CN208375308U

CN208375308U - Underground rescue robot

Info

Publication number: CN208375308U
Application number: CN201820857760.8U
Authority: CN
Inventors: 熊辰; 薛山川
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-05-22
Filing date: 2018-05-22
Publication date: 2019-01-15
Anticipated expiration: 2028-05-22

Abstract

The utility model discloses a kind of underground rescue robots, including end to end several section car bodies, car body is connected between adjacent two car body to warp driving device and car body device for regulating direction, the rotation of car body top, which is disposed with, several antifriction lifts roller, side body is fixedly installed with ultrasonic distance-measuring sensor, it is equipped with positioned at the car body front end of head end and is engaged self-locking device with what other car bodies were used cooperatively, wherein rescue control device is also equipped on a car body, car body warps driving device, car body device for regulating direction and ultrasonic distance-measuring sensor are connected separately to rescue control device；It when being rescued, is wound into captive under car body into well, captive is lockked by occlusion self-locking device, is rescued by drawing rescue rope, captive is rescued；The utility model adaptive faculty is strong, the trapped person suitable for different building shape；Winding human body as snake, more securely and reliably；Have the function of acquiring downhole data, underground situation can be monitored in real time.

Description

Underground rescue robot

Technical field

The utility model relates to downhole rescuing equipment technical field more particularly to a kind of underground rescue robots.

Background technique

Deep-well falls people and falls formal matter therefore happen occasionally, and the whole nation such accident more than ten thousand occurs every year is risen according to statistics, therefore caused by Life and property loss can not be estimated.In rural area, motor-pumped well is the important irrigation and drinking water source in rural area, and many motor-pumped wells are just in edge of a field field Side, some well head cement plates or stone are covered, and the basic cloak of most motor-pumped wells does not all have, and surrounding is also without any prompt Poster, it is difficult to make one to find and arouse attention in time.Especially some discarded motor-pumped wells, due to not having to hidden growing thickly for a long time In weeds, even more people is allowed to be difficult to find, tragedy happens occasionally.

The bore of well varies, and is relatively easy in the work expansion of bigbore downhole rescuing, but small-bore when encountering To going in well under fire fighter just needs to outwell when downhole rescuing, since this movement inherently has certain risk, It holds the pose and is rescued in underground for a long time, also very big to the threat of rescue personnel, subsurface environment is complicated, does not know about underground The situation personnel that may cause and participate in rescue that go into the well rashly are stranded together.

Utility model content

The technical problem to be solved by the utility model is to provide a kind of safe and reliable underground rescue robots.

In order to solve the above technical problems, the technical solution of the utility model is: underground rescue robot, including join end to end Several section car bodies, car body is connected between adjacent two car body and is warped driving device and car body device for regulating direction, the car body Top rotation be disposed with it is several it is antifriction lift roller, the side body is fixedly installed with ultrasonic distance-measuring sensor, be located at head The car body front end at end, which is equipped with, is engaged self-locking device with what other car bodies were used cooperatively, wherein also pacifying on a car body Equipped with rescue control device, the car body warps driving device, the car body device for regulating direction and the ultrasonic distance-measuring sensor It is connected separately to the rescue control device.

The car body includes two hinged vehicle frames, corresponding rotation peace on each vehicle frame as a preferred technical solution, Equipped with traveling crawler, the traveling crawler is sequentially connected with travel driving motor.

As a preferred technical solution, the car body warp driving device include positioned at rear side the car body front end it is hinged The steering engine that warps of installation, the power output end of the steering engine that warps are fixedly connected with the axis that warps, and the axis that warps is fixedly installed in Positioned at the rear end of the car body of front side.

The car body device for regulating direction is included in the relatively fixed connection of the front side body rear end as a preferred technical solution, Two drawstrings, opposite on the rear side car body to set there are two body retracting motor of restricting, two drawstrings are connected respectively to institute State the power output end of rope body retracting motor.

The antifriction roller of lifting includes the roller being rotatablely installed above the traveling crawler as a preferred technical solution, Axis, the roll shaft periphery are coated with rubber axle sleeve.

The occlusion self-locking device includes being mounted on the first section car body front end bite arm as a preferred technical solution, The engagement arm front end is equipped with evacuation recess, and there are two be engaged claw, the two occlusion cards for rotational installation in the evacuation recess It is connected with claw between pawl and struts spring.

There are two claw biteplate, two claws are stung for opposite installation in the middle part of the vehicle frame as a preferred technical solution, The gap passed through for the occlusion claw of the engagement arm and two, the bottom arrangement of the claw biteplate are formed between plywood Have and the tooth engaged for being engaged claw and being used cooperatively.

The rescue control device includes the camera shooting being fixed therein on car body described in a section as a preferred technical solution, Head and gas sensor, the camera and the gas sensor are connected separately to rescue controller, the rescue control The signal output end of device processed is connected with warning device and remote controler.

The rescue controller includes processor, hard disk, memory, system bus and wireless as a preferred technical solution, Communication device.

As a preferred technical solution, the wireless communication apparatus include based on GPRS, EDGE, WLAN, Wi-Fi, 3G and The wireless communication interface of 4G technology.

By adopting the above-described technical solution, underground rescue robot, including end to end several section car bodies, adjacent two It is connected with car body between the car body to warp driving device and car body device for regulating direction, the car body top rotation is disposed with several anti- Roller is lifted in friction, and the side body is fixedly installed with ultrasonic distance-measuring sensor, and the car body front end positioned at head end is equipped with It is engaged self-locking device with what other car bodies were used cooperatively, wherein being also equipped with rescue control device, institute on a car body Warp driving device, the car body device for regulating direction and the ultrasonic distance-measuring sensor of car body is stated to be connected separately to described and rescue Help control device；The beneficial effects of the utility model are: when carrying out downhole rescuing, car body row described in end to end several sections It goes in well, when the rescue control device finds captive, controlling the car body device for regulating direction makes the car body from described The oxter of captive passes through, around the back of the captive, then by control the car body warp driving device make it is described Car body tilts, and when bending angle is greater than 90 °, the car body is circular under the effect of gravity is fitted in the captive, due to It is provided on the car body and described antifriction lifts roller, it is possible to protected the body of the captive not rubbed, pass through institute It states ultrasonic distance-measuring sensor and detects the car body at a distance from the captive, the car body is avoided to wind the captive mistake It is tightly or excessively loose, when the car body winds the captive one circle, the captive is locked by the occlusion self-locking device Firmly, it is rescued by drawing rescue rope, the captive is rescued.The utility model adaptive faculty is strong, is suitable for different building shape Trapped person；Winding human body as snake, more securely and reliably；Have the function of acquiring downhole data, can supervise in real time Situation under logging well.

Detailed description of the invention

Following drawings are only intended to schematically illustrate and explain the present invention, does not limit the model of the utility model It encloses.Wherein:

Fig. 1 is one of the schematic perspective view of the utility model single-unit car body；

Fig. 2 is the overlooking structure diagram of the utility model single-unit car body；

Fig. 3 is the present invention looks up structural representation of the utility model single-unit car body；

Fig. 4 is the left view structural representation of the utility model single-unit car body；

Fig. 5 is the right side structural representation of the utility model single-unit car body；

Fig. 6 is the schematic view of the front view of the utility model single-unit car body；

Fig. 7 is the two of the schematic perspective view of the utility model single-unit car body；

Fig. 8 is the connected structural schematic diagram of two section car body of the utility model；

In figure: 1- vehicle frame；2- drawstring；3- traveling crawler；4- camera；5- travel driving motor；6- ultrasonic distance measurement passes Sensor；7- warps steering engine；8- is engaged claw；9- claw biteplate；10- gas sensor；11- warning device；The antifriction support of 12- Lift roller.

Specific embodiment

With reference to the accompanying drawings and examples, the utility model is further described.In the following detailed description, only pass through Bright mode describes certain exemplary embodiments of the utility model.Undoubtedly, those skilled in the art can be with It recognizes, it, can be with a variety of different modes to described without departing from the spirit and scope of the utility model Embodiment is modified.Therefore, attached drawing and description are regarded as illustrative in nature, rather than the protection for limiting claim Range.

As shown in Figures 1 to 8, underground rescue robot, including end to end several section car bodies, adjacent two car body Between be connected with car body and warp driving device and car body device for regulating direction, the car body top rotation is disposed with several antifriction lift Roller 12, the side body are fixedly installed with ultrasonic distance-measuring sensor 6, positioned at the car body front end of head end be equipped with it is other The occlusion self-locking device that the car body is used cooperatively, wherein being also equipped with rescue control device, the car body on a car body Warp driving device, the car body device for regulating direction and the ultrasonic distance-measuring sensor 6 be connected separately to the rescue control Device processed；

When carrying out downhole rescuing, car body described in end to end several sections is walked into well, is filled when the rescue controls When setting discovery captive, controlling the car body device for regulating direction passes through the car body from the oxter of the captive, around described Then the back of captive tilts the car body by controlling the car body driving device that warps, is greater than 90 ° in bending angle When under the effect of gravity the car body it is described antifriction due to being provided on the car body around being fitted in the captive Lift roller 12, it is possible to protect the body of the captive not rubbed, institute is detected by the ultrasonic distance-measuring sensor 6 Car body is stated at a distance from the captive, avoids the car body from winding the captive tension or excessively loose, when the car body twines When around the captive one circle, the captive is lockked by the occlusion self-locking device, is rescued by drawing rescue rope It helps, the captive is rescued.The utility model adaptive faculty is strong, the trapped person suitable for different building shape；Twining as snake Around human body, more securely and reliably；Have the function of acquiring downhole data, underground situation can be monitored in real time.Robot it is each Saving the car body 1 has autonomous system, voluntarily can add or dismantle the car body 1 according to actual service condition, has stronger Flexibility while but also carry it is more convenient.

The car body includes two hinged vehicle frames 1, and correspondence is rotatably equipped with traveling crawler 3 on each vehicle frame 1, described Traveling crawler 3 is sequentially connected with travel driving motor 5.Under the driving of the travel driving motor 5, the traveling crawler 3 can It walks around the captive body, the captive is wound up.The travel driving motor 5 can be decelerating motor.

The car body driving device that warps includes the steering engine 7 that warps hingedly installed of the car body front end positioned at rear side, institute The power output end for stating the steering engine 7 that warps is fixedly connected with the axis that warps, and the axis that warps is fixedly installed in the vehicle positioned at front side The rear end of body.Warped axis as described in the power output end connection front side rear vehicle of the odd steering engine, is worked as When the steering engine 7 that warps works, the car body positioned at front side can tilt certain angle by rising, and climb to the captive It is rescued, after rescue, the car body that the steering engine can also control positioned at front side is fallen after rise, is made convenient for next time With.

The car body device for regulating direction includes two drawstrings 2 in the relatively fixed connection of the front side body rear end, in rear side institute It states and is set relatively on car body there are two body retracting motor of restricting, two drawstrings 2 are connected respectively to the rope body retracting motor Power output end.The rope body retracting motor is controlled, when tensing the drawstring 2 on the left side, the car body will turn to the left side, When tensing the drawstring 2 on the right, the car body is turned to the right.

The antifriction roller 12 of lifting includes the roll shaft being rotatablely installed above the traveling crawler 3, the roll shaft periphery It is coated with rubber axle sleeve.The rubber axle sleeve plays certain buffer function, and the captive can be effectively protected.

The occlusion self-locking device includes being mounted on the first section car body front end bite arm, and the engagement arm front end is equipped with and keeps away Allow recess, rotational installation is connected with claw and supports there are two claw 8 is engaged in the evacuation recess between the two occlusion claws 8 Open spring.The opposite installation in 1 middle part of the vehicle frame is formed with for institute there are two claw biteplate 9 between the two claw biteplates 9 Engagement arm and two gaps for being engaged claws 8 and passing through are stated, the bottom of the claw biteplate 9, which is disposed with, is engaged claw with described 8 tooth engageds being used cooperatively.Under normal condition, the occlusion claw 8 is under the action of the claw struts spring and struts State, when needing to be engaged, the occlusion claw 8 can overcome the claw to strut the active force of spring, pass through two claws Gap between biteplate 9, then the claw struts the elastic force release of spring, and the occlusion claw 8 is strutted, institute is snapped fit onto It states in tooth engaged, realizes the self-locking of the car body, when needing to open the occlusion self-locking device, manually block the occlusion Pawl 8 compresses, and takes out in the gap between the claw biteplate 9.

The rescue control device includes the camera 4 and gas sensor 10 being fixed therein on car body described in a section, The camera 4 and the gas sensor 10 are connected separately to rescue controller, and the signal of the rescue controller is defeated Outlet is connected with warning device 11 and remote controler.Image that the camera 4 and the gas sensor 10 can will detect and Odiferous information is transferred to the rescue controller, monitors underground situation in real time, is transferred to after the rescue controller analysis described Warning device 11 and the remote controler, the warning device 11 can be buzzer etc., and rescuer is by controlling the remote controler The car body is remotely controlled to be rescued.

The rescue controller includes processor, hard disk, memory, system bus and wireless communication apparatus.

The wireless communication apparatus includes that the wireless communication based on GPRS, EDGE, WLAN, Wi-Fi, 3G and 4G technology connects Mouthful.

The advantages of basic principles and main features and the utility model of the utility model have been shown and described above.Current row The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model Claimed range is defined by the appending claims and its equivalent thereof.

Claims

1. underground rescue robot, it is characterised in that: including end to end several section car bodies, connect between adjacent two car body It is connected to car body to warp driving device and car body device for regulating direction, the car body top rotation, which is disposed with, several antifriction lifts roller, institute It states side body and is fixedly installed with ultrasonic distance-measuring sensor, be equipped with and other car bodies positioned at the car body front end of head end The occlusion self-locking device being used cooperatively, wherein be also equipped with rescue control device on a car body, the car body warps driving Device, the car body device for regulating direction and the ultrasonic distance-measuring sensor are connected separately to the rescue control device.

2. underground rescue robot as described in claim 1, it is characterised in that: the car body includes two hinged vehicle frames, Correspondence is rotatably equipped with traveling crawler on each vehicle frame, and the traveling crawler is sequentially connected with travel driving motor.

3. underground rescue robot as claimed in claim 2, it is characterised in that: the car body warps driving device including being located at The steering engine that warps that the car body front end of rear side is hingedly installed, the power output end of the steering engine that warps, which is fixedly connected with, to warp Axis, the axis that warps are fixedly installed in the rear end of the car body positioned at front side.

4. underground rescue robot as claimed in claim 2, it is characterised in that: the car body device for regulating direction is included in front side institute Two drawstrings for stating the relatively fixed connection of body rear end are opposite on the rear side car body to set that there are two body retracting motor of restricting, two institutes Drawstring is stated to be connected respectively to the power output end of the rope body retracting motor.

5. underground rescue robot as claimed in claim 2, it is characterised in that: the antifriction roller of lifting is included in the row The roll shaft being rotatablely installed above crawler belt is walked, the roll shaft periphery is coated with rubber axle sleeve.

6. underground rescue robot as claimed in claim 2, it is characterised in that: the occlusion self-locking device includes being mounted on head The car body front end bite arm is saved, the engagement arm front end is equipped with evacuation recess, in the evacuation recess there are two rotational installations It is engaged claw, claw is connected between the two occlusion claws and struts spring.

7. underground rescue robot as claimed in claim 6, it is characterised in that: there are two cards for opposite installation in the middle part of the vehicle frame Pawl biteplate is formed with the gaps passed through for the occlusion claws of the engagement arm and two, institute between the two claw biteplates The bottom for stating claw biteplate is disposed with and the tooth engaged for being engaged claw and being used cooperatively.

8. the underground rescue robot as described in claim 1 to 7 any claim, it is characterised in that: the rescue control Device includes the camera and gas sensor being fixed therein on car body described in a section, the camera and the gas sensing Device is connected separately to rescue controller, and the signal output end of the rescue controller is connected with warning device and remote controler.

9. underground rescue robot as claimed in claim 8, it is characterised in that: the rescue controller includes processor, hard Disk, memory, system bus and wireless communication apparatus.

10. underground rescue robot as claimed in claim 9, it is characterised in that: the wireless communication apparatus includes being based on The wireless communication interface of GPRS, EDGE, WLAN, Wi-Fi, 3G and 4G technology.