CN203379525U - Intelligent shaft rescue machine - Google Patents
Intelligent shaft rescue machine Download PDFInfo
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- CN203379525U CN203379525U CN201320514420.2U CN201320514420U CN203379525U CN 203379525 U CN203379525 U CN 203379525U CN 201320514420 U CN201320514420 U CN 201320514420U CN 203379525 U CN203379525 U CN 203379525U
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Abstract
An intelligent shaft rescue machine comprises a controller II, a cable IV and an intelligent robot arm III. The intelligent robot arm III comprises a power source input port (19), an optical transceiver transmitter (20), a supporting arm (19), four mechanical arms (37, 38, 33 and 40), four mechanical tongs (34, 35, 36 and 39), four pulling arms (10, 42, 29 and 43), two tension sensors (9 and 11), a vertical moving block (16), a screw rod (30), a motor (13), a speed reducer (26), a camera (31), a programmable controller (56), a forward relay (57) and a reverse relay (58). An optical transceiver receiver (46) of the controller II is connected with the optical transceiver transmitter (20) through the cable. The motion of the intelligent robot arm is controlled by operating a clamping button a1, an opening button a2, a stopping button d1, a stopping button d2 and other buttons inside a touch screen (47), and the purpose of rescue is achieved.
Description
Technical field
The utility model relates to the machinery that a kind of shaft rescue is used, and especially is applicable to (bore 550mm left and right) rescue of minor-caliber shaft.
Background technology
At present, be engaged in the work of shaft rescue, rescue mode early is: employing hangs upside down the rescuer and is sued and laboured to rescuing personnel, and this method has following defect: the one, be subject to the restriction of well head caliber size, and the vertical shaft rescuer less for bore is difficult to down sometimes; The 2nd, limited by well depth, some wells are very dark, adopt the method that hangs upside down the rescuer undesirable, sometimes unfeasible.The method that adopts excavator to cut the earth around well is rescued, and exists the frequent shortcoming because of the long personnel in the pit's of causing death of rescue time, also can be faced with the danger of landslide simultaneously.Recently, also have the methods such as the hook of employing or lasso to be sued and laboured, but the rescue effect is all not fully up to expectations.In a word, also there is no a kind of safe, reliable, quick, light desirable shaft rescue equipment at present.
Summary of the invention
The purpose of this utility model is to want to provide a kind of new shaft rescue equipment, adopts this equipment to be rescued, and can make rescue work safe, reliable, quick, light.
For realizing that the technical scheme that above-mentioned purpose of the present utility model adopts is: a kind of intelligent shaft rescue machine, contain controller II, cable IV, described controller II contains output port of power source, optical transmitter and receiver receiver, touch-screen, video-frequency monitor, it is characterized in that also containing intelligence machine hand III, be provided with the clamping button a that controls mechanical arm in the touch-screen of controller II
1and open button a
2, show that the pulling force of pulling force shows I b
1and pulling force shows II b
2, control the stop button I d stopped when mechanical arm clamps
1, control the stop button II d stopped when mechanical arm opens
2, pulling force set-point hurdle G and counting display field N, described intelligence machine hand III contains shell, the power input mouth, the optical transmitter and receiver emitter, brace, four mechanical arms, four mechanical grippers, the torque arm I, the torque arm II, the torque arm III, the torque arm IV, the pulling force sensor I, the pulling force sensor II, vertical shift block, leading screw, motor, reductor, video camera, Programmable Logic Controller, the forward relay, the reversion relay, the upper end of four mechanical arms is connected with the brace movable joint, and the lower end of four mechanical arms is connected with four mechanical grippers respectively, and pulling force sensor I and pulling force sensor II are connected on respectively on torque arm I and torque arm II, the torque arm I, the torque arm II, the upper end of torque arm III and torque arm IV all is connected with the vertical shift block movable joint, and its lower end is connected with four mechanical arm movable joints respectively, and vertical shift block is connected with leading screw, and reductor is connected with motor, the pulling force sensor I, the pulling force sensor II, forward relay and reversion relay all are connected with Programmable Logic Controller by wire, and video camera is connected with the optical transmitter and receiver emitter by video line, the optical transmitter and receiver receiver of controller II is connected with the optical transmitter and receiver emitter of intelligence machine hand III by optical cable, and the output port of power source of controller II is connected by cable with the power input mouth of intelligence machine hand III.
Most preferred embodiment of the present utility model for to arrange bearing block I and bearing block II in intelligence machine hand III, and leading screw is connected with bearing block I and bearing block II.
Most preferred embodiment of the present utility model for arranging a upper cover, shelf and base plate on intelligence machine hand III, upper cover is installed on shell, upper cover, shelf and base plate all are connected with housing, the optical transmitter and receiver emitter is fixed on shelf or shell, brace is fixed in and is covered, video camera is installed on base plate, and Programmable Logic Controller, forward relay and reversion relay all are installed on shelf.
Described bearing block I and bearing block II are installed on respectively on shelf and base plate.
Most preferred embodiment of the present utility model for being provided with loudspeaker and Mike on the base plate of intelligence machine hand III, be provided with the audio frequency adjusting knob upper covering, Mike on intelligence machine hand III base plate is connected with the optical transmitter and receiver emitter by tone frequency channel wire, the optical transmitter and receiver emitter is connected with audio-frequency amplifier by the audio frequency adjusting knob with tone frequency channel wire, and audio-frequency amplifier is connected with loudspeaker with tone frequency channel wire; Also be provided with loudspeaker, Mike and audio frequency adjusting knob in the controller II, Mike in the controller II is connected with the optical transmitter and receiver receiver by tone frequency channel wire, the optical transmitter and receiver receiver is connected with the audio-frequency amplifier in the controller II by its audio frequency adjusting knob with tone frequency channel wire, and audio-frequency amplifier is connected with loudspeaker with tone frequency channel wire.Realized like this, easily both sides' dialogue of the upper and lower personnel of vertical shaft.
Most preferred embodiment of the present utility model is for setting up a turntable I, and to facilitate lifting or the decline of intelligence machine hand III in vertical shaft, this turntable I contains bobbin winoler, is wound with rope on bobbin winoler, and the rope of turntable I is connected with intelligence machine hand III.
The utility model also can arrange support on turntable, for supporting the bobbin winoler of turntable I; Also be provided with handle on the bobbin winoler of turntable I, for around, put the rope be wound on bobbin winoler, the rope be wound around on bobbin winoler is preferably steel wire rope.
Most preferred embodiment of the present utility model is provided with suspension ring for covering on intelligence machine hand III, to facilitate being connected of the rope that is wound around on the bobbin winoler with the turntable I.
The utility model is preferably on the shell of intelligence machine hand III the compressed air pipe clamp is set, but this compressed air pipe clamp external compressed air container.
The utility model is preferably in the controller II and is provided with supply socket II and power switch, and the supply socket II is connected with power switch by wire, and the other end of power switch is connected with wire with output port of power source.
Described connection cable adopts cable and optical cable, and the electric current be connected with power supply transmits and adopts cable, and between optical transmitter and receiver emitter and optical transmitter and receiver receiver, signal transmits and adopts optical cable.
Described Programmable Logic Controller has the acquisition function of desired signal, and reductor self can meet needed rotating speed and moment of torsion, in motor with tally function.
When Programmable Logic Controller does not have some acquisition function, the utility model can arrange collector on dividing plate, and pulling force sensor I, pulling force sensor II all are connected with collector by holding wire, and collector is connected with Programmable Logic Controller.Collector becomes data-signal by the pulling force sensor I collected with the analog signal processing of pulling force sensor II output, optical transmitter and receiver receiver through data flat cable, Programmable Logic Controller, optical transmitter and receiver emitter, optical cable, controller II arrives touch-screen, with pulling force set-point in control program, compare, when two pulling force sensor I and larger one of pulling force sensor II value of thrust equate with the pulling force set-point, motor stops.The Main Function of collector is collection signal, when Programmable Logic Controller has the information needed acquisition function, does not need collector.
When reductor self can not meet needed rotating speed and moment of torsion, the utility model can increase a driving gear, a driven gear, and driving gear is arranged on the output shaft of reductor, driven gear and driving gear engagement, driven gear is connected with the upper end of leading screw.Like this, can realize the rotating speed of reductor and moment of torsion are become to a suitable value.The Main Function of driving gear and driven gear is in order to realize needed rotating speed and moment of torsion, when reductor self can meet needed rotating speed and moment of torsion, does not need driving gear and driven gear.
In motor during without tally function, the utility model can arrange the counter gear piece on the output shaft of reductor, and optoelectronic switch is set coordinates with it, a counter perhaps directly is set on motor, the aggregate that this counter is counter gear piece and optoelectronic switch, counter gear piece and optoelectronic switch associated, optoelectronic switch is connected with Programmable Logic Controller by holding wire.Optoelectronic switch sends pulse signal under counter gear piece rotary action, the numerical value of this pulse signal and motor revolution, the shift value of vertical shift block, the clamping degree of mechanical arm becomes corresponding relation with opening width, pulse signal is through Programmable Logic Controller, the optical transmitter and receiver emitter, optical cable, the optical transmitter and receiver receiver of controller II arrives touch-screen and shows, application program is counted the pulse signal received, during the motor forward, count value is for just, vertical shift block moves up, mechanical arm clamps, when reaching the upper limit count value of setting, vertical shift block stops, mechanical arm clamps and stops, during motor reversal, count value is for negative, and vertical shift block moves down, and mechanical arm opens, and when reaching the lower limit count value of setting, vertical shift block stops, and mechanical arm opens and stops.Counter plays spacing effect, and counter higher limit and lower limit are determined according to actual conditions during programming.The major function of counter gear piece and optoelectronic switch is counting, in motor, during with tally function, does not need to arrange counter gear piece and optoelectronic switch again.
Most preferred embodiment of the present utility model contains four major parts altogether: the one, and the turntable I, for promoting or decline intelligence machine hand III; The 2nd, intelligence machine hand III, rescued personnel for holding; The 3rd, the controller II, for controlling intelligence machine manually work, receiving video signals, double-directional speech dialogue; The 4th, the cable IV, comprise cable and optical cable, and cable is for powering to intelligence machine hand III, and optical cable is for signals such as transmission of video, two way audio, data, controls.
The utility model has following advantage:
1, equipment is light, easy to carry.Intelligent robot arm in equipment of the present utility model, cable, controller, turntable, steel wire rope and power supply, can split carrying, to on-the-spot installation of suing and labouring.
2, quick for installation.The said equipment only needs a few minutes just can install after reaching the spot.
3, simple to operate.Whole operating process only need be inputted a corresponding value of thrust, the then clamping of operation control II, opens and stops several buttons and get final product.
4, safe and reliable.The intelligent robot arm III has two pairs of handgrips, and the personnel that will be rescued firmly escort in a safe space, upper, can not scratched by the borehole wall in putting forward process.
5, Quick rescue.Speed is the important index of rescue work, and whole rescue process only needs the time of tens minutes.
The accompanying drawing explanation
The use status architecture schematic diagram of Fig. 1 the utility model most preferred embodiment.
The front view that Fig. 2 is intelligence machine hand III the first embodiment in Fig. 1.
The right view that Fig. 3 is Fig. 2.
The top view that Fig. 4 is upper cover in Fig. 2.
The top view that Fig. 5 is shelf in Fig. 2.
The top view that Fig. 6 is base plate in Fig. 2.
The top view that Fig. 7 is Fig. 1 middle controller II.
The control principle drawing that Fig. 8 is intelligence machine hand III the first embodiment in Fig. 1.
Fig. 9 is Fig. 1 middle controller II control principle drawing.
The front view that Figure 10 is intelligence machine hand III the second embodiment in Fig. 1.
The right view that Figure 11 is Figure 10.
The top view that Figure 12 is upper cover in Figure 10.
The top view that Figure 13 is shelf in Figure 10.
The control principle drawing that Figure 14 is intelligence machine hand III the second embodiment in Fig. 1.
the specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is done to further detailed description, yet described embodiment should not explain in the mode of restriction.
As seen from Figure 1, the utility model contains turntable I, controller II, intelligence machine hand III, cable IV four parts.The turntable I contains bobbin winoler 2, is wound with rope 3 on bobbin winoler 2, and bobbin winoler 2 supports by support 4, also is provided with handle 1 on bobbin winoler 2, for around, put rope 3.The shaven head 64 of the optical transmitter and receiver receiver 46 of controller II is connected with the shaven head 63 of the optical transmitter and receiver emitter 20 of intelligence machine hand III by optical cable 6, the output port of power source 53 of controller II is connected by cable 5 with the power input mouth 19 of intelligence machine hand III, and the rope 3 of turntable I is connected with the suspension ring 17 on intelligence machine hand III.
From Fig. 2-Fig. 6, can find out, intelligence machine hand III contains suspension ring 17, shell 60, audio frequency adjusting knob 22, power input mouth 19, optical transmitter and receiver emitter 20, upper cover 15, shelf 12, base plate 7, brace 18, four mechanical arms 37, 38, 33, 40, four mechanical grippers 34, 35, 36, 39, torque arm I 10, torque arm II 42, torque arm III 29, torque arm IV 43, pulling force sensor I 9, pulling force sensor II 11, vertical shift block 16, leading screw 30, bearing block I 28, bearing block II 32, motor 13, reductor 26, loudspeaker 8, Mike 41, video camera 31, Programmable Logic Controller 56, forward relay 57, reversion relay 58, power input mouth 19 adopts supply socket (hereinafter referred to as supply socket 19) shelf to be provided with through wires hole 68 and through wires hole 69, motor 13 is provided with counter 70, the aggregate that this counter 70 is counter gear piece and optoelectronic switch, on motor 13, because being provided with counter 70, make motor have tally function, optical transmitter and receiver emitter 20 is provided with shaven head 63, suspension ring 17 are connected with upper cover 15, audio frequency adjusting knob 22, supply socket 19 is respectively with together with upper cover 15 is screwed in, and optical transmitter and receiver emitter 20 is fixed on upper cover 15 and shelf 60, upper cover 15, shelf 12, base plate 7 is connected with shell 60, four mechanical arms 37, 38, 33, 40 upper end all is connected with brace 18 movable joints, and brace 18 was connected with the following of upper cover 15, four mechanical arms 37, 38, 33, 40 lower end respectively with four mechanical grippers 34, 35, 36, 39 connect, torque arm I 10, pulling force sensor I 9 is accessed by screw respectively in the centre of torque arm II 42, pulling force sensor II 11, another two torque arm III 29, torque arm IV 43 does not access pulling force sensor, torque arm I 10, torque arm II 42, torque arm III 29, the upper end of 43 4 torque arm of torque arm IV all is connected with vertical shift block 16 movable joints, its lower end respectively with four mechanical arms 37, 38, 33, 40 middle and upper part divides movable joint to connect, vertical shift block 16 is connected with leading screw 30 screws, and between bearing block I 28 and bearing block II 32, leading screw 30 is connected with the inner bearing key of bearing block I 28 and bearing block II 32, bearing block I 28, bearing block II 32 is connected by screw with the geometric center below base plate 7 with shelf 12 respectively, the output shaft 25 of reductor 26 is connected with leading screw 30, reductor 26 is connected with motor 13, reductor 26 is connected with shelf 12 by its fixed mount.Loudspeaker 8, Mike 41, video camera 31 are installed on base plate 7 by screw respectively.Programmable Logic Controller 56, forward relay 57, reversion relay 58 all are installed on shelf 12.Two compressed air pipe clamps 54,59 are connected with shell 60 electric welding respectively.
In Fig. 7, the shaven head 64 on the supply socket II 44 of controller II, output port of power source 53, power switch 51, loudspeaker 45, optical transmitter and receiver receiver 46, optical transmitter and receiver receiver 46, touch-screen 47, video-frequency monitor 49, audio frequency adjusting knob 50, Mike 52 are connected with the upper cover 48 of controller respectively.Output port of power source 53 adopts supply socket I (hereinafter referred to as supply socket I 53), is provided with the clamping button a that controls mechanical arm in the touch-screen 47 of controller II
1and open button a
2, show that the pulling force of pulling force shows I b
1and pulling force shows II b
2, control the stop button I d stopped when mechanical arm clamps
1, control the stop button II d stopped when mechanical arm opens
2, show the pulling force display field b of two pairs of torque arm pulling force
1and pulling force display field b
2(larger being used for of these two pulling force show values compares with the pulling force set-point, when the two is equal, stop clamp), according to being rescued the counting display field N that personnel's body weight is determined the pulling force set-point hurdle G of corresponding pulling force, is used for showing the vertical shift block shift value.
From Fig. 1 and Fig. 8,9, can find out, the cable IV comprises cable 5 and optical cable 6, power supply D patches with the supply socket II 44 be positioned on controller II upper cover 48, one end of cable 5 and controller power source socket I 53 are pegged graft, and the other end is pegged graft with the supply socket 19 be arranged on intelligence machine hand III upper cover 15; One end of optical cable 6 is connected by shaven head 63 with optical transmitter and receiver emitter 20, and the other end is connected by shaven head 64 with optical transmitter and receiver receiver 46.
Fig. 8 has provided the control principle drawing of intelligence machine hand III the first embodiment, and Fig. 9 has provided the control principle drawing of controller II, and they have showed the schematic diagram of the automatically controlled part of the utility model.
The outer power supply mode of power acquisition of the present utility model, by fire-fighting generator or on-the-spot alternating current 220V Power supply, the 220V alternating current is through transformation, rectification, voltage stabilizing, the direct current of output+12V and+24V.Supply socket I 53 and supply socket II 44 are arranged on the controller II, and dc source D inserts supply socket II 44, through power switch 51, to another supply socket I 53, after power switch 51 connections, also gives the power supply of controller II.One end of three-core cable 5 inserts supply socket 53, and the other end inserts the supply socket 19 of intelligence machine hand III to the power supply of intelligence machine hand III.Be respectively equipped with 7805 three-terminal regulator blocks 65,66 on intelligence machine hand III and controller II, respectively to the optical transmitter and receiver emitter on intelligence machine hand III and the optical transmitter and receiver receiver confession+5v DC voltage of controller II.
In Fig. 8, the input i0 of Programmable Logic Controller 56 is connected with holding wire with the output of optoelectronic switch 24 in counter 70 in motor 13; The power input of Mike's 41,7805 three-terminal voltage-stabilizings 65, audio-frequency amplifier 61, pulling force sensor I 9 and pulling force sensor II 11, video camera 31 with wire respectively with the 0V of supply socket 19 ,+12V is connected; The output of pulling force sensor I 9 and pulling force sensor II 11 is connected with wire with input a+, a-, b+, the b-of Programmable Logic Controller 56 respectively; Coil one end of forward relay 57 and reversion relay 58 with wire respectively with the 0V(power supply) be connected, the other end is held and is connected with Q0.1 with the output Q0.0 of Programmable Logic Controller 56 respectively with wire; Mike 41 output is connected with tone frequency channel wire with the audio frequency input of optical transmitter and receiver emitter 20; The output of 7805 three-terminal voltage-stabilizings 65 and optical transmitter and receiver emitter 20+input of 5V power supply is connected with wire; The PM of Programmable Logic Controller 56 and PL+ end is connected with+24V with the 0V of supply socket 19 respectively; 485 of optical transmitter and receiver emitter 20 is controlled mouthful C and is connected with control line with 485 control mouthful C of Programmable Logic Controller 56; The audio output port of optical transmitter and receiver emitter 20 is connected with audio frequency adjusting knob 22 use tone frequency channel wires; Audio frequency adjusting knob 22 is connected with tone frequency channel wire with the input of audio-frequency amplifier 61; The output of audio-frequency amplifier 61 is connected with loudspeaker 8 use tone frequency channel wires; The video input of optical transmitter and receiver emitter 20 is connected with video line with the video output of video camera 31; The output of counter 70 optoelectronic switches 24 is connected with wire with OM with the input i0 of Programmable Logic Controller 56; The shaven head 63 of optical transmitter and receiver emitter 20 is connected with the shaven head of optical transmitter and receiver receiver 46 64 use optical cables.
Clamp button a when pressing on touch-screen 47
1the time, forward relay 57 closures, motor 13 forwards, mechanical arm 37,38,33,40 clamps, and now count value is for just; Open button b when pressing on touch-screen 47
1the time, reversion relay 58 closures, motor 13 reversions, mechanical arm 37,38,33,40 opens, and count value is for negative; During forward, press the stop button d on touch-screen 47
1or pulling force is when reaching set-point or vertical shift block and reaching higher limit, motor 13 stops; During motor reversal, press the stop button d on touch-screen 47
2or count value is when reaching lower limit or value of thrust and reaching certain negative value (now opening of mechanical arm 37,38,33,40 is obstructed), motor 13 stops.
In Fig. 9, power supply D be three-core cable with plug (0V ,+12V ,+24V); Power supply D is inserted to supply socket II 44; Supply socket II 44 is connected with power switch 51 by wire; The other end of power switch 51 is connected with supply socket I 53 use wires; The power input of Mike's 52,7805 three-terminal voltage-stabilizings 66, audio-frequency amplifier 62, video display 49 and the 0V of power switch 51 ,+12V is connected with wire; The 0V of the power input of touch-screen 47 and power switch 51 ,+24V is connected with wire; Mike 52 audio frequency output is connected with tone frequency channel wire with the audio frequency input of optical transmitter and receiver receiver 46; The output of 7805 three-terminal voltage-stabilizings 66 and optical transmitter and receiver receiver 46+the 5V power input is connected with wire; The shaven head 64 of optical transmitter and receiver receiver 46 is connected with the shaven head 63 use optical cables of the optical transmitter and receiver emitter 20 in Fig. 8; 485 mouthfuls of C of optical transmitter and receiver receiver 46 are connected with control line with 485 mouthfuls of C of touch-screen 47; The video output of optical transmitter and receiver receiver 46 is connected with video display monitor central monitoring system 49 use video lines; The audio output of optical transmitter and receiver receiver 46 is connected with audio frequency adjusting knob 50 use wires, and audio frequency adjusting knob 50 is connected with audio-frequency amplifier 62 use wires, and the output of audio-frequency amplifier 62 is connected with loudspeaker 45 use wires.
In above-described embodiment 1, described Programmable Logic Controller has the information needed acquisition function; Self can meet needed rotating speed and moment of torsion described reductor; In described motor, with counter, motor has tally function.
When the utility model does not have the information needed acquisition function when Programmable Logic Controller 56, collector 55 can be set on dividing plate 12, pulling force sensor I 9, pulling force sensor II 11 all are connected with collector 55 by holding wire, and collector 55 is connected with Programmable Logic Controller 56.
When reductor 26 self can not meet needed rotating speed and moment of torsion, can set up driving gear 27, driven gear 14, driving gear 27 is arranged on the output shaft 71 of reductor 26, driven gear 14 and driving gear 27 engagements, and driven gear 14 is connected with the upper end of leading screw 30.
In motor 13 during without counter, can on the output shaft 71 of reductor 26, counter gear piece 23 be set, optoelectronic switch 24 is set on reductor 26, counter gear piece 23 and optoelectronic switch 24 associated, optoelectronic switch 24 is connected with Programmable Logic Controller 56 by holding wire.
Figure 10-14 have provided in the utility model, when Programmable Logic Controller does not have structural representation and the schematic diagram of information needed acquisition function, reductor self the second embodiment can not meet in needed rotating speed and moment of torsion and motor without tally function the time.In this embodiment, controller II control principle drawing is identical with Fig. 9, and the top view of base plate is identical with Fig. 6.From Figure 10-Figure 13 and Fig. 6, can find out, intelligence machine hand III contains suspension ring 17, audio frequency adjusting knob 22, supply socket 19, optical transmitter and receiver emitter 20, upper cover 15, shelf 12, base plate 7, brace 18, four mechanical arms 37, 38, 33, 40, four mechanical grippers 34, 35, 36, 39, torque arm I 10, torque arm II 42, torque arm III 29, torque arm IV 43, pulling force sensor I 9, pulling force sensor II 11, vertical shift block 16, leading screw 30, bearing block I 28, bearing block II 32, motor 13, reductor 26, driving gear 27, driven gear 14, counter gear piece 23, optoelectronic switch 24, loudspeaker 8, Mike 41, video camera 31, Programmable Logic Controller 56, collector 55, forward relay 57, reversion relay 58, have through wires hole 68 and through wires hole 69 on shelf 12, optical transmitter and receiver emitter 20 is provided with shaven head 63, and suspension ring 17 are connected with upper cover 15, audio frequency adjusting knob 22, supply socket 19 is connected with upper cover 15 respectively, and optical transmitter and receiver emitter 20 is connected with shelf 12 screws with upper cover 15 respectively, upper cover 15, shelf 12, base plate 7 is connected by screw with shell 60, four mechanical arms 37, 38, 33, 40 upper end all is connected with brace 18 by movable joint, and brace 18 is connected below by screw with upper cover 15, four mechanical arms 37, 38, 33, 40 lower end respectively with four mechanical grippers 34, 35, 36, 39 connect, torque arm I 10, pulling force sensor I 9 is accessed by screw respectively in the centre of torque arm II 42, pulling force sensor II 11, another two torque arm III 29, torque arm IV 43 does not access pulling force sensor, torque arm I 10, torque arm II 42, torque arm III 29, the upper end of 43 4 torque arm of torque arm IV all is connected with vertical shift block 16 movable joints, its lower end respectively with four mechanical arms 37, 38, 33, 40 middle and upper part divides movable joint to connect, vertical shift block 16 is connected with leading screw 30 screws, and between bearing block I 28 and bearing block II 32, leading screw 30 is connected with the inner bearing key of bearing block I 28 and bearing block II 32, bearing block I 28, bearing block II 32 is connected by screw with the geometric center below base plate 7 with shelf 12 respectively, driven gear 14 is connected with the upper end key of leading screw 30, driving gear 27 and driven gear 14 engagements, driving gear 27 is connected with output shaft 25 keys of reductor 26, reductor 26 is connected with motor 13 keys, reductor 26 is connected with shelf 12 with upper cover 15 by its fixed mount, counter gear piece 23 is connected with the top key of the output shaft 25 of reductor 26, nut 21 is connected with terminal screw on speed reducer output shaft 25, it is by driving gear 27, counter gear piece 23, output shaft 71 threes of reductor 26 fix.Optoelectronic switch 24 is connected by screw with the base of reductor 26.Loudspeaker 8, Mike 41, video camera 31 are installed on base plate 7 by screw respectively.Programmable Logic Controller 56, collector 55, forward relay 57, reversion relay 58 all are installed on shelf 12 by screw.Two compressed air pipe clamps 54,59 are connected with shell 60 electric welding respectively.
Figure 14 has provided the control principle drawing of intelligence machine hand III the second embodiment, because controller II control principle is identical with embodiment 1, so no longer repeat here.
In Figure 14, Programmable Logic Controller 56 is connected with collector 55 by data flat cable 67; The power input of Mike's 41,7805 three-terminal voltage-stabilizings 65, audio-frequency amplifier 61, optoelectronic switch 24, pulling force sensor I 9 and pulling force sensor II 11, video camera 31 with wire respectively with the 0V of supply socket 19 ,+12V is connected; The M of Programmable Logic Controller 56 end and L+ hold with wire and are connected with+12V with 0V respectively; One end of forward relay 57 and reversion relay 58 with wire respectively with the 0V(power supply) be connected, the other end is held and is connected with Q0.1 with the Q0.0 of Programmable Logic Controller 56 respectively with wire; Mike 41 output is connected with tone frequency channel wire with the audio frequency input of optical transmitter and receiver emitter 20; The output of 7805 three-terminal voltage-stabilizings 65 and optical transmitter and receiver emitter 20+input of 5V power supply is connected with wire; The M of the PM of Programmable Logic Controller 56 and PL+ end and collector 55 and L+ hold with wire and are connected with+24V with the 0V of supply socket 19 respectively; 485 of optical transmitter and receiver emitter 20 is controlled mouthful C and is connected with control line with 485 control mouthful C of Programmable Logic Controller 56; The audio output port of optical transmitter and receiver emitter 20 is connected with audio frequency adjusting knob 22 use tone frequency channel wires; Audio frequency adjusting knob 22 is connected with tone frequency channel wire with the input of audio-frequency amplifier 61; The output of audio-frequency amplifier 61 is connected with loudspeaker 8 use tone frequency channel wires; The video input of optical transmitter and receiver emitter 20 is connected with video camera 31 use video lines; The output of optoelectronic switch 24 is connected with wire with OM with the i0 of Programmable Logic Controller 56; The IM end of Programmable Logic Controller 56 is connected with wire with OL+; The output of pulling force sensor I 9 is connected with wire with B+, the B-end of collector 55; The output of pulling force sensor II 11 is connected with wire with end C+, the C-end of collector 55.The shaven head 63 of optical transmitter and receiver emitter 20 is connected with the shaven head 64 use optical cables of the optical transmitter and receiver receiver 46 in Fig. 9.
Clamp button a when pressing on touch-screen 47
1, when forward relay 57 is closed, motor 13 forwards, mechanical arm 37,38,33,40 clamps, and now count value is for just; Open button a when pressing on touch-screen 47
2, when reversion relay 58 is closed, motor 13 reversions, mechanical arm 37,38,33,40 opens, and count value is for negative; During the motor forward, press the stop button d on touch-screen 47
1or pulling force is when reaching set-point or vertical shift block and reaching higher limit, motor 13 stops; During motor 13 reversion, press the stop button d on touch-screen 47
2or count value is when reaching lower limit or value of thrust and reaching certain negative value (now opening of mechanical arm 37,38,33,40 is obstructed), motor 13 stops.
Power supply mode of the present utility model is identical with embodiment 1, no longer repeats.
When Programmable Logic Controller 56 does not have the information needed acquisition function, and reductor 26 is self can meet in needed rotating speed and moment of torsion and motor 13 with counter 70 time, when Programmable Logic Controller 56 has the information needed acquisition function, and reductor 26 is self can not meet in needed rotating speed and moment of torsion and motor 13 with counter 70 time, when Programmable Logic Controller 56 has the information needed acquisition function, reductor 26 self can meet needed rotating speed and moment of torsion and in motor 13 during without counter 70, can implement with reference to the above embodiments 1 and embodiment 2, implementation method is just attainable for the one of ordinary skilled in the art need not spend mental labour with reference to embodiment 1 of the present utility model and embodiment 2, so, no longer repeat.
Operation logic of the present utility model is as follows:
Erect the turntable I, with rope 3 and the hook 17 on intelligence machine hand III, be connected firmly, the supply socket 53 of one end inserting controller II of cable 5, the other end inserts the supply socket 19 on intelligence machine hand III, the shaven head 64 of the shaven head one termination light inlet terminal receiver 46 of optical cable 6, the shaven head 63 of other end access optical transmitter and receiver emission 20, power supply D inserts supply socket II 44, by the turntable I, intelligence machine hand III is put into to vertical shaft P, turn on the power switch 51, treat that program initialization is complete, (according to different weight, need different pulling force at corresponding value of thrust of the pulling force set-point hurdle G of touch-screen 47 input, set series of values), need to clamp while being rescued personnel, press the clamping button a on touch-screen 47
1, the 485 mouthful cs of control signal by touch-screen 47 by this instruction through optical transmitter and receiver receiver 46, the shaven head 64 of optical transmitter and receiver receiver 46, optical cable 6, optical transmitter and receiver emitter 20, reach 485 mouthfuls of c of Programmable Logic Controller 56 through the shaven head 63 of optical transmitter and receiver emitter 20, Programmable Logic Controller 56 is received after instruction and is sent signal and make forward relay 57 closures, motor 13 forwards, at this moment reductor 26 output shafts 71 drive leading screw 30 rotations, vertical shift block 16 moves up, two pairs of torque arm (10 and 29, 42 and 43) upper end moves upward, the two pairs of mechanical arms 33 and 37, 38 and 40 clamp, now 11 2 pulling force sensors of pulling force sensor I 9 and pulling force sensor II start stressed, the output signal of pulling force sensor I 9 and pulling force sensor II 11 enters Programmable Logic Controller 56 by holding wire, entered 63 mouthfuls, the shaven head of optical transmitter and receiver emitter 20 through control line by 485 mouthfuls of c of Programmable Logic Controller 56, shaven head 63 by optical transmitter and receiver emitter 20 passes to optical transmitter and receiver receiver 46 by optical cable 6 again, then 485 mouthfuls of c by optical transmitter and receiver receiver 46 enter 485 mouthfuls of c of touch-screen 47 through control line, show in real time two value of thrust b on touch-screen 47
1, b
2.During programming, consider that two pairs of mechanical grippers (34 and 36,35 and 39) not necessarily equate the active force of being rescued personnel, therefore, input given value of thrust and only compare with the large person of active force, when comparative result equates, motor 13 stops.In motor 13 forwards, counter 70 starts counting, send positive pulse signal, this pulse signal enters Programmable Logic Controller 56 by holding wire, 485 mouthfuls of c through Programmable Logic Controller 56 arrive 485 mouthfuls of c of optical transmitter and receiver emitter 20 by control line, pass to optical transmitter and receiver receiver 46 by optical cable 6 again, then 485 mouthfuls of c by optical transmitter and receiver receiver 46 pass to 485 mouthfuls of c of touch-screen 47 through control line, counting display field N on touch-screen 47 just can show upwards shift value of vertical shift block 16 in real time, move up show on the occasion of, move down the demonstration negative value, when vertical shift block 16 displacements reach higher limit or two larger reaching given value of thrust or press stop button d of value of thrust
1the time, motor 13 stops, and mechanical arm 37,38,33,40 clamps and stops.Otherwise, press and open button a on touch-screen 47
2reversion relay 58 closures, motor 13 reversions, vertical shift block 16 moves down, two pairs of torque arm (10 and 29,42 and 43) upper end moves down, 11 2 pulling force sensors of pulling force sensor I 9 and pulling force sensor II start to be stressed, four mechanical arms 37,38,33,40 open, this hour counter 70 starts counting, send undersuing, counting display field N on touch-screen 47 shows vertical shift block 16 shift value moving to bottom offset, when vertical shift block 16 displacements reach lower limit or press stop button d
2or value of thrust is while reaching certain negative value (now opening of mechanical arm 37,38,33,40 is obstructed), motor 13 stops.If mechanical arm 37,38,33,40 does not stress, press the clamping button a of touch-screen 47
1, while on vertical shift block 16, moving on to higher limit, automatically stop; If that presses touch-screen 47 opens button a
2, when vertical shift block 16 moves down into lower limit, automatically stopping, the clamping of mechanical arm 37,38,33,40 and open limiting value and set in when programming, in order to avoid equipment is from damaging.Described programmed method is that the one of ordinary skilled in the art is known, no longer repeats here.
The video input mouth of optical transmitter and receiver emitter 20 is arrived in the video output of video camera 31 by video line, through optical cable 6, reach optical transmitter and receiver receiver 46, then enters video-frequency monitor 49 by the video output of optical transmitter and receiver receiver 46 through video line.
Output from Mike 52, enter the audio input port of optical transmitter and receiver receiver 46 through holding wire, reach optical transmitter and receiver emitter 20 through optical cable 6, enter audio-frequency amplifier 61 by its audio output port by holding wire again, to loudspeaker 8, realize that aboveground rescuer and down-hole rescued personnel's dialogue through audio-frequency amplifier 61; Output from down-hole Mike 41, enter the audio input port of optical transmitter and receiver emitter 20 through holding wire, reach optical transmitter and receiver receiver 46 through optical cable 6, enter audio-frequency amplifier 62 by its audio output port through holding wire again, by audio-frequency amplifier 62 to loudspeaker 45, realize that down-hole rescued personnel and aboveground rescuer's dialogue, realized thus rescuer and the bidirectional dialog of being rescued personnel.
When the utility model is deposited, turntable I, controller II, intelligence machine hand III, cable IV four parts are removable separately deposits, and the bobbin winoler of turntable I (containing rope 3) 2 is deposited with support 4 removable separating.
The utility model using method is as follows:
After having the people to fall into vertical shaft P, the rescuer is with turntable I of the present utility model, controller II, intelligence machine hand III, cable IV to reach the spot and sued and laboured.At first erect the turntable I on well head, rope 3 on the turntable I is connected firmly by suspension ring 17 and intelligence machine hand III, D plugs in, the optical transmitter and receiver receiver of controller II 46 is connected with the optical transmitter and receiver emitter 20 of intelligence machine hand III by optical cable 6, the supply socket I 53 of controller II is connected by cable 5 with the supply socket 19 of intelligence machine hand III, clip in case of necessity the blowpipe head, then turn on the power switch 51, control program initializes, simultaneously, understand the personnel's that rescued cardinal principle body weight, input corresponding value of thrust (units/kg) on touch-screen 47 pulling force set-point hurdle G, intelligence machine hand III is slowly put in vertical shaft P, can observe by video-frequency monitor 49 situation that intelligence machine hand III is transferred, when the end of intelligence machine hand III is transferred to when being rescued about tens centimetres of personnel top, observe the size of opening of intelligence machine hand III, touch the clamping button a on 47 by operation
1, open button a
2, stop button d
1, stop button d
2it is adjusted to correct position, in the situation that do not hinder intelligence machine hand III to transfer slowly, transfer, in this process, aboveground rescuer can clearly see that down-hole rescued personnel's posture and state by video-frequency monitor 49, if being rescued personnel's conscious mind can also be linked up and be pacified with he (she) by dialogue, sometimes can also allow he (she) to coordinate the rescuer to be sued and laboured, when intelligence machine hand III finds appropriate position, press the clamping button a on controller II touch-screen 47
1now vertical shift block 16 moves up under the effect of leading screw 30, by torque arm I 10, torque arm II 42, torque arm III 29,43 4 torque arm of torque arm IV, the two pairs of mechanical arms 33 and 37,38 and 40 start to clamp, pulling force sensor I 9 and pulling force sensor II 11 start stressed, two pulling force display field b on the controller II
1, b
2numerical value increase gradually, the stressed phasing not of uniform size of pulling force sensor I 9 and pulling force sensor II 11 etc., when preset value of thrust equals in pulling force sensor I 9 and pulling force sensor II 11 stressed larger value, motor 13 stops automatically, the two pairs of mechanical arms 33 and 37,38 and 40 stop clamping, the two pairs of mechanical grippers 34 and 36,35 and 39 will be rescued personnel promptly, at this moment on trying, carry, on continuing if no problem, carry, by rescued personnel mention aboveground after, press the relieving button a on the controller II
2, mechanical arm is decontroled, and rescues successfully.
Touch-screen on the controller II is the device that can directly buy on market, and the method to set up of interior each button of its touch-screen is that the those of ordinary skill in this area is known altogether, no longer repeats.
The equipment of Programmable Logic Controller 56 for directly buying, no longer repeat here.
The copper cable that described control line is two core band shieldings.
Claims (10)
1. an intelligent shaft rescue machine, contain controller II, cable IV, described controller II contains output port of power source (53), optical transmitter and receiver receiver (46), touch-screen (47), video-frequency monitor (49), it is characterized in that also containing intelligence machine hand III, be provided with in the touch-screen of controller II (47) and control the button a that mechanical arm (37,38,33,40) clamps
1and the button a opened
2, show that the pulling force of value of thrust shows I b
1and pulling force shows II b
2, control the stop button I d stopped when mechanical arm (37,38,33,40) clamps
1, control the stop button II d that mechanical arm (37,38,33,40) stops while opening
2, pulling force set-point hurdle G and counting display field N, described intelligence machine hand III contains shell (60), power input mouth (19), optical transmitter and receiver emitter (20), brace (18), four mechanical arms (37, 38, 33, 40), four mechanical grippers (34, 35, 36, 39), torque arm I (10), torque arm II (42), torque arm III (29), torque arm IV (43), pulling force sensor I (9), pulling force sensor II (11), vertical shift block (16), leading screw (30), motor (13), reductor (26), video camera (31), Programmable Logic Controller (56), forward relay (57), reversion relay (58), four mechanical arms (37, 38, 33, 40) upper end is connected with brace (18), four mechanical arms (37, 38, 33, 40) lower end respectively with four mechanical grippers (34, 35, 36, 39) be connected, pulling force sensor I (9) and pulling force sensor II (11) are connected on respectively torque arm I (10) and torque arm II (42) is upper, the torque arm I, the torque arm II, the upper end of torque arm III and torque arm IV all is connected with vertical shift block (16) movable joint, its lower end respectively with four mechanical arms (37, 38, 33, 40) movable joint connects, and vertical shift block (16) is connected with leading screw (30), and reductor (26) is connected with motor (13), pulling force sensor I (9), pulling force sensor II (11), forward relay (57) and reversion relay (58) all are connected with Programmable Logic Controller (56) by holding wire, and video camera (31) is connected with optical transmitter and receiver emitter (20) by video line, the optical transmitter and receiver receiver (46) of controller II is connected with the optical transmitter and receiver emitter (20) of intelligence machine hand III by optical cable (6), and the output port of power source of controller II (53) is connected by cable (5) with the power input mouth (19) of intelligence machine hand III.
2. according to intelligent shaft rescue machine claimed in claim 1, it is characterized in that arranging a bearing block I (28) and bearing block II (32) in intelligence machine hand III, leading screw (30) is connected with bearing block I (28) and bearing block II (32).
3. according to intelligent shaft rescue machine claimed in claim 1, it is characterized in that arranging a three-terminal regulator block (65) in intelligence machine hand III, three-terminal regulator block (65) reaches and is connected with power input mouth (19) with optical transmitter and receiver emitter (20).
4. according to claim 1, 2 or 3 described intelligent shaft rescue machines, it is characterized in that arranging a upper cover (15), shelf (12), base plate (7), upper cover (15) is installed on shell (60), upper cover (15), shelf (12), base plate (7) all is connected with shell (60), optical transmitter and receiver emitter (20) is fixed on shelf (12) or shell (60), brace (18) is fixed on upper cover (15), video camera (31) is installed on base plate (7), Programmable Logic Controller (56), forward relay (57) and reversion relay (58) all are installed on shelf (12), bearing block I (28) and bearing block II (32) are installed on respectively shelf (12), on base plate (7).
5. according to intelligent shaft rescue machine claimed in claim 4, it is characterized in that being provided with loudspeaker (8), Mike (41) on the base plate (7) of intelligence machine hand III, be provided with audio frequency adjusting knob (22) on upper cover (15), Mike (41) on intelligence machine hand III base plate (7) is connected with optical transmitter and receiver emitter (20) by tone frequency channel wire, optical transmitter and receiver emitter (20) is connected with the input of audio-frequency amplifier (61) by audio frequency adjusting knob (22) with tone frequency channel wire, and the output of audio-frequency amplifier (61) is connected with loudspeaker (8) with tone frequency channel wire; Be provided with loudspeaker (45), Mike (52) and audio frequency adjusting knob (50) in the controller II, its Mike (52) is connected with optical transmitter and receiver receiver (46) by tone frequency channel wire, optical transmitter and receiver receiver (46) is connected with the input of its audio-frequency amplifier (62) by the audio frequency adjusting knob (50) in the controller II with tone frequency channel wire, and the output of audio-frequency amplifier (62) is connected with its loudspeaker (45) with tone frequency channel wire.
6. according to intelligent shaft rescue machine claimed in claim 1, it is characterized in that establishing a turntable I, this turntable I contains bobbin winoler (2), is wound with rope (3) on bobbin winoler (2), and the rope of turntable I (3) is connected with intelligence machine hand III.
7. according to intelligent shaft rescue machine claimed in claim 6, it is characterized in that supporting bobbin winoler (2) with support (4), be provided with handle (1) on bobbin winoler (2).
8. according to intelligent shaft rescue machine claimed in claim 4, it is characterized in that being provided with suspension ring (17) on the upper cover (15) of intelligence machine hand III.
9. according to intelligent shaft rescue machine claimed in claim 1, it is characterized in that being provided with two compressed air pipe clamps (54,59) on shell (60).
10. according to intelligent shaft rescue machine claimed in claim 1, it is characterized in that being provided with supply socket II (44) and power switch (51) on the controller II, supply socket II (44) is connected with power switch (51) by wire, and the other end of power switch (51) is connected with wire with output port of power source (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320514420.2U CN203379525U (en) | 2013-08-22 | 2013-08-22 | Intelligent shaft rescue machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320514420.2U CN203379525U (en) | 2013-08-22 | 2013-08-22 | Intelligent shaft rescue machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203379525U true CN203379525U (en) | 2014-01-08 |
Family
ID=49868059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320514420.2U Expired - Fee Related CN203379525U (en) | 2013-08-22 | 2013-08-22 | Intelligent shaft rescue machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203379525U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103405866A (en) * | 2013-08-22 | 2013-11-27 | 赵元杰 | Intelligent vertical shaft rescue aircraft |
| CN105641827A (en) * | 2015-12-30 | 2016-06-08 | 沈阳师范大学 | Undershaft rescue device |
-
2013
- 2013-08-22 CN CN201320514420.2U patent/CN203379525U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103405866A (en) * | 2013-08-22 | 2013-11-27 | 赵元杰 | Intelligent vertical shaft rescue aircraft |
| CN103405866B (en) * | 2013-08-22 | 2016-05-04 | 赵元杰 | Intelligence shaft rescue machine |
| CN105641827A (en) * | 2015-12-30 | 2016-06-08 | 沈阳师范大学 | Undershaft rescue device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140108 Termination date: 20140822 |
|
| EXPY | Termination of patent right or utility model |