Deformable underground detection rescue device

Abstract

The invention discloses a deformable underground detection rescue device, and belongs to the technical field of emergency rescue equipment. The deformable underground detecting and rescuing device comprises a ground suspension system and an underground supporting and fixing system arranged on the ground suspension system. The clamping system is arranged at the bottom of the underground supporting and fixing system and used for clamping trapped persons, and the audio and video communication system and the ventilation and illumination system are arranged on the clamping system and used for conducting real-time communication detection and providing ventilation and illumination. According to the deformable underground detecting and rescuing device, through cooperation of the ground suspension system and the underground supporting and fixing system, unmanned underground operation can be achieved, the safety risk of manual underground operation is avoided, meanwhile, through the rotating disc assembly and the multi-dimensional clamping arm assembly, the problems that traditional mechanical clamping is rigid and low in efficiency can be solved, and the working efficiency is improved. In addition, through the audio and video communication system and the ventilation lighting system, oxygen deficit and fear of trapped people can be relieved, and safety, flexibility and efficiency of underground rescue are comprehensively improved.

Description

Technical Field

[0001] This application relates to the field of emergency rescue equipment technology, specifically a deformable downhole detection and rescue device. Background Technology

[0002] In outdoor settings, accidents involving people accidentally falling into wells are frequent, especially in rural areas where numerous abandoned agricultural wells, lacking effective sealing measures and clear warning signs, have become high-frequency sites for such accidents. These wells typically have opening diameters of 300-500mm, resulting in extremely confined spaces; their depths usually range from several meters to tens of meters, and they are often located in complex outdoor environments with varying geological conditions and well wall conditions, posing significant challenges to rescue efforts.

[0003] Traditional rescue methods primarily rely on manual well-entry, involving selecting smaller firefighters who are secured by ropes and descend inverted positions into the well to conduct manual searches. However, this method demands extremely high levels of physical strength, fitness, and professional skills from the rescuers. Furthermore, rescuers face multiple safety risks during the inverted descent, including head congestion, oxygen deprivation, and well wall collapse, making it difficult to fully guarantee their own safety. Additionally, manual search and rescue is inefficient, hampered by limited visibility and complex environments, making it difficult to quickly locate trapped individuals and conduct effective rescues. Moreover, some existing rescue devices employ a single mechanical clamping design, which lacks flexibility and cannot adapt to the complex spaces and varied postures of trapped individuals, leading to prolonged rescue times. It also prevents timely assessment of the trapped individuals' physical condition and hinders effective reassurance and psychological support for those trapped in the dark, confined environment, facing oxygen deprivation and immense psychological fear, further impacting the rescue outcome and the survival rate of the trapped individuals.

[0004] Therefore, this application provides a deformable downhole detection and rescue device to solve the above problems. Summary of the Invention

[0005] This application provides a deformable downhole detection and rescue device, which aims to solve the problems mentioned in the background art, such as the high safety risks and low efficiency of manual downhole rescue, as well as the lack of flexibility, real-time communication, life support and psychological counseling functions of existing mechanical clamping rescue devices, which are difficult to adapt to complex downhole scenarios and meet rescue needs.

[0006] To achieve the above objectives, this application provides the following technical solution: a deformable downhole detection and rescue device, comprising a ground suspension system, an downhole support and fixing system mounted on the ground suspension system for abutting against the well wall for downhole positioning and fixing, a clamping system mounted at the bottom of the downhole support and fixing system for clamping trapped personnel, and an audio-visual communication system and a ventilation and lighting system mounted on the clamping system for real-time communication detection and providing ventilation and lighting;

[0007] The downhole support and fixing system includes a suspension frame, a lifting ring fixedly installed on the top of the suspension frame for hooking with the ground suspension system, a support wheel set set on the suspension frame for abutting against the well wall, and a hydraulic system set on the suspension frame for driving the support wheel set to move closer to or away from the well wall.

[0008] The clamping system includes a clamping arm assembly located at the bottom of the hydraulic system for multi-dimensional clamping actions, and a rotating disk assembly located between the hydraulic system and the clamping arm assembly for adjusting the horizontal rotation angle of the clamping arm assembly. The overall stable lifting and lowering of the device is achieved through a ground suspension system. In the downhole support and fixing system, the hydraulic system drives the support wheel assembly to move and abut against the well wall. Four evenly distributed support structures ensure the device's positioning and fixation downhole. The adaptive angle adjustment principle of the support wheel assembly ensures adaptability to complex well wall environments, avoiding the safety risks of manual entry into the well without the need for rescue personnel. The rotating disk assembly drives the clamping arm assembly to achieve 360° horizontal rotation. Combined with the multi-dimensional telescopic swing of the clamping arm assembly, it can flexibly adapt to the complex underground space and the various postures of trapped personnel, solving the problems of rigid movements and low rescue efficiency of traditional mechanical clamping devices. In addition, by setting up an audio and video communication system, real-time audio and video interaction can be achieved, which can quickly grasp the status of trapped personnel and provide psychological counseling. Furthermore, by setting up a ventilation and lighting system, airflow and light can be delivered to provide suitable air and clear vision underground, alleviating the problems of oxygen deficiency and fear of trapped personnel, and improving the safety, flexibility and efficiency of underground rescue.

[0009] Preferably, to provide stable and reliable lifting support for the device, the ground suspension system includes a gantry support erected on the wellhead ground, a lifting winch fixedly installed on the top of the gantry support for providing lifting power, and a hook fixedly connected to the end of the rope of the lifting winch for engaging with the lifting ring. The gantry support forms a stable support foundation on the wellhead ground, and the lifting winch is driven by a motor to raise and lower the rope. The hook and ring engagement allows the entire underground support and fixing system to be raised and lowered without the need for manual operation. This achieves safe and stable lifting of the device, avoiding safety risks such as head congestion and hypoxia faced by rescue personnel, and ensuring rescue safety.

[0010] Preferably, to provide driving force for the support wheel assembly, the hydraulic system includes an oil tank, a hydraulic pump, a motor E, an overflow valve, a solenoid directional valve, and four sets of hydraulic cylinders, all fixedly installed at the bottom of the suspension frame. The output shaft of the motor E is fixedly connected to the hydraulic pump. The outlet of the hydraulic pump is connected to both the overflow valve and the solenoid directional valve. The return port of the overflow valve is connected to the oil tank. The solenoid directional valve is connected to each of the four sets of hydraulic cylinders. The motor E drives the hydraulic pump to deliver hydraulic oil from the oil tank to the solenoid directional valve. By controlling the valve position of the solenoid directional valve, the synchronous extension and retraction of the four sets of hydraulic cylinders can be achieved, thus driving the support wheel assembly and ensuring that the support wheel assembly abuts against the well wall, improving the stability and reliability of the downhole support fixation. At the same time, the overflow valve design can prevent the system pressure from becoming too high, playing a role in pressure stabilization and protection.

[0011] Preferably, to adapt to the uneven wellbore environment and ensure a tight fit between the support wheel assembly and the wellbore, the support wheel assembly includes a fixed support wheel frame fixedly connected to the end of the hydraulic rod of the hydraulic cylinder; two movable support wheel frames rotatably connected to both ends of the fixed support wheel frame; two support wheels rotatably connected to both ends of the movable support wheel frame for contact with the wellbore; a limiting strip fixedly connected to the fixed support wheel frame to limit the rotation angle of the movable support wheel frame; and two blocking blocks fixedly connected to the movable support wheel frame and located on both sides of the limiting strip to block the limiting strip. The design of the fixed support wheel frame being moved by the hydraulic rod of the hydraulic cylinder, and the movable support wheel frame rotating in conjunction with the fixed support wheel frame, allows the limiting strip, in cooperation with the two blocking blocks, to limit the rotation angle within a reasonable range. This allows the support wheels to adaptively adjust their contact posture according to the wellbore shape, thereby improving the adaptability of the device to complex wellbore environments, ensuring a complete fit between the support wheel assembly and the wellbore, enhancing the firmness of the downhole support, and providing a stable foundation for subsequent rescue operations.

[0012] Preferably, to achieve flexible adjustment of the clamping direction, the rotary disk assembly includes a rotary disk frame rotatably connected to the bottom of the four sets of hydraulic cylinders, a rotary disk worm gear fixedly sleeved on the rotary disk frame, a motor D fixedly installed on one side of the bottom of the four sets of hydraulic cylinders, and a rotary disk worm gear rotatably connected to the bottom of the four sets of hydraulic cylinders and fixedly connected to the output shaft of the motor D. The rotary disk worm gear meshes with the rotary disk worm gear. The rotary disk frame is rotatably connected to the bottom of the four sets of hydraulic cylinders via a plane bearing B. The rotary disk worm gear is driven to rotate by the motor D, and the rotation of the rotary disk frame is driven by the meshing transmission between the rotary disk worm gear and the rotary disk worm gear, thereby realizing the horizontal rotation of the clamping arm assembly. This allows for quick adjustment to the optimal clamping direction, adapting to the different locations of trapped personnel underground, and improving rescue flexibility. The design of the plane bearing B reduces the friction during the rotation of the rotary disk frame, ensuring smooth rotation.

[0013] Preferably, to achieve multi-dimensional clamping action, the clamping arm assembly is symmetrically rotatably connected to the clamping arm base at the bottom of the turntable frame, a clamping arm base rotary motor fixedly installed at the bottom of the turntable frame for driving the clamping arm base to rotate, and a multi-section clamping arm and clamping claw assembly disposed at the bottom of the clamping arm base. The clamping arm base is rotatably connected to the turntable frame through a plane bearing A. The clamping arm base is driven to rotate by the clamping arm base rotary motor, and servo motors A, B, and C respectively drive the upper clamping arm, connecting arm, and lower clamping arm A to swing. Motor B drives the lead screw B to rotate, and the nut B drives the lower clamping arm B to extend and retract along the slide groove, so that the clamping arm assembly has multi-dimensional extension and swinging capabilities, which can be precisely adjusted to the position of the trapped person, solving the problem of rigidity in traditional mechanical clamping action and improving clamping accuracy and reliability. The design of the plane bearing A ensures smooth rotation.

[0014] Preferably, to further improve the extension and swing flexibility of the clamping arm, the multi-section clamping arm includes an upper clamping arm hinged to one side of the bottom of the clamping arm base, a servo motor A fixedly mounted on the clamping arm base for driving the upper clamping arm to rotate, a connecting arm hinged to the end of the upper clamping arm away from the clamping arm base, a servo motor B fixedly mounted on the upper clamping arm for driving the connecting arm to rotate, a lower clamping arm A hinged to the end of the connecting arm away from the upper clamping arm, a servo motor C fixedly mounted on the connecting arm for driving the lower clamping arm A to rotate, a groove formed in the lower clamping arm A, and a slidably connected component passing through the groove. The system comprises a lower clamping arm B within the chute, a lead screw B rotatably connected within the chute, a motor B fixedly installed within the chute for driving the lead screw B to rotate, and a nut B screwed onto the lead screw B and fixedly connected to the lower clamping arm B. By driving the clamping arm, connecting arm, and lower clamping arm A to rotate via servo motors A, B, and C respectively, and by driving the lead screw B to rotate via motor B, the lower clamping arm B connected to nut B can slide and extend / retract. This allows for flexible attitude adjustment of the multi-section clamping arm within space, thereby improving the working range and attitude adaptability of the clamping arm. It enables the arm to penetrate deep into complex underground spaces to reach trapped personnel, ensuring efficient rescue operations.

[0015] Preferably, to achieve the clamping of the trapped person, the clamping claw assembly includes a clamping claw A symmetrically hinged to the end of the lower clamping arm B away from the slide groove, a clamping claw B hinged to the end of the clamping claw A away from the lower clamping arm B, a motor C fixedly installed on the end of the lower clamping arm B away from the slide groove, a lead screw C rotatably connected to the lower clamping arm B and fixedly connected to the output shaft of the motor C, a nut C screwed to the lead screw C, and two sets of connecting rods hinged to both sides of the nut C. The ends of the two sets of connecting rods away from the nut C are respectively hinged to the clamping claw A and the clamping claw B. By driving the lead screw C to rotate through the motor C, the nut C moves along the lead screw C, and then the connecting rods drive the symmetrical clamping claws A and B to clamp towards each other or loosen in the opposite direction, so as to achieve a stable and firm clamping of the trapped person and ensure the safety of the trapped person during the rescue process.

[0016] Preferably, to achieve real-time communication and environmental detection between the well and the surface, the audio-visual communication system includes audio-visual equipment for two-way audio-visual interaction, a lead screw A rotatably connected to the bottom of the turntable frame and located between the two clamping arm bases, a motor A fixedly installed on the turntable frame for driving the lead screw A to rotate, a nut A screwed onto the lead screw A and fixedly connected to the audio-visual equipment, a guide rail fixedly connected to the bottom of the turntable frame and located on both sides of the lead screw A, a slider slidably sleeved on the guide rail and fixedly connected to the audio-visual equipment, and cameras fixedly installed at the bottom of four sets of hydraulic cylinders and evenly distributed for real-time acquisition of the well environment. The motor A drives the lead screw A to rotate, and the nut A drives the audio-visual equipment and slider to extend and retract along the guide rail. The cameras acquire real-time images of the well, and the audio-visual equipment facilitates two-way information interaction. Rescuers can observe the well environment and the condition of trapped personnel in real time, provide timely psychological support, alleviate the trapped personnel's fear, and accurately determine the timing of rescue, improving the targeting and safety of the rescue.

[0017] Preferably, to improve the underground rescue environment, the ventilation and lighting system includes a ventilation pipe interface fixedly installed on the suspension frame, an air outlet fixedly installed at one end of the ventilation pipe interface for inputting air into the well, a ground pipe fixedly connected to the other end of the ventilation pipe interface for communication with the outside, a fan fixedly installed in the air outlet, and lighting lamps fixedly installed at the bottom of the four sets of hydraulic cylinders on the side corresponding to the camera and evenly distributed for providing underground lighting. By driving the fan, air is delivered to the well through the ground pipe and then through the air outlet, achieving ventilation. At the same time, the lighting lamps evenly distributed at the bottom of the hydraulic cylinders provide sufficient light for the well, thereby effectively alleviating the problem of oxygen deficiency in the well, providing a suitable survival environment for trapped personnel, and improving the clarity of vision in the well, making it easier for rescuers to observe the situation and operate accurately, further ensuring rescue efficiency and safety.

[0018] The deformable downhole detection and rescue device achieves stable lifting and lowering of the entire device through a ground suspension system. In the downhole support and fixing system, the hydraulic system drives the support wheel group to move and abut against the well wall. Four evenly distributed support structures ensure the device is positioned and fixed in the well. Combined with the angle adaptive adjustment principle of the support wheel group, it ensures that it can adapt to complex well wall environments and avoids the safety risks of manual entry into the well without the need for rescue personnel to enter the well.

[0019] This deformable downhole detection and rescue device achieves horizontal rotation of ° by driving the clamping arm assembly through the rotating disk assembly. Combined with the multi-dimensional extension and swing of the clamping arm assembly, it can flexibly adapt to the complex space downhole and the various postures of trapped personnel, solving the problems of rigid movement and low rescue efficiency of traditional mechanical clamping devices.

[0020] This deformable underground detection and rescue device enables real-time audio and video interaction through an audio-visual communication system, allowing for rapid assessment of the trapped personnel's status and psychological support. Simultaneously, the ventilation and lighting system provides airflow and illumination, offering suitable air and clear visibility underground, alleviating the oxygen deficiency and fear experienced by trapped personnel, and enhancing the safety, flexibility, and efficiency of underground rescue operations. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the ground suspension system in a deformable downhole detection and rescue device.

[0022] Figure 2 This is a structural schematic diagram of the downhole support and fixing system and clamping system in a deformable downhole detection and rescue device;

[0023] Figure 3 This is a schematic diagram of the hydraulic system in a deformable downhole detection and rescue device.

[0024] Figure 4 This is a schematic diagram of the overflow valve and electromagnetic reversing valve in a deformable downhole detection and rescue device.

[0025] Figure 5 This is a schematic diagram of the support wheel assembly in a deformable downhole detection and rescue device.

[0026] Figure 6 This is a schematic diagram of the limiting strip and blocking block in a deformable downhole detection and rescue device;

[0027] Figure 7 This is a schematic diagram of the rotating disk assembly in a deformable downhole detection and rescue device.

[0028] Figure 8 This is a schematic diagram of the clamping arm assembly in a deformable downhole detection and rescue device.

[0029] In the picture:

[0030] 1. Gantry support; 2. Lifting winch; 3. Hook; 4. Lifting ring; 5. Suspension frame; 6. Ventilation pipe interface; 7. Air outlet; 8. Hydraulic system; 9. Motor A; 10. Nut A; 11. Turntable worm gear; 12. Lead screw A; 13. Support and fixing system; 14. Camera; 15. Clamping arm base rotary motor; 16. Clamping arm base; 17. Turntable frame; 18. Servo motor A; 19. Upper clamping arm; 20. Servo motor B; 21. Connecting arm; 22. Servo motor C; 23. Motor B; 24. Lower clamping arm A; 25. Lead screw B; 26. Nut B; 27. Lower... 28. Clamping arm B; 29. ​​Motor C; 30. Clamping claw A; 31. Lead screw C; 32. Nut C; 33. Clamping claw B; 34. Connecting rod; 35. Audio-visual communication system; 36. Guide rail; 37. Slider; 38. Surface bearing A; 39. Surface bearing B; 40. Lighting lamp; 41. Motor D; 42. Turntable worm gear; 43. Support wheel; 44. Limit bar; 45. Movable support wheel frame; 46. Fixed support wheel frame; 47. Hydraulic rod; 48. Hydraulic cylinder; 49. Oil tank; 50. Hydraulic oil pump; 51. Motor E; 52. Relief valve; 53. Solenoid directional valve. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0032] This embodiment provides a deformable downhole detection and rescue device, such as... Figures 1-8 As shown, the deformable downhole detection and rescue device includes a ground suspension system, an downhole support and fixing system 13 mounted on the ground suspension system for contact with the well wall for downhole positioning and fixing, a clamping system mounted at the bottom of the downhole support and fixing system 13 for clamping trapped personnel, and an audio-visual communication system 34 and a ventilation and lighting system mounted on the clamping system for real-time communication detection and providing ventilation and lighting. The downhole support and fixing system 13 includes a suspension frame 5, a lifting ring 4 fixedly mounted on the top of the suspension frame 5 for hooking with the ground suspension system, a support wheel assembly mounted on the suspension frame 5 for contact with the well wall, and a hydraulic system 8 mounted on the suspension frame 5 for driving the support wheel assembly to move closer to or away from the well wall. The clamping system includes a clamping arm assembly mounted at the bottom of the hydraulic system 8 for performing multi-dimensional clamping actions, and a rotating disk assembly mounted between the hydraulic system 8 and the clamping arm assembly for adjusting the horizontal rotation angle of the clamping arm assembly.

[0033] The ground suspension system includes a gantry support 1 erected on the ground at the wellhead, a lifting winch 2 fixedly installed on the top of the gantry support 1 to provide lifting power, and a hook 3 fixedly connected to the end of the rope of the lifting winch 2 for hooking with the lifting ring 4.

[0034] In use, first, the gantry support 1 of the ground suspension system is erected on the ground of the wellhead. Then, the hook 3 of the ground suspension system is engaged with the top lifting ring 4 of the suspension frame 5. Next, the motor driving the lifting winch 2 is started, causing the lifting winch 2 to loosen the rope. As the rope gradually loosens, the device gradually descends, thus lowering the entire device to the designated area in the well. After the device is smoothly lowered to the designated area in the well, the hydraulic system 8 is started to drive the support wheel assembly to abut against the well wall, thereby achieving the positioning and fixation of the device in the well. Then, according to the position of the trapped personnel, the rotating disc assembly is started to adjust the horizontal angle of the clamping arm assembly. After the horizontal angle of the clamping arm assembly is adjusted, the clamping arm assembly is started to perform multi-dimensional posture adjustments. Finally, the clamping arm assembly securely holds the trapped person. During this process, the audio-visual communication system 34 can collect real-time images from the well and enable two-way audio-visual interaction, facilitating psychological counseling for the trapped person. At the same time, the ventilation and lighting system ensures ventilation and lighting, guaranteeing smooth communication and a suitable environment during the rescue. After the rescue is completed, the hydraulic system 8 is activated to retract the support wheel assembly, and the motor of the lifting winch 2 is operated to reverse the winch 2 and wind up the rope, thus lifting the device and the trapped person to the ground. The entire process does not require rescue personnel to go down into the well, effectively avoiding the safety risks of head congestion and hypoxia faced by manual entry into the well, achieving efficient and safe rescue.

[0035] Specifically, the hydraulic system 8 includes an oil tank 48, a hydraulic oil pump 49, a motor E50, an overflow valve 51, a solenoid directional valve 52, and four sets of hydraulic cylinders 47, all fixedly installed at the bottom of the suspension frame 5. The output shaft of the motor E50 is fixedly connected to the hydraulic oil pump 49. The oil outlet of the hydraulic oil pump 49 is connected to the overflow valve 51 and the solenoid directional valve 52, respectively. The return port of the overflow valve 51 is connected to the oil tank 48. The solenoid directional valve 52 is connected to each of the four sets of hydraulic cylinders 47 in a corresponding manner.

[0036] When the support wheel assembly needs to be driven close to the well wall for downhole positioning and fixation, motor E50 starts and drives hydraulic pump 49. At this time, hydraulic pump 49 draws hydraulic oil from oil tank 48, transferring hydraulic energy to the hydraulic oil. The pressurized hydraulic oil is then delivered to relief valve 51 and solenoid directional valve 52. Solenoid directional valve 52 switches to the left-hand working state, and the hydraulic oil is delivered through solenoid directional valve 52 to the rodless chamber of the four hydraulic cylinders 47, pushing the hydraulic rod 46 of the hydraulic cylinders 47 to extend, thereby driving the support wheel assembly to move towards the well wall until the support wheel abuts against the well wall. During this process, relief valve 51 continuously monitors the pressure of the hydraulic system 8. When the system pressure exceeds the preset safety value, the relief valve... Valve 51 automatically opens, returning excess hydraulic oil to the oil tank 48, providing pressure stabilization and protection to prevent damage to components due to excessive pressure. When the support wheel assembly needs to be retracted, the solenoid directional valve 52 switches to the right-hand working state. The hydraulic oil output from the hydraulic pump 49 is injected into the rod chamber of the four hydraulic cylinders 47 through the solenoid directional valve 52, pushing the hydraulic rod 46 to retract and retracting the support wheel assembly. The hydraulic oil in the rodless chamber of the hydraulic cylinder 47 then flows back to the oil tank 48 through the solenoid directional valve 52, completing the retraction action of the support wheel assembly. After the support wheel assembly is extended or retracted into place, the solenoid directional valve 52 switches to the neutral position, the oil flow in the hydraulic cylinder 47 stops, and the hydraulic rod 46 remains locked, ensuring stable support or retraction.

[0037] Furthermore, the support wheel assembly includes a fixed support wheel frame 45 fixedly connected to the end of the hydraulic rod 46 of the hydraulic cylinder 47, two movable support wheel frames 44 rotatably connected to both ends of the fixed support wheel frame 45, two support wheels 42 rotatably connected to both ends of the movable support wheel frame 44 for abutting against the well wall, a limiting strip 43 fixedly connected to the fixed support wheel frame 45 for limiting the rotation angle of the movable support wheel frame 44, and two blocking blocks fixedly connected to the movable support wheel frame 44 and located on both sides of the limiting strip 43 for blocking both sides of the limiting strip 43.

[0038] When the hydraulic system 8 drives the support wheel assembly to move towards the well wall, the hydraulic rod 46 of the hydraulic cylinder 47 extends and drives the fixed support wheel frame 45 to move synchronously towards the well wall. The two movable support wheel frames 44, which are rotatably connected to the fixed support wheel frame 45, move together with the fixed support wheel frame 45 until the support wheels 42, which are rotatably connected at both ends of the movable support wheel frame 44, contact the well wall. If the well wall is uneven, the support wheels 42 will be subjected to a reverse force from the well wall, pushing the movable support wheel frame 44 to rotate around the hinge point with the fixed support wheel frame 45. At this time, the limiting strip 43 on the fixed support wheel frame 45 and the two blocking blocks on the movable support wheel frame 44 cooperate with each other. The rotation angle of the movable support wheel frame 44 can be limited to prevent excessive rotation and ensure that the rotation angle of the movable support wheel frame 44 is controlled within a reasonable range to fit the well wall. This allows the support wheels 42 connected to the four sets of hydraulic cylinders 47 to fit tightly against the well wall, thereby ensuring the stable support of the device by the downhole support fixing system 13. When the support wheel set needs to be retracted, the hydraulic rod 46 retracts, driving the fixed support wheel frame 45 to move towards the main body of the device. The movable support wheel frame 44 and the support wheels 42 can be retracted together with the fixed support wheel frame 45. The limit strip 43 and the blocking block maintain a cooperative state to ensure the structural stability during the retraction of the support wheel set and prevent deviation or jamming.

[0039] Furthermore, the rotary disk assembly includes a rotary disk frame 17 rotatably connected to the bottom of the four sets of hydraulic cylinders 47, a rotary disk worm gear 11 fixedly sleeved on the rotary disk frame 17, a motor D40 fixedly installed on one side of the bottom of the four sets of hydraulic cylinders 47, and a rotary disk worm 41 rotatably connected to the bottom of the four sets of hydraulic cylinders 47 and fixedly connected to the output shaft of the motor D40. The rotary disk worm 41 meshes with the rotary disk worm gear 11, and the rotary disk frame 17 is rotatably connected to the bottom of the four sets of hydraulic cylinders 47 through a plane bearing B38.

[0040] When the horizontal rotation angle of the clamping arm assembly needs to be adjusted to suit the position of the trapped person, motor D40 starts and drives the turntable worm gear 41, which is fixedly connected to its output shaft, to rotate synchronously. Since the turntable worm gear 41 meshes with the turntable worm wheel 11, which is fixedly sleeved on the turntable frame 17, the rotational motion of the turntable worm gear 41 can be converted into the rotational motion of the turntable worm wheel 11 through meshing transmission. This, in turn, drives the turntable frame 17, which is coaxially fixed with the turntable worm wheel 11, to rotate. Furthermore, since the turntable frame 17 is rotatably connected to the bottom of the four sets of hydraulic cylinders 47 via a plane bearing B38, the plane bearing B38 reduces the friction between the turntable frame 17 and the bottom of the hydraulic cylinders 47 during rotation. To ensure smooth and stable rotation of the turntable frame 17 and prevent jamming, the turntable frame 17 can be driven to rotate 360° horizontally by controlling the forward and reverse rotation of the motor D40. This, in turn, drives the clamping arm assembly connected to the bottom of the turntable frame 17 to rotate synchronously until the clamping arm assembly is adjusted to the optimal horizontal angle for aligning with the trapped person. This lays the foundation for subsequent multi-dimensional posture adjustment and precise clamping of the clamping arm assembly. Once the angle of the clamping arm assembly is adjusted to the correct position, the motor D40 stops running. The locking mechanism between the turntable worm gear 41 and the turntable worm wheel 11, along with the locking mechanism of the motor D40, maintains the locked state, ensuring the stability of the angle of the turntable frame 17 and the clamping arm assembly and preventing any deviation.

[0041] Furthermore, the clamping arm assembly is symmetrically rotatably connected to the clamping arm base 16 at the bottom of the turntable frame 17, and a clamping arm base rotary motor 15 is fixedly installed at the bottom of the turntable frame 17 to drive the clamping arm base 16 to rotate. A multi-section clamping arm and clamping claw assembly is disposed at the bottom of the clamping arm base 16. The clamping arm base 16 is rotatably connected to the turntable frame 17 via a plane bearing A37. The multi-section clamping arm includes an upper section hinged to one side of the bottom of the clamping arm base 16. Clamping arm 19, a servo motor A18 fixedly mounted on clamping arm base 16 for driving the upper clamping arm 19 to rotate, a connecting arm 21 hinged to the end of the upper clamping arm 19 away from the clamping arm base 16, a servo motor B20 fixedly mounted on the upper clamping arm 19 for driving the connecting arm 21 to rotate, a lower clamping arm A24 hinged to the end of the connecting arm 21 away from the upper clamping arm 19, and a servo motor C2 fixedly mounted on the connecting arm 21 for driving the lower clamping arm A24 to rotate. 2. A sliding groove is formed in the lower clamping arm A24; a lower clamping arm B27 passes through the sliding groove and is slidably connected in the sliding groove; a lead screw B25 is rotatably connected in the sliding groove; a motor B23 is fixedly installed in the sliding groove to drive the lead screw B25 to rotate; and a nut B26 is screwed onto the lead screw B25 and fixedly connected to the lower clamping arm B27; the clamping jaw assembly includes a clamping jaw A29 symmetrically hinged to the end of the lower clamping arm B27 away from the sliding groove, and a clamping jaw A29 hinged to the end of the lower clamping arm B27 away from the sliding groove. 29. A clamping jaw B32 at the end away from the lower clamping arm B27, a motor C28 fixedly installed at the end of the lower clamping arm B27 away from the slide groove, a lead screw C30 rotatably connected to the lower clamping arm B27 and fixedly connected to the output shaft of the motor C28, a nut C31 screwed onto the lead screw C30, and two sets of connecting rods 33 hinged on both sides of the nut C31. The ends of the two sets of connecting rods 33 away from the nut C31 are respectively hinged to the clamping jaw A29 and the clamping jaw B32.

[0042] When it is necessary to perform clamping rescue on trapped personnel, first start the clamping arm base rotary motor 15 to drive the clamping arm base 16, which is rotatably connected to the turntable frame 17 via the plane bearing A37, to rotate, so as to initially adjust the orientation of the clamping arm assembly. Then, start the servo motor A18 to drive the upper clamping arm 19 to swing around the hinge point with the clamping arm base 16, start the servo motor B20 to drive the connecting arm 21 to swing around the hinge point with the upper clamping arm 19, start the servo motor C22 to drive the lower clamping arm A24 to swing around the hinge point with the connecting arm 21. Simultaneously start the motor B23 to drive the lead screw B25 to rotate in the slide groove, which drives the nut B26 screwed on the lead screw B25 to move, thereby pulling the lower clamping arm B27, which is fixedly connected to the nut B26, to extend and retract along the slide groove, realizing multi-section extension and retraction. The multi-dimensional posture adjustment of the clamping arm allows the clamping claw assembly to accurately approach the trapped person. Once the clamping claw assembly reaches the designated position, the motor C28 is started to drive the lead screw C30 to rotate, which in turn moves the nut C31 screwed onto the lead screw C30. The nut C31, through two sets of connecting rods 33 hinged on both sides, controls the two clamping claws A29 and B32 respectively, causing them to rotate towards each other around the hinge point with the lower clamping arm B27, thereby achieving a stable clamping of the trapped person. After the trapped person is clamped, the motor C28 is stopped. At this time, the locking function of the motor C28 and the self-locking function of the lead screw C30 and nut C31 ensure that the clamping state is stable and does not loosen. Throughout the process, the plane bearing A37 can reduce the friction force when the clamping arm base 16 rotates.

[0043] It is worth noting that the audio and video communication system 34 includes audio and video equipment for two-way audio and video interaction, a lead screw A12 rotatably connected to the bottom of the turntable frame 17 and located between the two clamping arm bases 16, a motor A9 fixedly installed on the turntable frame 17 for driving the lead screw A12 to rotate, a nut A10 screwed to the lead screw A12 and fixedly connected to the audio and video equipment, a guide rail 35 fixedly connected to the bottom of the turntable frame 17 and located on both sides of the lead screw A12, a slider 36 slidably sleeved on the guide rail 35 and fixedly connected to the audio and video equipment, and cameras 14 fixedly installed at the bottom of four sets of hydraulic cylinders 47 and evenly distributed for real-time acquisition of downhole environmental images.

[0044] During rescue operations, the audio-visual communication system 34 is activated to enable real-time detection and interaction between the underground and surface environments. Cameras 14, fixedly mounted at the bottom of four sets of hydraulic cylinders 47 and evenly distributed, continuously collect images of the underground environment, providing surface rescue personnel with a comprehensive field of vision. When the position of the audio-visual equipment needs to be adjusted for clearer observation of the trapped personnel's condition or for close-range communication, the motor A9 is activated to drive the lead screw A12, which is fixedly connected to its output shaft, to rotate. Since the nut A10 is screwed to the lead screw A12 and fixedly connected to the audio-visual equipment, the rotational motion of the lead screw A12 can be converted into the linear motion of the nut A10, thereby driving the audio-visual equipment. The slider 36, which moves synchronously and is fixedly connected to the audio-visual equipment, can slide along the guide rails 35 fixed at the bottom of the turntable frame 17 and located on both sides of the lead screw A12. This provides guidance and limits for the movement of the audio-visual equipment, ensuring that its movement is smooth and does not deviate. Then, through the forward and reverse control of the motor A9, the extension and retraction of the audio-visual equipment can be realized, flexibly adjusting its distance from the trapped personnel. At the same time, in conjunction with the image acquisition of the camera 14, the audio-visual equipment can realize two-way audio-visual interaction between the ground and underground, allowing rescuers to grasp the physical condition and psychological state of the trapped personnel in real time, communicate and guide them in a timely manner, and provide a guarantee for accurately formulating rescue plans and improving rescue safety and efficiency.

[0045] It should be added that the audio and video equipment is an audio and video terminal that integrates a microphone, speaker and display screen. Its working principle is to collect the voice of the trapped personnel through the microphone, capture the underground scene through the camera 14, and transmit it to the ground terminal through the transmission module. At the same time, the audio and video of the ground personnel are transmitted to the underground and presented through the display and speaker.

[0046] In addition, the ventilation and lighting system includes a ventilation pipe interface 6 fixedly installed on the suspension frame 5, an air outlet 7 fixedly installed at one end of the ventilation pipe interface 6 for inputting air into the well, a ground pipe fixedly connected to the other end of the ventilation pipe interface 6 for communicating with the outside, a fan fixedly installed in the air outlet 7, and lighting lamps 39 fixedly installed at the bottom of the four sets of hydraulic cylinders 47 on one side corresponding to the camera 14 and evenly distributed for providing underground lighting.

[0047] During rescue operations, the fan inside the air outlet 7 is activated. The fan generates airflow, drawing fresh air from the outside through the ground pipes to the ventilation pipe interface 6. From there, the fresh air is introduced through the ventilation pipe interface 6 and continuously delivered to the underground space through the air outlet 7, achieving air circulation between the underground and the outside. This effectively alleviates the oxygen deficiency problem underground and provides a suitable living environment for the trapped personnel. At the same time, the lighting lamps 39, which are fixedly installed at the bottom of the four sets of hydraulic cylinders 47 and evenly distributed, are turned on simultaneously. The coordinated illumination of multiple sets of lighting lamps 39 provides sufficient and uniform light underground, eliminating the impact of the dark underground environment on rescue operations. This not only facilitates the camera 14 to clearly capture images underground and ensures the detection effect of the audio and video communication system 34, but also provides clear visual support for the precise clamping action of the clamping system. This ensures a suitable environment and visible operation throughout the entire rescue process, further improving the safety and efficiency of the rescue.

[0048] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and concept of this application, should be included within the scope of protection of this application.

Claims

1. A deformable downhole detection and rescue device, characterized in that: Includes a ground suspension system, an underground support and fixing system (13) installed on the ground suspension system for contacting the well wall for underground positioning and fixing, a clamping system installed at the bottom of the underground support and fixing system (13) for clamping trapped personnel, and an audio-visual communication system (34) and a ventilation and lighting system installed on the clamping system for real-time communication detection and providing ventilation and lighting; The downhole support and fixing system (13) includes a suspension frame (5), a lifting ring (4) fixedly installed on the top of the suspension frame (5) for hooking the ground suspension system, a support wheel set set on the suspension frame (5) for abutting against the well wall, and a hydraulic system (8) set on the suspension frame (5) for driving the support wheel set to move closer to or away from the well wall. The clamping system includes a clamping arm assembly disposed at the bottom of the hydraulic system (8) for performing multi-dimensional clamping actions, and a rotary disk assembly disposed between the hydraulic system (8) and the clamping arm assembly for adjusting the horizontal rotation angle of the clamping arm assembly.

2. The deformable downhole detection and rescue device according to claim 1, characterized in that: The ground suspension system includes a gantry support (1) erected on the ground at the wellhead, a lifting winch (2) fixedly installed on the top of the gantry support (1) for providing lifting power, and a hook (3) fixedly connected to the end of the rope of the lifting winch (2) for hooking with the lifting ring (4).

3. The deformable downhole detection and rescue device according to claim 1, characterized in that: The hydraulic system (8) includes an oil tank (48), a hydraulic oil pump (49), a motor E (50), an overflow valve (51), a solenoid directional valve (52), and four sets of hydraulic cylinders (47), all fixedly installed at the bottom of the suspension frame (5). The output shaft of the motor E (50) is fixedly connected to the hydraulic oil pump (49). The oil outlet of the hydraulic oil pump (49) is connected to the overflow valve (51) and the solenoid directional valve (52), respectively. The return port of the overflow valve (51) is connected to the oil tank (48). The solenoid directional valve (52) is connected to each of the four sets of hydraulic cylinders (47) in a corresponding manner.

4. The deformable downhole detection and rescue device according to claim 3, characterized in that: The support wheel assembly includes a fixed support wheel frame (45) fixedly connected to the end of the hydraulic rod (46) of the hydraulic cylinder (47), two movable support wheel frames (44) rotatably connected to both ends of the fixed support wheel frame (45), two support wheels (42) rotatably connected to both ends of the movable support wheel frame (44) for abutting against the well wall, a limiting strip (43) fixedly connected to the fixed support wheel frame (45) for limiting the rotation angle of the movable support wheel frame (44), and two blocking blocks fixedly connected to the movable support wheel frame (44) and located on both sides of the limiting strip (43) for blocking both sides of the limiting strip (43).

5. The deformable downhole detection and rescue device according to claim 3, characterized in that: The rotary disk assembly includes a rotary disk frame (17) rotatably connected to the bottom of the four sets of hydraulic cylinders (47), a rotary disk worm gear (11) fixedly sleeved on the rotary disk frame (17), a motor D (40) fixedly installed on one side of the bottom of the four sets of hydraulic cylinders (47), and a rotary disk worm (41) rotatably connected to the bottom of the four sets of hydraulic cylinders (47) and fixedly connected to the output shaft of the motor D (40). The rotary disk worm (41) meshes with the rotary disk worm gear (11), and the rotary disk frame (17) is rotatably connected to the bottom of the four sets of hydraulic cylinders (47) through a plane bearing B (38).

6. The deformable downhole detection and rescue device according to claim 5, characterized in that: The clamping arm assembly is symmetrically rotatably connected to the clamping arm base (16) at the bottom of the turntable frame (17), the clamping arm base rotary motor (15) is fixedly installed at the bottom of the turntable frame (17) for driving the clamping arm base (16) to rotate, and the multi-section clamping arm and clamping claw assembly is provided at the bottom of the clamping arm base (16). The clamping arm base (16) is rotatably connected to the turntable frame (17) through a plane bearing A (37).

7. The deformable downhole detection and rescue device according to claim 6, characterized in that: The multi-section clamping arm includes an upper clamping arm (19) hinged to one side of the bottom of the clamping arm base (16), a servo motor A (18) fixedly mounted on the clamping arm base (16) for driving the upper clamping arm (19) to rotate, a connecting arm (21) hinged to one end of the upper clamping arm (19) away from the clamping arm base (16), a servo motor B (20) fixedly mounted on the upper clamping arm (19) for driving the connecting arm (21) to rotate, and a lower clamping arm A (18) hinged to one end of the connecting arm (21) away from the upper clamping arm (19). 24) A servo motor C (22) fixedly installed on the connecting arm (21) for driving the lower clamping arm A (24) to rotate, a slide groove opened in the lower clamping arm A (24), a lower clamping arm B (27) passing through the slide groove and slidably connected in the slide groove, a lead screw B (25) rotatably connected in the slide groove, a motor B (23) fixedly installed in the slide groove for driving the lead screw B (25) to rotate, and a nut B (26) screwed on the lead screw B (25) and fixedly connected to the lower clamping arm B (27).

8. The deformable downhole detection and rescue device according to claim 7, characterized in that: The clamping jaw assembly includes a clamping jaw A (29) symmetrically hinged to the end of the lower clamping arm B (27) away from the slide groove, a clamping jaw B (32) hinged to the end of the clamping jaw A (29) away from the lower clamping arm B (27), a motor C (28) fixedly installed on the end of the lower clamping arm B (27) away from the slide groove, a lead screw C (30) rotatably connected to the lower clamping arm B (27) and fixedly connected to the output shaft of the motor C (28), a nut C (31) screwed onto the lead screw C (30), and two sets of connecting rods (33) hinged to both sides of the nut C (31). The ends of the two sets of connecting rods (33) away from the nut C (31) are respectively hinged to the clamping jaw A (29) and the clamping jaw B (32).

9. The deformable downhole detection and rescue device according to claim 6, characterized in that: The audio and video communication system (34) includes an audio and video device for two-way audio and video interaction, a lead screw A (12) rotatably connected to the bottom of the turntable frame (17) and located between the two clamping arm bases (16), a motor A (9) fixedly installed on the turntable frame (17) for driving the lead screw A (12) to rotate, a nut A (10) screwed to the lead screw A (12) and fixedly connected to the audio and video device, a guide rail (35) fixedly connected to the bottom of the turntable frame (17) and located on both sides of the lead screw A (12), a slider (36) slidably sleeved on the guide rail (35) and fixedly connected to the audio and video device, and cameras (14) fixedly installed on the bottom of four sets of hydraulic cylinders (47) and evenly distributed for real-time acquisition of downhole environmental images.

10. The deformable downhole detection and rescue device according to claim 9, characterized in that: The ventilation and lighting system includes a ventilation pipe interface (6) fixedly installed on the suspension frame (5), an air outlet (7) fixedly installed at one end of the ventilation pipe interface (6) for inputting air into the well, a ground pipe fixedly connected to the other end of the ventilation pipe interface (6) for communicating with the outside, a fan fixedly installed in the air outlet (7), and lighting lamps (39) fixedly installed at the bottom of the four sets of hydraulic cylinders (47) on the side corresponding to the camera (14) and evenly distributed for providing underground lighting.

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