CN205101028U - Deep well rescue device - Google Patents
Deep well rescue device Download PDFInfo
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- CN205101028U CN205101028U CN201520926169.XU CN201520926169U CN205101028U CN 205101028 U CN205101028 U CN 205101028U CN 201520926169 U CN201520926169 U CN 201520926169U CN 205101028 U CN205101028 U CN 205101028U
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- mechanical
- arm
- push rod
- electric push
- rescue
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- 239000000203 mixture Substances 0.000 claims description 4
- 210000001015 abdomen Anatomy 0.000 abstract description 7
- 230000006378 damage Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 2
- 238000004804 winding Methods 0.000 abstract 1
- 238000004891 communication Methods 0.000 description 14
- 208000027418 Wounds and injury Diseases 0.000 description 6
- 210000000038 chest Anatomy 0.000 description 6
- 208000014674 injury Diseases 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 206010003497 Asphyxia Diseases 0.000 description 1
- 206010061245 Internal injury Diseases 0.000 description 1
- 208000027790 Rib fracture Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000001459 mortal effect Effects 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Abstract
The utility model provides a can be applicable to similar deep well environment such as deep well, mine, mill's chimney, building site ground stake, cliff abrupt slope, carries out the deep well rescue device that rescues to the stranded personnel in shaft bottom. By aboveground operation and keep watch on part, self -supporting cable and carry the lift up part branch, in the pit the biomimetic mechanical part constitute. It connects the fixed mechanical tongs that two structures are the same constitution in a partial robotic arm and its below of using of biomimetic mechanical in the pit. Imitate the biomimetic structure design of human arm and hand to the bionical action of imitate " it upwards lifts to hold human armpit " is rescued. Carry out the forceps holder at the rescue in -process to the armpit position to stranded personnel's both shoulders, avoid causing secondary damage because of carry out the forceps holder to personnel's chest belly position that strands, after whole when accomplishing " grab and embrace " action, put up man winding to the ground that to strand through the rescue of aboveground triangle.
Description
Technical field
The utility model relates in the similar deep-well environment such as a kind of deep-well, mine, factory's chimney, building site pile, steep cliff abrupt slope, trapped personnel is implemented to the deep-well rescue device of rescue.
Background technology
At present, existing underground rescue device all adopts following three kinds of modes to realize: the first guides rope to tie down down-hole trapped personnel wrist position by hard shaft to implement rescue, the second clamps trapped personnel enforcement rescue by the mode of clamp or noose down-hole trapped personnel thorax abdomen position, and the third send lower deep-well to implement rescue rescue personnel by tripod, rope etc.But all there is larger defect in these three kinds of rescue modes: the first rescue mode, because adopt hard shaft to guide rope to tie down down-hole trapped personnel wrist position, mainly be applicable to well head comparatively large and in the rescue work that well depth is more shallow, otherwise do not observe the operation of down-hole because of the problem such as light, sight line, particularly hard shaft length can not use not.The second rescue mode, when trapped personnel slip fall deep-well time, probably cause the internal injuries such as rib fracture or other vitals break, rescued by the mode of clamp or noose trapped personnel thorax abdomen position if now take, cause the probability of secondary injury very big, even fatal to trapped personnel.Moreover the dynamics of to exert pressure as carried out clamp or noose to trapped personnel thorax abdomen position is grasped bad, will be easy to cause trapped personnel death by suffocation.If because rescue causes trapped personnel dead, even if rescued by trapped personnel, rescue work is still failure.The third rescue mode, when well head is less, comparatively dark, the subsurface environment of well depth complicated time, rescue personnel directly goes into the well rescue, himself is difficult to safely guarantee.
Summary of the invention
In order to solve in deep well rescue process, existing underground rescue device gos deep into underground work apart from short, and very easily causes secondary injury to trapped personnel, and rescue personnel's safety easily problem such as compromised, the utility model provides a kind of deep-well rescue device.This deep-well rescue device adopts three jaw arrangement, and by imitating the biomimetic features of mankind's arm and hand, and the bionical action imitating " holding human body oxter upwards to lift " is rescued.In rescue operations, clamp is carried out to trapped personnel oxter and shoulder, thus avoid causing mortal injury to trapped personnel in deep-well.Simultaneously the utility model is by video monitoring, speech talkback and monitor motor load electric current, can monitor rescuing device self working condition and subsurface environment.Rescue personnel need not emit life danger to go into the well, and just trapped personnel successfully can be rescued.
The utility model solves the technical scheme that its technical problem adopts: by the deep-well rescue device comprehensive management platform software installed in portable computer and infrared pan-tilt network camera, by control signal, audio-video signal is unified converts RJ45 interface signal to, the mutual conversion of RJ45 interface signal and power line signal is completed by aboveground power line communication modem and down-hole power line communication modem, aboveground by a self-bearing type twisted-pair cable to the transmission carrying out power line signal while underground power supply used, realize aboveground with down-hole control signal, the transmission of audio-video signal.Self-bearing type twisted-pair cable aboveground employing 220V generator powered, when after removal line loss, downhole load voltage is at more than 110V, deep-well rescue device all can normally work (design at present can be rescued trapped personnel in the deep-well within 300 meters).Down-hole bionic mechanical part is by two mechanical grippers fixing below a mechanical arm and its, totally three jaw arrangement compositions.Mechanical arm by a mechanical arm horizontal electric push rod and mechanical arm actuation arm 1., 2. mechanical arm actuation arm form " A " font jaw arrangement.Mechanical gripper totally two, its structure is identical, be made up of junction plate, mechanical gripper horizontal electric push rod, two mechanical gripper actuation arm, be positioned at below mechanical arm, the clamp direction of mechanical gripper is vertical with the clamp direction of mechanical arm, is connected and fixed respectively by two mechanical grippers by junction plate with two actuation arm bottoms of mechanical arm.Mechanical gripper horizontal electric push rod and mechanical gripper actuation arm are 1., 2. mechanical gripper actuation arm form " A " font jaw arrangement.Vertical electric push rod top and junction plate are connected and fixed, and vertical electric push rod telescopic direction down, " A " font jaw arrangement clamp of Aided Machine handgrip more firm.After downhole network relay receives control signal, the supply current direction of mechanical arm horizontal electric push rod (or mechanical gripper horizontal electric push rod, vertical electric push rod) can be changed according to semaphore request, change the opening and closing angle of two mechanical arm actuation arm (or two mechanical gripper actuation arm), thus complete the opening and closing clamp action of mechanical arm (or mechanical gripper).In rescue operations, two actuation arm of mechanical gripper respectively above trapped personnel down, intersected in trapped personnel oxter by shoulder, and clamp trapped personnel arranged on left and right sides oxter, stretch the vertical electric push rod on mechanical gripper simultaneously, trapped personnel shoulder is tightly grabbed to oxter and embraces.Mechanical arm is mainly used in controlling the distance between two mechanical grippers in below, provides the power that one placed in the middle, and that impels two mechanical grippers to grab is more firm, thus completes whole " grab and embrace " action.Only trapped personnel shoulder and oxter are upwards exerted oneself in rescue operations, pressure can not be applied to the chest of people, belly, avoid causing fatal secondary injury to trapped personnel.After finally completing " grab embrace " action, completed the action of trapped personnel to aboveground lifting by aboveground Rescue Triangular Bracket, thus reach the object that trapped personnel can be rescued of safety.
The beneficial effects of the utility model are, can by the deep-well rescue device comprehensive management platform software observes downhole video image that portable computer is installed, aboveground rescue personnel can carry out speech talkback with down-hole trapped personnel, for rescue work provides booster action.By the conversion of underground signal of communication, deep well rescue operating distance is extended deep to 300 meters (as long as actual self-bearing type twisted-pair feeder and tripod wire rope long enough, and load voltage all can normally use between 110V to 240V).Down-hole mechanical part adopts the biomimetic features of a mechanical arm, two mechanical gripper compositions, carry out clamp to trapped personnel shoulder and oxter " to grab and embrace ", thus safety stranded deep-well personnel are rescued, avoid trapped personnel thorax abdomen position clamp and cause secondary injury.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is schematic diagram of the present utility model
Fig. 2 is the vertical section constructional drawing of down-hole bionic mechanical part.
Fig. 3 is the vertical section constructional drawing of down-hole bionic mechanical part (11) mechanical arm.
Fig. 4 is the vertical section constructional drawing after down-hole bionic mechanical part (12) mechanical gripper vertical rotary 90 degree.
(1) portable computer in figure, (2) deep-well rescue device comprehensive management platform software, (3) USB joystick, (4) aboveground power line communication modem, (5) self-bearing type twisted-pair cable, (6) down-hole power line communication modem, (7) infrared pan-tilt network camera, (8) network relay controller, (9) current monitor, (10) voltage-stabilized power supply, (11) mechanical arm, (12) mechanical gripper, (13) mechanical arm horizontal electric push rod, (14) spring, (15) load-bearing hook ring, (16) microphone, (17) the outer load-bearing cover of horizontal sliding bearing, (18) equipment box, (19) horizontal sliding bearing, (20) reducing motor, (21) white light, (22) self-bearing type twisted-pair cable hook ring, (23) Rescue Triangular Bracket, (24) self-bearing type twisted-pair cable drum, (25) self-bearing type twisted-pair cable wire rope downhole end self-locking hook, (26) generator, (27) mechanical gripper horizontal electric push rod, (28) vertical electric push rod, (29) mechanical arm actuation arm 1., (30) mechanical arm actuation arm 2., (31) mechanical gripper actuation arm 1., (32) mechanical gripper actuation arm 2., (33) junction plate.
Detailed description of the invention
This deep-well rescue device is made up of aboveground operation and monitoring section, self-supporting cable and lift portion, down-hole bionic mechanical part.
Aboveground operation and monitoring section: be made up of (1) portable computer, (2) deep-well rescue device comprehensive management platform software (being installed in portable computer), (3) USB joystick, (4) aboveground power line communication modem, (6) down-hole power line communication modem, (7) infrared pan-tilt network camera, (16) microphone.By (2) deep-well rescue device comprehensive management platform software that (1) portable computer is installed, each for down-hole machine operation, downhole rescuing video are shown on (1) screen of portable computer.By (2) deep-well rescue device comprehensive management platform software, the control signal of (3) USB joystick and (16) microphone audio signal are converted to RJ45 interface signal.By (7) infrared pan-tilt network camera by collecting the audio frequency of down-hole, vision signal is converted to RJ45 interface signal, by (4) aboveground power line communication modem, (6) down-hole power line communication modem realizes RJ45 interface signal and power line signal is changed mutually.While being powered to underground equipment by (5) self-bearing type twisted-pair cable again, to downhole transmitted control signal and audio signal, to aboveground transmission monitoring vision signal, each machine operation monitor signal.The outer playback function frequently carried by (7) infrared pan-tilt network camera, plays the aboveground audio frequency intercommunication signal handed down by the collection of (16) microphone in real time.
Self-supporting cable and lift portion: be made up of (5) self-bearing type twisted-pair cable, (15) load-bearing hook ring, (22) self-bearing type twisted-pair cable hook ring, (23) Rescue Triangular Bracket, (24) self-bearing type twisted-pair cable drum, (25) self-bearing type twisted-pair cable wire rope downhole end self-locking hook, (26) generator powered.(5) self-bearing type twisted-pair cable is a cable of two core twisted-pair feeders and a bearing steel wire composition, is the signal transmission mediums such as underground equipment Power supply and control signal, feedback signal, monitor video, speech talkback signal, current monitoring.Coil at ordinary times in (23) self-bearing type twisted-pair cable drum, stretch out during use, (25) self-bearing type twisted-pair cable wire rope downhole end self-locking hook is articulated on (22) self-bearing type twisted-pair cable hook ring at deep-well rescue device top.In rescue operations, (23) Rescue Triangular Bracket is placed in above well head, be connected with (15) load-bearing hook ring at deep-well rescue device top by the wire rope of (23) Rescue Triangular Bracket, after action that deep-well rescue device when down-hole completes " clamp is grabbed and embraced ", use (23) Rescue Triangular Bracket to be promoted by trapped personnel and rescue.
Down-hole bionic mechanical part: be made up of remote control and surveillance and monitoring system, (11) mechanical arm, two (12) mechanical grippers.
Remote control and surveillance and monitoring system: be made up of (6) down-hole power line communication modem, (7) infrared pan-tilt network camera, (8) network relay controller, (9) current monitor, (10) voltage-stabilized power supply, (18) equipment box, (21) white light.(6) down-hole power line communication modem, (8) network relay controller, (9) current monitor, (10) voltage-stabilized power supply are arranged in (18) equipment box.(7) infrared pan-tilt network camera is arranged on bottom (18) equipment box, perpendicular to (29) mechanical arm actuation arm 1., the clamp angle that 2. forms of (30) mechanical arm actuation arm.(21) white light is arranged on below (13) mechanical arm horizontal electric push rod.By (6) down-hole power line communication modem, the aboveground power line signal operational order sended over is converted back RJ45 interface signal operational order, after (8) network relay controller receives operation command signal, by changing (13) mechanical arm horizontal electric push rod or the supply current direction of (27) mechanical gripper horizontal electric push rod of two (12) mechanical grippers and the break-make situation below it of (11) mechanical arm, control (13) mechanical arm horizontal electric push rod or (27) mechanical gripper horizontal electric push rod carry out stretching and stopping, thus complete the opening and closing action of (11) mechanical arm or two (12) mechanical grippers.The duty of self after each required movement of execution is converted to RJ45 interface signal by (8) network relay controller simultaneously, use (7) infrared pan-tilt network camera by the audio frequency of down-hole, also RJ45 interface signal is converted to after video acquisition, by (6) down-hole power line communication modem, above two kinds of RJ45 interface signals are converted to power line signal again, (5) self-bearing type twisted-pair cable is utilized to be transferred to aboveground, (4) power line signal is converted back RJ45 interface signal by aboveground power line communication modem again, shown on aboveground (1) screen of portable computer by (2) deep-well rescue device comprehensive management platform software.(21) white light provides light source to supplement for downhole rescuing work, is also that a kind of psychology is consoled for trapped personnel simultaneously.
(11) mechanical arm: by (10) voltage-stabilized power supply, (13) mechanical arm horizontal electric push rod, (14) spring, (15) load-bearing hook ring, the outer load-bearing cover of (17) horizontal sliding bearing, (18) equipment box, (19) horizontal sliding bearing (note: horizontal sliding bearing by upper slice, retention tab, rolling element, bottom sheet four sections transverse stack and form, overall is toroidal), (20) reducing motor, (22) self-bearing type twisted-pair cable hook ring, (29) mechanical arm actuation arm 1., 2. (30) mechanical arm actuation arm form.(15) load-bearing hook ring is connected and fixed through the bottom sheet of (19) horizontal sliding bearing centre with (19) horizontal sliding bearing, (19) horizontal sliding bearing upper slice be connected and fixed with the outer load-bearing cover of (29) horizontal sliding bearing, the outer load-bearing cover of (29) horizontal sliding bearing is connected and fixed with (18) equipment box top.(20) reducing motor is positioned at below (19) horizontal sliding bearing, and its driving shaft is connected with the bottom sheet of (19) horizontal sliding bearing, and its motor and shell of reduction box and (18) equipment box top are connected and fixed.(29) mechanical arm actuation arm top 1. intersects with (30) mechanical arm actuation arm top 2., bottom (18) equipment box, centre position connects in the mode of movable shaft, (13) mechanical arm horizontal electric push rod level be arranged on (29) mechanical arm actuation arm 1. and (30) mechanical arm actuation arm 2. in the middle of, be combined into " A " font jaw arrangement.(18) below equipment box, 2. 1. two ends, left and right and (29) mechanical arm actuation arm respectively have (14) spring to be connected with (30) mechanical arm actuation arm, thus reduce the vertical oscillation angle of (18) equipment box and its bottom device.(10) 240V to the 110V alternating voltage being transferred to down-hole by (5) self-bearing type pair cable is converted to the direct-flow steady voltage of 12V by voltage-stabilized power supply, for (13) mechanical arm horizontal electric push rod, (8) network relay controller.After (8) network relay controller receives the operation command signal horizontally rotating to whole (11) mechanical arm or stop operating, supply current direction or the break-make of (20) reducing motor can be changed according to semaphore request, change (20) reducing motor rotation direction, thus drive whole underground rescue device to carry out horizontal direction to turn clockwise, to be rotated counterclockwise or slack.After (8) network relay controller receives and carries out the operation command signal of clamp to (11) mechanical arm, supply current direction or the break-make of (13) mechanical arm horizontal electric push rod can be changed according to semaphore request, control the flexible of (13) mechanical arm horizontal electric push rod and stop, 1. and (30) mechanical arm actuation arm 2. opening and closing angular dimension thus change (29) mechanical arm actuation arm, complete the action of (11) mechanical arm opening and closing clamp.In rescue operations, (11) mechanical arm is mainly used in controlling the distance between two (12) mechanical grippers in below, and that impels two (12) mechanical grippers to grab is more firm, thus completes whole " grab and embrace " action.
(12) mechanical gripper: totally two, its structure is identical, all by (10) voltage-stabilized power supply, (27) mechanical gripper horizontal electric push rod, (31) mechanical gripper actuation arm 1., (32) mechanical gripper actuation arm 2., (28) vertical electric push rod, (33) junction plate form.(12) mechanical gripper is positioned at below (11) mechanical arm, by (33) junction plate respectively with (29) mechanical arm actuation arm 1., 2. (30) mechanical arm actuation arm be connected and fixed bottom, (12) mechanical gripper clamp direction is vertical with (11) mechanical arm clamp direction.(31) 1. mechanical gripper actuation arm intersects with (32) mechanical gripper actuation arm top 2. on top, connected by the mode of movable axis, (27) the mechanical gripper horizontal electric push rod installed with horizontal direction forms " A " font jaw arrangement, and its top and (33) junction plate are connected and fixed.(28) vertical electric push rod top and (33) junction plate are connected and fixed, and (28) vertical electric push rod telescopic direction down.(10) alternating voltage being transferred to down-hole by (5) self-bearing type pair cable is converted to the direct-flow steady voltage of 12V by voltage-stabilized power supply, for (27) mechanical gripper horizontal electric push rod, (28) vertical electric push rod, (8) network relay controller.After (8) network relay controller receives and carries out the operation command signal of clamp to (12) mechanical gripper, supply current direction or the break-make of (27) mechanical gripper horizontal electric push rod can be changed according to semaphore request, control (27) mechanical gripper horizontal electric push rod stretch or stop, 1. and (32) mechanical gripper actuation arm 2. opening and closing angular dimension thus change (31) mechanical gripper actuation arm, complete the action of (12) mechanical gripper opening and closing clamp.In rescue operations, 2. 1. (31) mechanical gripper actuation arm of (12) mechanical gripper grabbed at oxter intersection clamp from former and later two directions of trapped personnel shoulder respectively with (32) mechanical gripper actuation arm and embraced.Grab embrace after action when completing clamp, (27) mechanical gripper horizontal electric push rod is in self-locking state.Controlled the sense of current or the break-make of (28) the vertical electric push rod on (12) mechanical gripper by (8) network relay controller, control its flexible or stopping.Control the dynamics that (28) vertical electric push rod is exerted pressure to trapped personnel shoulder downwards, thus to reduce trapped personnel shoulder to the space of oxter clamp gradually, impel (12) mechanical gripper to grab to trapped personnel shoulder to oxter clamp embrace tighter.Again by changing the size of (11) mechanical arm clamp angle, change the distance between two (12) mechanical grippers, form maximum making a concerted effort, impel further (12) mechanical gripper more firmly clamp grab and embrace trapped personnel.Only trapped personnel shoulder and oxter are upwards exerted oneself in rescue operations, pressure can not be applied to the chest of people, belly, avoid causing fatal secondary injury to trapped personnel.After finally completing " grab embrace " action, then assist to promote by aboveground Rescue Triangular Bracket, thus reach the object that trapped personnel can be rescued of safety.
Claims (1)
1. a deep-well rescue device, be made up of aboveground operation and monitoring section, self-supporting cable and lift portion, down-hole bionic mechanical part, it is characterized in that: down-hole bionic mechanical part adopts the biomimetic features imitating mankind's arm and hand, by a mechanical arm and fixing two mechanical grippers thereunder, totally three jaw arrangement compositions, described mechanical arm by a mechanical arm horizontal electric push rod and mechanical arm actuation arm 1., 2. mechanical arm actuation arm form " A " font jaw arrangement, described mechanical gripper totally two, its structure is identical, by junction plate, mechanical gripper horizontal electric push rod, mechanical gripper actuation arm 1., mechanical gripper actuation arm 2., vertical electric push rod forms, be positioned at below mechanical arm, the clamp direction of mechanical gripper is vertical with the clamp direction of mechanical arm, by junction plate, two mechanical grippers are connected and fixed with two actuation arm bottoms of mechanical arm respectively, mechanical gripper horizontal electric push rod and mechanical gripper actuation arm are 1., 2. mechanical gripper actuation arm forms " A " font jaw arrangement, vertical electric push rod top and junction plate are connected and fixed, and vertical electric push rod telescopic direction down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520926169.XU CN205101028U (en) | 2015-11-16 | 2015-11-16 | Deep well rescue device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520926169.XU CN205101028U (en) | 2015-11-16 | 2015-11-16 | Deep well rescue device |
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| Publication Number | Publication Date |
|---|---|
| CN205101028U true CN205101028U (en) | 2016-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520926169.XU Expired - Fee Related CN205101028U (en) | 2015-11-16 | 2015-11-16 | Deep well rescue device |
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| Country | Link |
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| CN (1) | CN205101028U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105298535A (en) * | 2015-11-16 | 2016-02-03 | 别远辉 | Deep well rescue device |
-
2015
- 2015-11-16 CN CN201520926169.XU patent/CN205101028U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105298535A (en) * | 2015-11-16 | 2016-02-03 | 别远辉 | Deep well rescue device |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160323 |
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| CF01 | Termination of patent right due to non-payment of annual fee |