CN108394535A - A kind of water surface rescue robot life net release device and its method for releasing - Google Patents
A kind of water surface rescue robot life net release device and its method for releasing Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 15
- 206010013647 Drowning Diseases 0.000 claims description 22
- 238000013459 approach Methods 0.000 claims description 4
- 210000005069 ears Anatomy 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims 1
- 238000004804 winding Methods 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/26—Cast or life lines; Attachments thereto; Containers therefor; Rescue nets or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/26—Cast or life lines; Attachments thereto; Containers therefor; Rescue nets or the like
- B63C2009/265—Nets or sheet-like devices, e.g. for lifting persons on board or for facilitating climbing on board
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- Ocean & Marine Engineering (AREA)
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Abstract
本发明涉及一种水面救援机器人用救生网释放装置及其释放方法，装置包括架体、位于架体下方的支撑环以及固定在架体上方的电机和电推杆，架体包括若干个绕轴均布的悬臂，悬臂的外伸端设有滑轮，电机的输出端连接有收线轮和棘轮，每个悬臂都对应有一个牵引绳，牵引绳的一端固定在收线轮上、另一端绕过对应悬臂上的滑轮后与支撑环连接，牵引绳在支撑环上的连接点沿支撑环均布，支撑环由救生网封口，电推杆的伸缩端固定有制动杆，制动杆伸出能够卡住棘轮、退回不影响棘轮旋转。本发明可以将水下的落水者上托，不会发生倾覆和下坠。
The invention relates to a rescue net release device for a surface rescue robot and a release method thereof. The device includes a frame body, a support ring located below the frame body, and a motor and an electric push rod fixed above the frame body. The frame body includes several winding shafts Uniformly distributed cantilever, the extended end of the cantilever is equipped with a pulley, the output end of the motor is connected with a take-up wheel and a ratchet, each cantilever corresponds to a traction rope, one end of the traction rope is fixed on the take-up wheel, and the other end is wound After passing the pulley on the corresponding cantilever, it is connected with the support ring. The connection points of the traction rope on the support ring are evenly distributed along the support ring. The support ring is sealed by the life-saving net. It can block the ratchet and return without affecting the rotation of the ratchet. The invention can support the person who fell into the water under water without overturning and falling.
Description
技术领域technical field
本发明属于水面救援领域，具体涉及一种水面救援机器人用救生网释放装置及其释放方法。The invention belongs to the field of surface rescue, and in particular relates to a lifesaving net release device for a surface rescue robot and a release method thereof.
背景技术Background technique
目前在海上、江河上对溺水者进行救援时，大都是人工驾驶船只到救援地点进行搜救，由于抢救溺水者的黄金时间是前4-6分钟，如果在黄金时间内施以救护，挽回其生命的成功率达90％。近年来，飞机、船舶的大型化得到发展，一旦发生事故时就会产生许多受害者，特别是当事故发生在海洋、湖沼、河川等的水面上时，会产生许多需要救援的人(下文中称为被救援者)。此外，在大雨、台风、海啸等自然灾害导致的河川涨水、浸水地域等也会产生被救援者。为了救援这些被救援者，通常有如下救援方式：1)从直升机上投入绳索，使被救援者抓住该绳索，救援者从水上接近或从直升机上降下而实施救援；2)从直升机上将内部具有救援网的圆形救援袋投下，捕捉存在于其内部的被救援者，实施救援。At present, when rescuing drowning people at sea and on rivers, most of them are manually driven to the rescue site for search and rescue. Since the golden time for rescuing drowning people is the first 4-6 minutes, if rescue is performed within the golden time, their lives can be saved. The success rate is 90%. In recent years, the large-scale development of aircraft and ships will produce many victims in the event of an accident. referred to as the rescued). In addition, there will be rescued people in areas where rivers are flooded or flooded due to natural disasters such as heavy rain, typhoon, and tsunami. In order to rescue these rescued persons, the following rescue methods are usually arranged: 1) drop the rope from the helicopter, make the rescued person grasp the rope, and the rescuer approaches from the water or descends from the helicopter to implement rescue; A round rescue bag with a rescue net inside is dropped, and the rescued person inside is caught and rescued.
然而，当落水者体力不支时，方法1)和方法2)均不能从水面下将落水者托起，对于方法1)，落水者很大可能无法发现或握紧绳索，对于方法2)，则有可能将落水者压在救援带下方，无法捕捉落水者，而上述两种救援方法仅能对处于水面上的落水者进行救援，而不能对沉入水中的落水者进行救援，救援过程受到影响。However, when the drowning person is exhausted, neither method 1) nor method 2) can lift the drowning person from under the water surface. For method 1), the drowning person may not be able to find or hold the rope. For method 2), then It is possible to press the drowning person under the rescue belt and fail to catch the drowning person, and the above two rescue methods can only rescue the drowning person on the water surface, but cannot rescue the drowning person submerged in the water, and the rescue process is affected .
发明内容Contents of the invention
本发明的目的在于提供一种水面救援机器人用救生网释放装置及其释放方法，本发明可以将水下的落水者上托，不会发生倾覆和下坠。The purpose of the present invention is to provide a lifesaving net release device for a surface rescue robot and a release method thereof. The present invention can support a drowning person under water without overturning and falling.
本发明所采用的技术方案是：The technical scheme adopted in the present invention is:
一种水面救援机器人用救生网释放装置，包括架体、位于架体下方的支撑环以及固定在架体上方的电机和电推杆，架体包括若干个绕轴均布的悬臂，悬臂的外伸端设有滑轮，电机的输出端连接有收线轮和棘轮，每个悬臂都对应有一个牵引绳，牵引绳的一端固定在收线轮上、另一端绕过对应悬臂上的滑轮后与支撑环连接，牵引绳在支撑环上的连接点沿支撑环均布，支撑环由救生网封口，电推杆的伸缩端固定有制动杆，制动杆伸出能够卡住棘轮、退回不影响棘轮旋转。A rescue net release device for a surface rescue robot, comprising a frame body, a support ring located below the frame body, and a motor and an electric push rod fixed above the frame body. The frame body includes several cantilevers evenly distributed around the axis. There is a pulley at the extension end, and the output end of the motor is connected with a take-up wheel and a ratchet. Each cantilever has a corresponding traction rope. One end of the traction rope is fixed on the take-up pulley, and the other end goes around the pulley on the corresponding cantilever. The support ring is connected, the connection points of the traction rope on the support ring are evenly distributed along the support ring, the support ring is sealed by the life-saving net, and the telescopic end of the electric push rod is fixed with a brake lever. Affects ratchet rotation.
进一步地，电机的输出端通过联轴器与转轴连接，收线轮和棘轮均通过固定销安装在转轴上，架体上固定有轴承座，转轴底端通过轴承与轴承座配合。Further, the output end of the motor is connected to the rotating shaft through a coupling, the take-up wheel and the ratchet are mounted on the rotating shaft through fixed pins, the bearing seat is fixed on the frame, and the bottom end of the rotating shaft cooperates with the bearing seat through the bearing.
进一步地，电机通过电机支架固定在架体上，电机支架上固定有底板，电推杆固定在底板上。Further, the motor is fixed on the frame body through the motor bracket, the motor bracket is fixed with a bottom plate, and the electric push rod is fixed on the bottom plate.
进一步地，牵引绳通过支撑环上的固定耳与支撑环连接，固定耳与牵引绳一一对应且沿支撑环均布。Further, the traction rope is connected to the support ring through fixing ears on the support ring, and the fixing ears correspond to the traction rope one by one and are evenly distributed along the support ring.
进一步地，架体上固定有限位板，制动杆配合的穿过限位板上的限位孔。Further, a limit plate is fixed on the frame body, and the brake rod fits through the limit hole on the limit plate.
进一步地，悬臂有四个。Further, there are four cantilevers.
一种水面救援机器人用救生网释放装置的释放方法，包括步骤：A method for releasing a rescue net release device for a surface rescue robot, comprising the steps of:
S1、准备释放-水面救援机器人靠近落水者，自动减速并调整角度，使落水者位于相邻两个悬臂之间夹角所对应的区域；S1. Ready to release - the surface rescue robot approaches the drowning person, automatically slows down and adjusts the angle, so that the drowning person is located in the area corresponding to the angle between two adjacent cantilever arms;
S2、开始释放-启动电推杆，制动杆退回不影响棘轮旋转，救生网在支撑环的重力下自动下降，当救生网下降一定深度时，制动杆伸出卡住棘轮进行制动；S2. Start release-start the electric push rod, the brake lever will not affect the rotation of the ratchet, and the life-saving net will automatically descend under the gravity of the support ring. When the life-saving net descends to a certain depth, the brake lever will stick out and block the ratchet for braking;
S3、开始回收一水面救援机器人检测到落水者进入救生网上方时，制动杆退回不影响棘轮旋转，启动电机，通过电机带动收线轮旋转，对牵引绳进行回收，提升支撑环及救生网，将落水者托出水面，当救生网上升到一定高度时，制动杆伸出卡住棘轮进行制动，同时电机停止工作；S3. Start recovery. When the surface rescue robot detects that the person who fell into the water has entered the top of the life-saving net, the brake lever is retracted without affecting the rotation of the ratchet, and the motor is started to drive the take-up wheel to rotate through the motor. The traction rope is recovered, and the support ring and the life-saving net are lifted. , lift the drowning person out of the water, when the life-saving net rises to a certain height, the brake lever stretches out and blocks the ratchet for braking, and the motor stops working at the same time;
S4、返航-水面救援机器人将落水者运回救援船或岸边，完成施救。S4. Returning to the voyage - the surface rescue robot transports the drowning person back to the rescue ship or the shore to complete the rescue.
本发明的有益效果是：The beneficial effects of the present invention are:
本发明通过控制支撑环下落的深度，可以将水下的落水者上托，提高了救援效率；通过多个牵引绳从多个位置对救生网进行提升，有利于保证支撑环的稳定性，避免支撑环发生倾覆；通过制动杆可以对棘轮进行制动，从而可以有效的对收线轮进行稳定，防止支撑环下坠。The present invention can lift the underwater person up by controlling the falling depth of the support ring, which improves the rescue efficiency; the lifesaving net is lifted from multiple positions through multiple traction ropes, which is beneficial to ensure the stability of the support ring and avoid The support ring is overturned; the ratchet can be braked by the brake lever, so that the take-up wheel can be effectively stabilized and the support ring is prevented from falling.
附图说明Description of drawings
图1是本发明实施例中水面救援机器人用救生网释放装置的结构示意图。Fig. 1 is a structural schematic diagram of a lifesaving net release device for a surface rescue robot in an embodiment of the present invention.
图2是图1中A处放大结构示意图。Fig. 2 is a schematic diagram of the enlarged structure at A in Fig. 1 .
图3是图1中架体的俯视图。Fig. 3 is a top view of the frame body in Fig. 1 .
图4是图1中棘轮、电推杆、制动杆的俯视图。Fig. 4 is a top view of the ratchet, the electric push rod and the brake lever in Fig. 1 .
图中：1-电机；2-电机支架；3-悬臂；4-滑轮；5-牵引绳；6-固定耳；7-支撑环；8-转轴；9-棘轮；10-制动杆；11-限位板；12-电推杆；13-底板；14-收线轮；15-轴承座。In the figure: 1-motor; 2-motor bracket; 3-cantilever; 4-pulley; 5-traction rope; 6-fixed ear; 7-support ring; 8-rotating shaft; - limit plate; 12 - electric push rod; 13 - bottom plate; 14 - take-up wheel; 15 - bearing seat.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1至图4所示，一种水面救援机器人用救生网释放装置，包括架体、位于架体下方的支撑环7以及固定在架体上方的电机1和电推杆12，电机1通过电机支架2固定在架体上，电机支架2上固定有底板13，电推杆12固定在底板13上，架体包括若干个绕轴均布的悬臂3，悬臂3的外伸端设有滑轮4，电机1的输出端通过联轴器与转轴8连接，转轴8上通过固定销安装有收线轮14和棘轮9，架体上固定有轴承座15，转轴8底端通过轴承与轴承座15配合，每个悬臂3都对应有一个牵引绳5，牵引绳5的一端固定在收线轮14上、另一端绕过对应悬臂3上的滑轮4后与支撑环7连接，牵引绳5在支撑环7上的连接点沿支撑环7均布，牵引绳5通过支撑环7上的固定耳6与支撑环7连接，固定耳6与牵引绳5一一对应且沿支撑环7均布，支撑环7由救生网封口，电推杆12的伸缩端固定有制动杆10，架体上固定有限位板11，制动杆10配合的穿过限位板11上的限位孔，制动杆10伸出能够卡住棘轮9、退回不影响棘轮9旋转。As shown in Figures 1 to 4, a rescue net release device for a surface rescue robot includes a frame body, a support ring 7 located below the frame body, and a motor 1 and an electric push rod 12 fixed above the frame body. The motor 1 passes through the The motor support 2 is fixed on the frame body, the base plate 13 is fixed on the motor support 2, and the electric push rod 12 is fixed on the base plate 13. The frame body includes several cantilevers 3 evenly distributed around the axis, and the extended ends of the cantilever arms 3 are provided with pulleys. 4. The output end of the motor 1 is connected to the rotating shaft 8 through a coupling. The take-up wheel 14 and the ratchet 9 are installed on the rotating shaft 8 through a fixed pin. The bearing seat 15 is fixed on the frame, and the bottom end of the rotating shaft 8 passes through the bearing and the bearing seat. 15, each cantilever 3 corresponds to a traction rope 5, one end of the traction rope 5 is fixed on the take-up pulley 14, and the other end is connected to the support ring 7 after bypassing the pulley 4 on the corresponding cantilever 3, and the traction rope 5 is in the The connection points on the support ring 7 are evenly distributed along the support ring 7, and the traction rope 5 is connected with the support ring 7 through the fixed ear 6 on the support ring 7, and the fixed ear 6 corresponds to the traction rope 5 one by one and is evenly distributed along the support ring 7, The support ring 7 is sealed by a life-saving net, and the telescopic end of the electric push rod 12 is fixed with a brake rod 10, and the limit plate 11 is fixed on the frame body, and the brake rod 10 cooperates to pass through the limit hole on the limit plate 11 to make The moving rod 10 stretches out and can block the ratchet 9, and retreating does not affect the rotation of the ratchet 9.
一种水面救援机器人用救生网释放装置的释放方法，包括步骤：A method for releasing a rescue net release device for a surface rescue robot, comprising the steps of:
S1、准备释放-水面救援机器人靠近落水者，自动减速并调整角度，使落水者位于相邻两个悬臂3之间夹角所对应的区域(防止牵引绳5阻碍落水者靠近救生网)；S1, ready to release - the surface rescue robot approaches the drowning person, automatically slows down and adjusts the angle, so that the drowning person is located in the area corresponding to the angle between two adjacent cantilevers 3 (to prevent the traction rope 5 from hindering the drowning person from approaching the lifesaving net);
S2、开始释放-启动电推杆12，制动杆10退回不影响棘轮9旋转，救生网在支撑环7的重力下自动下降，当救生网下降一定深度时，制动杆10伸出卡住棘轮9进行制动；S2. Start release - start the electric push rod 12, the brake lever 10 will not affect the rotation of the ratchet 9, and the life-saving net will automatically descend under the gravity of the support ring 7. When the life-saving net descends to a certain depth, the brake lever 10 will stick out Ratchet 9 brakes;
S3、开始回收-水面救援机器人检测到落水者进入救生网上方时，制动杆10退回不影响棘轮9旋转，启动电机1，通过电机1带动收线轮14旋转，对牵引绳5进行回收，提升支撑环7及救生网，将落水者托出水面，当救生网上升到一定高度时，制动杆10伸出卡住棘轮9进行制动，同时电机1停止工作；S3, start recovery - when the surface rescue robot detects that the person who fell into the water has entered the top of the life-saving net, the brake lever 10 is retracted without affecting the rotation of the ratchet 9, and the motor 1 is started, and the take-up wheel 14 is driven by the motor 1 to rotate, and the traction rope 5 is recovered. Lift the support ring 7 and the life-saving net, lift the person who fell into the water out of the water, when the life-saving net rises to a certain height, the brake lever 10 stretches out and blocks the ratchet 9 for braking, and the motor 1 stops working at the same time;
S4、返航-水面救援机器人将落水者运回救援船或岸边，完成施救。S4. Returning to the voyage - the surface rescue robot transports the drowning person back to the rescue ship or the shore to complete the rescue.
如图3所示，在本实施例中，悬臂3有四个(实际上还可以是3个、5个甚至更多)。As shown in FIG. 3 , in this embodiment, there are four cantilevers 3 (actually, there may be 3, 5 or even more).
本发明通过控制支撑环7下落的深度，可以将水下的落水者上托，提高了救援效率；通过多个牵引绳2从多个位置对救生网进行提升，有利于保证支撑环7的稳定性，避免支撑环7发生倾覆；通过制动杆10可以对棘轮9进行制动，从而可以有效的对收线轮14进行稳定，防止支撑环7下坠。In the present invention, by controlling the falling depth of the supporting ring 7, the underwater person can be lifted up, which improves the rescue efficiency; the lifesaving net is lifted from multiple positions by a plurality of traction ropes 2, which is beneficial to ensure the stability of the supporting ring 7 To prevent the support ring 7 from overturning; the ratchet 9 can be braked by the brake lever 10, so that the take-up wheel 14 can be effectively stabilized to prevent the support ring 7 from falling.
应当理解的是，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本发明所附权利要求的保护范围。It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should belong to the protection scope of the appended claims of the present invention.
Claims (7)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109591967A (en) * | 2019-01-02 | 2019-04-09 | 山东省海洋生物研究院 | A kind of auxiliary device convenient for raft culture operation |
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| CN108394535B (en) | 2020-01-14 |
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