flat segments.Second mechanical arm can act on the crotch of trapped person in deep well rescue, with by lifting trapped person's upwards Buttocks carries out work of suing and labouring.

Further, second arm of the second mechanical arm by the first arm and with the movable connection of the first arm Form, first arm includes a part of crotch section for being fixedly connected of flat segments described in the crotch Duan Zhongyu and described straight Section, second arm include another part crotch section in the crotch section, and the second mechanical arm also includes being used to change 3rd driver element of the relative angle between first arm and second arm, the 3rd driver element are controlled by Described control unit.Because the relative angle between the first arm and the second arm of second mechanical arm can change, so can To avoid the trapped person for being applied in the second manipulator from feeling by adjusting the relative angle between the first arm and the second arm It is uncomfortable, and second mechanical arm can be allow to enter less space of suing and labouring.

Further, second arm includes the 3rd arm and the 4th arm with the movable connection of the 3rd arm Portion, second arm can be connected to first arm by the 3rd arm, and the 3rd arm is placed in institute State between the first arm and the 4th arm, the second mechanical arm also includes being used to change the 3rd arm and described the 4th driver element of the relative angle between four arms, the 4th driver element are controlled by described control unit.Second When 4th arm of mechanical arm is turned to transverse to the position of the 3rd arm, the 4th arm can be transverse to the stern stock of trapped person Ditch, thus second mechanical arm can be transferred to the buttocks of trapped person to the point of application of trapped person, and allow to by Two mechanical arms apply larger pulling force.

Further, the deep well rescue device also includes display unit, and the second mechanical arm is also included to described aobvious Show that unit provides the second image acquisition units of image, second image acquisition units are arranged at the of the second mechanical arm Two arms.When the second manipulator including the second image acquisition units is admitted in deep-well, rescuer can be outside deep-well The situation in deep-well and the situation of trapped person are monitored, location is entered to the second manipulator in deep-well according to the second manipulator Row manipulation.

The beneficial effect that the present invention realizes：Deep well rescue device provided in an embodiment of the present invention includes control unit, lifting Part and at least one first manipulator, each first manipulator at least one first manipulator include first and manipulated Bar, the first lever arm, the second lever arm and the 3rd lever arm, the second lever arm and the 3rd lever arm are arc-shaped, and first lives Swing arm includes the first branch, the second branch and the 3rd branch being fixedly secured to one another, and the first branch and the first control stick are movable Connection, the connection movable with the second lever arm of the second branch, the connection movable with the 3rd lever arm of the 3rd branch and second live Swing arm and the 3rd respective concave surface of lever arm each other inward against so that the second lever arm and the 3rd lever arm form handgrip, the Two lever arms and the 3rd lever arm are each provided with the first lifting hole being used cooperatively with lifting part, and each first manipulator is also Including the first driver element for changing the folding angle between the second lever arm and the 3rd lever arm, and for changing the Second driver element of the relative angle between the first branch of one lever arm and the first control stick, the first driver element and second Driver element is controlled by control unit.In the trapped person in using deep well rescue device rescue deep-well, applying outside deep-well First manipulator can be sent into deep-well by the personnel of rescuing by the lifting part through the first lifting hole, while can pass through control First control stick determines the general location of the first manipulator, when the first manipulator is delivered into suitable depth, rescuer The first driver element and the second driver element can be controlled by control unit, to change the first lever arm, the second work Swing arm and the 3rd lever arm three are relative to opening between the angle and the second lever arm and the 3rd lever arm of the first control stick Close angle degree so that the first manipulator can hold the body part of trapped person, so that trapped person is pulled out into deep-well by lifting part. As can be seen here, deep well rescue device provided in an embodiment of the present invention can be with better simply operation, in the short period of time safety Rescue the trapped person in deep-well in ground.

Brief description of the drawings

Fig. 1 is the schematic diagram for the deep well rescue device that first embodiment of the invention provides；

Fig. 2 is the first manipulator showing in closed state in the deep well rescue device that first embodiment of the invention provides Meaning property structure chart；

Fig. 3 is the schematic diagram for the deep well rescue device that second embodiment of the invention provides；

Fig. 4 is the schematic diagram of the second manipulator in the deep well rescue device that third embodiment of the invention provides；

Fig. 5 is the schematic structure for the well head hoisting frame being used cooperatively with deep well rescue device provided in an embodiment of the present invention Figure.

Wherein, reference is summarized as follows：Control unit 200, lift part 300, the first control stick 110, the second activity Arm 130, the 3rd lever arm 140, the first branch 121, the second branch 122, the 3rd branch 123, the first lifting hole 400, first opens Conjunction screw rod 151, the first motor 152, the second folding screw rod 153, the second motor 154, the 3rd motor 155, the first roller 161, the Second wheel 162, display unit 500, the first image acquisition units 170, the second control stick 610, second mechanical arm 620, second carries Pulling eye 625, the first arm 621, the second arm 622, the 3rd arm 623, the 4th arm 624, the 4th motor 626, the 5th motor 627, the second image acquisition units 628, roller 700.

Embodiment

Rescued in view of lacking the deep-well that efficiently and relatively safe can be sued and laboured to the trapped person in deep-well in the prior art The problem of shaking apparatus, the present inventor visualize a kind of deep well rescue device.The deep well rescue device includes control unit, pulling part Part and at least one first manipulator, each first manipulator at least one first manipulator include first and manipulated Bar, the first lever arm, the second lever arm and the 3rd lever arm, the second lever arm and the 3rd lever arm are arc-shaped, and first lives Swing arm includes the first branch, the second branch and the 3rd branch being fixedly secured to one another, and the first branch and the first control stick are movable Connection, the connection movable with the second lever arm of the second branch, the connection movable with the 3rd lever arm of the 3rd branch and second live Swing arm and the 3rd respective concave surface of lever arm each other inward against so that the second lever arm and the 3rd lever arm form handgrip, the Two lever arms and the 3rd lever arm are each provided with the first lifting hole being used cooperatively with lifting part, and each first manipulator is also Including the first driver element for changing the folding angle between the second lever arm and the 3rd lever arm, and for changing the Second driver element of the relative angle between the first branch of one lever arm and the first control stick, the first driver element and second Driver element is controlled by control unit.In the trapped person in using deep well rescue device rescue deep-well, applying outside deep-well First manipulator can be sent into deep-well by the personnel of rescuing by the lifting part through the first lifting hole, while can pass through control First control stick determines the general location of the first manipulator, when the first manipulator is delivered into suitable depth, rescuer The first driver element and the second driver element can be controlled by control unit, to change the first lever arm, the second work Swing arm and the 3rd lever arm three are relative to opening between the angle and the second lever arm and the 3rd lever arm of the first control stick Close angle degree so that the first manipulator can hold the body part of trapped person, so that trapped person is pulled out into deep-well by lifting part. As can be seen here, deep well rescue device provided in an embodiment of the present invention can be with better simply operation, in the short period of time safety Rescue the trapped person in deep-well in ground.

The present invention is described in further detail below by specific embodiment and with reference to accompanying drawing.

Fig. 1 is the schematic diagram for the deep well rescue device that first embodiment of the invention provides.Referring to Fig. 1, this reality Applying the deep well rescue device of example offer includes the first manipulator, control unit 200 and lifting part 300.Control unit 200 and carry Part 300 is drawn to act on the first manipulator.

As shown in figure 1, the first manipulator includes the first control stick 110, the first lever arm, the second lever arm 130 and the 3rd Lever arm 140, wherein the first lever arm includes the first branch 121, the second branch 122 and the 3rd branch being fixedly secured to one another 123.Second lever arm 130 and the 3rd lever arm 140 are preferably arc-shaped.First branch 121 and first of the first lever arm 110 movable connection of control stick, such as the first branch 121 can be connected by pivot pin with the first control stick 110.First lever arm The 130 movable connection of the second branch 122 and the second lever arm, the 3rd branch 123 of the first lever arm and the 3rd lever arm 140 Movable connection and the second lever arm 130 and 140 respective concave surface of the 3rd lever arm each other inward against so that second is movable The lever arm 140 of arm 130 and the 3rd forms handgrip.In a kind of embodiment, the second branch 122 can pass through pivot pin and Two lever arms, 130 movable connection, the 3rd branch 123 can also by the 140 movable connection of pivot pin and the 3rd lever arm, but Other suitable movable connection methods are also feasible；In addition, the arc radius of the second lever arm 130 can be with the 3rd lever arm 140 arc radius is equal, but the arc radius of the second lever arm 130 may also be distinct from that the circular arc of the 3rd lever arm 140 Radius, embodiment of the invention are not limited thereto.

Second lever arm 130 and the 3rd lever arm 140 are provided with the first lifting hole being used cooperatively with lifting part 300 400.Second can be embedded in the second lever arm 130 or can be placed in by being arranged at the first lifting hole 400 of the second lever arm 130 The edge (form for being similar to lifting ring) of lever arm 130；Similarly, it is arranged at the first lifting hole 400 of the 3rd lever arm 140 It can be embedded in the 3rd lever arm 140 or can be placed in the edge (form for being similar to lifting ring) of the 3rd lever arm 140.Tool Body is in use, can be by lifting part 300 through the first lifting hole 400, to allow in rescue by lifting part 300 Pulling force is applied to the first manipulator.In a kind of embodiment, lifting part 300 can be rubber wire rope, but carry It can also be cotton cord, the rope made of hemp, Sythetic fiber rope or other suitable rope bodies to draw part 300.It should be noted that shown in Fig. 1 Lifting part 300 it is for illustrative purposes only, lift part 300 concrete form and length be not limited to this.

First manipulator can also include being used to change the folding angle between the second lever arm 130 and the 3rd lever arm 140 First driver element of degree.In a kind of embodiment, the first driver element can include：Connect the of the first lever arm Two branches 122 and the first folding screw rod 151 of the 3rd lever arm 140；The first motor 152 of the first folding screw rod 151 is acted on, First motor 152 is arranged at the second branch 122 of the first lever arm；The 3rd branch 123 and second for connecting the first lever arm lives Second folding screw rod 153 of swing arm 130；And the second motor 154 of the second folding screw rod 153 is acted on, the second motor 154 is set It is placed in the 3rd branch 123 of the first lever arm.Specifically, the phase of the second lever arm 130 can be made by the rotation of the second motor 154 Rotated for the second branch 122 of the first lever arm, additionally the 3rd lever arm can be made by the rotation of the first motor 152 140 rotate relative to the 3rd branch 123 of the first lever arm, so as to change between the second lever arm 130 and the 3rd lever arm 140 Folding angle.When specifically used, the change for the folding angle between the second lever arm 130 and the 3rd lever arm 140, Only by the rotation of the second motor 154 the second lever arm 130 can be driven to be rotated relative to the second branch 122 of the first lever arm To realize, threeth branch of the 3rd lever arm 140 relative to the first lever arm only can also be made by the rotation of the first motor 152 123 rotate to realize, can also be realized by both the rotation of the second lever arm 130 and the rotation of the 3rd lever arm 140.Go out The schematic knot of the first manipulator in closed state in first embodiment of the invention is shown in schematic purpose, Fig. 2 Structure.In other embodiments, the first folding screw rod 151 and the second folding screw rod 153 can also use spring, hydraulic unit or its His suitable elastomeric element is replaced, and embodiment of the invention is not limited thereto.

In a kind of embodiment, for the ease of changing opening between the second lever arm 130 and the 3rd lever arm 140 Close angle degree and in order to protect the first motor 152 and the second motor 154, the second branch 122 of the first lever arm and the 3rd branch 123 are preferably at U-shaped or V-arrangement shape, but embodiments of the present invention are not limited thereto.

First manipulator can also include be used for change the first lever arm the first branch 121 and the first control stick 110 it Between relative angle the second driver element.In a kind of embodiment, the second driver element can be and the first activity The 3rd motor 155 that first branch 121 of arm is fixedly connected, the 3rd motor 155 are arranged at the first branch 121 and the first control stick 110 junction.In the case of the 110 movable connection of the first branch 121 and the first control stick of the first lever arm, pass through The rotation of three motors 155 can drive the first branch 121 of the first lever arm to be rotated relative to the first control stick 110, so as to change The relative angle become between the first branch 121 and the first control stick 110, you can to change the first lever arm, the second lever arm 130 Relative angle between the three of the 3rd lever arm 140 and the first control stick 110.However, the 3rd motor 155 can also the company of fixation The first branch 121 of the first control stick 110 rather than the first lever arm is connected to, the specific embodiment of the invention is not limited thereto.

First motor 152, the second motor 154 and the 3rd motor 155 are controlled by control unit 200.In a kind of specific real Apply in mode, control unit 200 can be wireless energy control units, and the first motor 152, the second motor 154 and the 3rd motor 155 be wireless controlled motor.However, control unit 200 can also be typically wire connected to the first motor 152, the and of the second motor 154 3rd motor 155, the specific embodiment of the invention are not limited thereto.The first manipulator that the present embodiment provides can also include The power supply powered to the first motor 152, the second motor 154 and the 3rd motor 155.

As shown in figure 1, second one end of lever arm 130 away from the first lever arm of the first manipulator is provided with the first roller 161, and the 3rd one end of lever arm 140 away from the first lever arm of the first manipulator is provided with the second roller 162.It is arranged at The roller of first manipulator contributes to the first manipulator relatively easily to grasp the body part of trapped person, and can prevent first Manipulator is done to ache or injure trapped person during grasping.

The length of first control stick 110 can be set according to real needs, such as can set according to the depth of well The length of one control stick 110.In a kind of embodiment, the first control stick 110 can be formed by connecting by more piece control stick, Such as can be formed by connecting by more piece control stick in a manner of being threadedly coupled, snapping connection or other are suitable, thus can rescue The length of the first control stick 110 is conveniently adjusted during helping.

In actual use, the first control stick 110 and control unit 200 can be manipulated by the rescuer outside deep-well, and And first manipulator can be launched deep-well to where trapped person for grasping the wrist of trapped person, arm, neck, ankle Joint, chest or waist.Specifically, the size for the first manipulator for grabbing neck, for handgrip wrist or arm or ankle The size of first manipulator and the size of the first manipulator for grabbing chest or waist are different from each other., can be with rescue According to being actually needed from various sizes of first manipulator, certainly, rescuer can make identical size or various sizes of Multiple first manipulators are engaged to rescue trapped person.It should be noted that on the premise of rescue function is realized, the first machinery The size of hand is relatively small, thus particularly suitable for rescuing the trapped person in narrower deep-well.It is used as grasping neck in the first manipulator During the manipulator in portion, due to the region limited between the second lever arm 130 and the 3rd lever arm 140 and the neck physiology of human body Feature is consistent, and the folding angle between the second lever arm 130 and the 3rd lever arm 140 can be adjusted, thus in the first machine When tool hand grasps the neck of trapped person so that trapped person is pulled out into deep-well, trapped person can't be damaged.In the present embodiment One the first manipulator is only shown for illustrative purposes, but in actual use, deep well rescue device can include two Individual or more than two first manipulators, and the size of each first manipulator different can make so that rescuer coordinates With the specific embodiment of the invention is not limited thereto.

In the trapped person during the deep well rescue device provided using the present embodiment rescues deep-well, the rescuer outside deep-well First manipulator can be sent into deep-well by the lifting part 300 through the first lifting hole 400, while control can be passed through First control stick 110 determines the general location of the first manipulator；When the first manipulator is delivered into suitable depth, sue and labour people Member can be controlled by control unit 200 to the first driver element and the second driver element, to change the first lever arm, the Two lever arms 130 and the three of the 3rd lever arm 140 are relative to the angle of the first control stick 110 and the second lever arm 130 and Folding angle between three lever arms 140 so that the first manipulator can hold the neck of trapped person, wrist, arm, neck, At least one of ankle arthrosis, chest and waist, so that trapped person is pulled out into deep-well by lifting part 300.As can be seen here, originally Inventive embodiments provide deep well rescue device can with it is better simply operation, safely rescue in the short period of time in deep-well Trapped person.

Fig. 3 is the schematic diagram for the deep well rescue device that second embodiment of the invention provides.Referring to Fig. 3, second The main distinction for the deep well rescue device that the deep well rescue device that embodiment provides provides with first embodiment is：Second implements The deep well rescue device that example provides also includes display unit 500, and the first manipulator also includes providing figure to display unit 500 First image acquisition units 170 of picture.The remainder for the deep well rescue device that second embodiment provides carries with first embodiment The appropriate section of the deep well rescue device of confession is similar, will hereinafter omit the description to these parts.

As shown in figure 3, the first manipulator of the deep well rescue device that second embodiment provides can also include being arranged at the First image acquisition units 170 of one lever arm, in other embodiments, the first image acquisition units 170 can also be set The position of the first lever arm is closer in the first control stick 110.First image acquisition units 170 are preferably Radio infrared shooting Head or night vision camera are first-class.Display unit 500 can be CRT monitor, liquid crystal display or other there is image display function Equipment.It is single that the image of the first manipulator local environment gathered can be sent to display by the first image acquisition units 170 Member 500, so that rescuer outside deep-well can monitor situation (including the trapped person in deep-well by display unit 500 Situation), so as to according to the suitable scheme of suing and labouring of specific situation selection, such as adjust the second lever arm 130 of the first manipulator with Between first branch 121 of folding angle, the first lever arm of adjustment between the 3rd lever arm 140 and the first control stick 110 Relative angle, so as in the rapidly neck of firm grip trapped person, wrist, arm, ankle arthrosis, chest and waist At least one, or the first manipulator for being not suitable for current rescue method is changed, to rescue trapped person within the shortest time.

The deep well rescue device that third embodiment of the invention provides can also be in the deep well rescue dress that second embodiment provides Include the second manipulator on the basis of putting.Show that the deep well rescue device that third embodiment of the invention provides includes in Fig. 4 The schematic structure of second manipulator.Referring to Fig. 4, the second manipulator can by the second control stick 610 and with the second control stick 610 second mechanical arms 620 being detachably connected are formed.Second mechanical arm 620 can be for example threadedly coupled with the second control stick 610 Or snap connection.Similar to the first control stick 110, the length of the second control stick 610 can also be set according to real needs.Tool Body, the second control stick 610 can be formed by connecting by more piece control stick, such as can be threadedly coupled, be blocked by more piece control stick Button connection or other suitable modes are formed by connecting, thus can be conveniently adjusted the length of the second control stick 610.

As shown in figure 4, second mechanical arm 620 includes flat segments and the crotch section being fixedly connected with flat segments, the second machinery Arm 620 is detachably connected by its flat segments and the second control stick 610.The crotch Duan Zhongyu of second mechanical arm 620 is above-mentioned straight The part of section connection preferably has larger radian.Second mechanical arm 620 can carry including being arranged at the second of its flat segments Pulling eye 625, the second lifting hole 625 can be embedded in the flat segments of second mechanical arm 620 or can be placed in the flat segments Edge (form for being similar to lifting ring).Second lifting hole 625 is used to be used cooperatively with above-mentioned lifting part 300, with to effect Apply pulling force in the second mechanical arm 620 of trapped person.

Specifically, second mechanical arm 620 can include the first arm 621 and with the 621 movable connection of the first arm the Two arms 622, wherein the first arm 621 include a part of crotch section for being fixedly connected of flat segments described in the crotch Duan Zhongyu and The flat segments, the second arm 622 include another part crotch section in the crotch section.Further, the second arm 622 can To be formed by the 3rd arm 623 and with the 4th arm 624 of 623 movable connection of the 3rd arm, wherein the 3rd arm 623 can live It is dynamic to be connected to the first arm 621 and the 3rd arm 623 is placed between the first arm 621 and the 4th arm 624.3rd arm 623 can also be for example, by pivot pin and for example, by the 621 movable connection of pivot pin and the first arm, the 4th arm 624 Three arms, 623 movable connection.

Second mechanical arm 620 can also include being used to change the relative angle between the first arm 621 and the second arm 622 The 3rd driver element, the 3rd driver element can be controlled by above-mentioned control unit 200.In a kind of embodiment, 3rd driver element can be the 4th motor 626 being fixedly connected with the 3rd arm 623, and the 4th motor 626 is arranged at the 3rd arm The junction of the arm 621 of portion 623 and first., can be with the case of the 623 movable connection of the first arm 621 and the 3rd arm The second arm 622 is driven to be rotated relative to the first arm 621 by the rotation of the 4th motor 626, so as to change the second arm 622 and the first relative angle between arm 621.However, the 4th motor 626 can also be fixedly attached to the first arm 621.

In addition, second mechanical arm 620 can also include being used to change the phase between the 3rd arm 623 and the 4th arm 624 To the 4th driver element of angle, the 4th driver element can also be controlled by above-mentioned control unit 200.It is embodied in one kind In mode, the 4th driver element can be the 5th motor 627 being fixedly connected with the 4th arm 624, and the 5th motor 627 is arranged at The junction of both 4th arm 624 and the 3rd arm 623.In the feelings of 624 movable connection of the 3rd arm 623 and the 4th arm Under condition, by the rotation of the 5th motor 627 the 4th arm 624 can be driven to be rotated relative to the 3rd arm 623, preferably can be with It is transverse to the 3rd arm 623 to rotate the 4th arm 624.

In the case where control unit 200 is wireless energy control units, the 4th motor 626 and the 5th motor 627 can be nothing Line controlled motor.However, the 4th motor 626 and the 5th motor 627 can also be typically wire connected to control unit 200, present invention tool Body embodiment is not limited thereto.

Further, second mechanical arm 620 can also include adopting to the second image of above-mentioned display unit 500 offer image Collect unit 628.Second image acquisition units 628 can be arranged at the first arm 621 or the 3rd arm 623.Second IMAQ Unit 628 is preferably that Radio infrared camera or night vision camera are first-class.Second image acquisition units 628 will can be gathered The image of the local environment of second mechanical arm 620 is sent to display unit 500, so that the rescuer outside deep-well can pass through display Unit 500 monitors the situation in deep-well, so as to select suitable scheme of suing and labouring according to specific situation, such as adjusts the second arm Relative angle between 622 and first relative angle between arm 621, the 4th arm 624 of adjustment and the 3rd arm 623, from And second mechanical arm 620 can be made rapidly firmly to catch on the crotch of trapped person, it is deep to pull out trapped person within the shortest time Well.

In actual rescue operations, when the neck and the equal injury of arm that find trapped person are not convenient to use the first manipulator and entered During row rescue, or find that trapped person when being more tightly stuck in well, can be rescued using the second manipulator.Specifically, exist Under the assistance of second image acquisition units 628, rescuer can be by controlling the second control stick 610 to determine the second manipulator General location；When the second manipulator is delivered into suitable position (being carried out under the cooperation of the first manipulator), sue and labour Personnel can be controlled by control unit 200 to the 3rd driver element and the 4th driver element, to change the second arm 622 The relative angle between relative angle and the 3rd arm 623 and the 4th arm 624 between the first arm 621 so that the Two manipulators can firmly catch on the crotch of trapped person, so that trapped person is pulled out into deep-well by lifting part 300.In this process In, change the relative angle between the second arm 622 and the first arm 621 on the one hand can allow second mechanical arm 620 compared with Easily in place (such as the relative angle reduced between the second arm 622 and the first arm 621 can make second mechanical arm 620 By narrower region), second mechanical arm 620 on the other hand can be avoided to feel in the crotch season trapped person for acting on trapped person Feel is relatively felt bad；Changing relative angle between the 3rd arm 623 and the 4th arm 624 so that the 4th arm 624 is transverse to the In the case of three arms 623, the 4th arm 624 can when second mechanical arm 620 acts on the crotch of trapped person transverse to by The gluteofemoral crease of tired person, thus second mechanical arm 620 can be transferred to the buttocks of trapped person to the point of application of trapped person, and make Larger pulling force can be applied by second mechanical arm 620 by obtaining.As can be seen here, deep well rescue device provided in an embodiment of the present invention Even can with it is less favorable in the case of, safely rescue with the shorter time trapped person in deep-well.

In the present embodiment, the 3rd arm 623 can also be by the way of being fixedly connected with the 4th arm 624, the first arm Portion 621 can also be by the way of being fixedly connected with the 3rd arm 623, and the specific embodiment of the invention is not limited thereto.

For the ease of understanding the use of deep well rescue device provided in an embodiment of the present invention, shown in Fig. 5 and the present invention The schematic structure for the well head hoisting frame that the deep well rescue device that embodiment provides is used cooperatively.It should be noted that the well head carries Rise frame can as a kind of device being used cooperatively with deep well rescue device provided in an embodiment of the present invention example, it is necessary to illustrate , the device that deep well rescue device provided in an embodiment of the present invention can also be similar with other is used cooperatively, tool of the invention Body embodiment is not limited thereto.As shown in figure 5, the lifting part 300 for lifting the first manipulator or the second manipulator Can be on roller 700, each manipulator can correspond to a roller 700, for illustrative purposes, show in Fig. 5 Go out three rollers 700.The roller edge of each roller 700 is provided with multiple holes of same center of circle radius, and adjacent cylinder can To be connected by the bolt through the hole on the two rollers；A roller in three rollers 700 is fixedly connected with the rockers, and is led to Cross rotating rocker can to drive three rollers 700 while rotate, so as to which lifting part 300 is put into well or withdrawn from well Lift part 300., can be by dismantling related bolt when needing individually to rotate some roller 700 as the case may be To realize this operation.

In the case of as the manipulator for grasping trapped person's neck, the second lever arm 130 of the first manipulator is provided with One end that one end of first roller 161 and the 3rd lever arm 140 are provided with the second roller 162 can also be in the second lever arm 130 The region being consistent with the lower jaw structure of human body is further limited when relative angle between the 3rd lever arm 140 is smaller.Therefore, First manipulator can provide the strong point when grasping the neck of trapped person from trapped person's neck rear to the lower jaw of trapped person.

In the above-described embodiments, the second lever arm 130, the surface of the 3rd lever arm 140 can be provided with spongy layer, cotton Layer, emulsion layer or other soft material layers, further to protect the body part that trapped person contacts with the first manipulator.On in addition, State the first manipulator in embodiment and be also provided with intercom when as manipulator for grasping trapped person's neck, with The rescuer outside deep-well is facilitated to be linked up with trapped person.

Deep well rescue device provided in an embodiment of the present invention includes control unit, lifting part and at least one first machinery Hand, each first manipulator at least one first manipulator include the first control stick, the first lever arm, the second activity Arm and the 3rd lever arm, the second lever arm and the 3rd lever arm are arc-shaped, and the first lever arm includes what is be fixedly secured to one another First branch, the second branch and the 3rd branch, the first branch and the movable connection of the first control stick, the second branch and the second activity The movable connection of arm, the connection movable with the 3rd lever arm of the 3rd branch and the second lever arm and the 3rd lever arm are respective recessed Face forms handgrip inward against so that the second lever arm and the 3rd lever arm each other, and the second lever arm and the 3rd lever arm are each Be provided with lifting part be used cooperatively first lifting hole, each first manipulator also include be used for change the second lever arm with First driver element of the folding angle between the 3rd lever arm, and for changing the first branch and first of the first lever arm It is single that second driver element of the relative angle between control stick, the first driver element and the second driver element are controlled by control Member.In the trapped person in using deep well rescue device rescue deep-well, rescuer outside deep-well can be by through first First manipulator is sent into deep-well by the lifting part for lifting hole, while can be by controlling the first control stick to determine the first machine The general location of tool hand, when the first manipulator is delivered into suitable depth, rescuer can be by control unit to first Driver element and the second driver element are controlled, to change the first lever arm, the second lever arm and the 3rd lever arm three's phase The folding angle between angle and the second lever arm and the 3rd lever arm for the first control stick so that the first manipulator can To hold the body part of trapped person, so that trapped person is pulled out into deep-well by lifting part.As can be seen here, the embodiment of the present invention carries The deep well rescue device of confession can with better simply operation, safely rescue trapped person in deep-well in the short period of time.

The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies Change, equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter exists Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing It is further defined and explained.

In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ", The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or should Invention product using when the orientation usually put or position relationship, be for only for ease of the description present invention and simplify description, without It is instruction or implies that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore not It is understood that as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and can not manage Solve to indicate or implying relative importance.

In the description of the invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ", " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one Connect body；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirect by intermediary It is connected, can is the connection of two element internals.For the ordinary skill in the art, on being understood with concrete condition State the concrete meaning of term in the present invention.

Claims

A kind of 1. deep well rescue device, it is characterised in that including control unit, part and at least one first manipulator are lifted, Each first manipulator at least one first manipulator includes the first control stick, the first lever arm, the second lever arm With the 3rd lever arm, second lever arm and the 3rd lever arm are arc-shaped, and first lever arm is included each other The first branch, the second branch and the 3rd branch being fixedly connected, first branch and the movable connection of the first control stick, Second branch connection movable with second lever arm, the 3rd branch and the movable connection of the 3rd lever arm And second lever arm and the respective concave surface of the 3rd lever arm each other inward against so that second lever arm with 3rd lever arm forms handgrip, and second lever arm and the 3rd lever arm are each provided with and the lifting part The first lifting hole being used cooperatively, each first manipulator also include being used to change second lever arm and the described 3rd First driver element of the folding angle between lever arm, and for change the first branch of first lever arm with it is described Second driver element of the relative angle between the first control stick, first driver element and second driver element by Control in described control unit.
2. deep well rescue device according to claim 1, it is characterised in that it is single that the deep well rescue device also includes display Member, each first manipulator also include to the display unit transmit image the first image acquisition units, described first Image acquisition units are arranged at first lever arm.
3. deep well rescue device according to claim 1, it is characterised in that first driver element includes：Connection institute State the second branch of the first lever arm and the first folding screw rod of the 3rd lever arm；Act on the first folding screw rod First motor, first motor are arranged at the second branch of first lever arm；Connect the 3rd of first lever arm Branch and the second folding screw rod of second lever arm；And the second motor of the second folding screw rod is acted on, it is described Second motor is arranged at the 3rd branch of first lever arm.
4. deep well rescue device according to claim 3, it is characterised in that the first branch and institute of first lever arm The first control stick is stated by the movable connection of pivot pin, second driver element is to consolidate with the first branch of first lever arm Surely the 3rd motor connected, the 3rd motor are arranged on the junction of first branch and first control stick.
5. deep well rescue device according to claim 4, it is characterised in that described control unit is wireless energy control units, First motor, second motor and the 3rd motor are wireless controlled motor.
6. deep well rescue device according to claim 1, it is characterised in that the second activity of each first manipulator The one end of arm away from first lever arm is provided with the first roller, and the 3rd lever arm is away from first lever arm One end be provided with the second roller.
7. deep well rescue device according to claim 1, it is characterised in that the deep well rescue device also includes the second machine Tool hand, second manipulator include the second control stick and the second mechanical arm being detachably connected with second control stick, institute Stating second mechanical arm includes flat segments and the crotch section being fixedly connected with the flat segments, and the second mechanical arm passes through described flat Straight section is detachably connected to second control stick, and the second mechanical arm also includes the be used cooperatively with the lifting part Two lifting holes, the second lifting hole are arranged at the flat segments.
8. deep well rescue device according to claim 7, it is characterised in that the second mechanical arm by the first arm and with Second arm of the movable connection of the first arm is formed, and first arm includes flat segments described in the crotch Duan Zhongyu A part of crotch section being fixedly connected and the flat segments, second arm include another part crotch in the crotch section Section, the second mechanical arm also include being used to change the 3rd of the relative angle between first arm and second arm Driver element, the 3rd driver element are controlled by described control unit.
9. deep well rescue device according to claim 8, it is characterised in that second arm include the 3rd arm and with 4th arm of the movable connection of the 3rd arm, second arm can be connected to institute by the 3rd arm The first arm is stated, the 3rd arm is placed between first arm and the 4th arm, and the second mechanical arm is also wrapped Include the 4th driver element for changing the relative angle between the 3rd arm and the 4th arm, the 4th driving Unit is controlled by described control unit.
10. deep well rescue device according to claim 9, it is characterised in that the deep well rescue device also includes display Unit, the second mechanical arm also include the second image acquisition units that image is provided to the display unit, second figure As collecting unit is arranged at the second arm of the second mechanical arm.