Auxiliary mechanical device suitable for mine collapse rescue and use method
By designing an auxiliary mechanical device including a tracked propulsion mechanism and mechanical claws, the problem of equipment flexibility and efficiency in mine collapse rescue is solved, and the effect of quickly reaching trapped people and providing rescue materials is achieved.
Patent Information
- Application Number
- CN202411243599.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-05
- Publication Date
- 2025-01-14
AI Technical Summary
The existing mine rescue technology and equipment are insufficient, resulting in low rescue efficiency when the mine collapses, poor equipment flexibility, and it is impossible to quickly and effectively reach trapped people and provide rescue supplies.
An auxiliary mechanical device including a propulsion mechanism, a clamping structure and a camera is designed. The tracked propulsion structure and mechanical claws are used to achieve flexible movement and obstacle avoidance in complex terrain, and the images are transmitted in real time through the camera for visual analysis and road cleaning. Quickly reach trapped people and provide water and food.
It improves the efficiency and flexibility of mine collapse rescue, reduces the rescue time, can quickly reach trapped people and provide them with necessary supplies to gain rescue time.
Smart Images
Figure CN119308723A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of mine cave collapse rescue, and in particular relates to an auxiliary mechanical device suitable for mine cave collapse rescue and a use method thereof. Background Art
[0002] Mine resources are still a material resource that countries around the world are competing for. People's dependence on minerals is still very large, and countries around the world generally attach great importance to mining. Compared with the world, my country has a relatively rich mine field and relatively complete mineral equipment. At present, most of my country's mining still adopts comprehensive mechanized mining methods. However, my country's existing mine rescue technology and equipment are slightly scarce, and there is no perfect rescue system. The biggest problem facing the exploration and mining of mines is the collapse of mines caused by accidents or negligence. Once collapsed, the entire mine will sink. Causing irreparable losses. The environment inside the mine itself is difficult for the staff. If, during this period, there is a mine danger when the miners are working, the first thing the staff face is the lack of food and fresh water. Secondly, the environment in the cave makes it difficult for the trapped people to adapt. Moreover, some staff members will be injured by the impact of gravel and unable to rescue themselves and provide help.
[0003] Therefore, how to adopt the appropriate method for rescue has become a key issue. At present, there are very few mine rescue machinery and equipment on the market, and most of them are in the research and development stage. The only rescue equipment is also large equipment similar to vertical pipes, which is time-consuming and labor-intensive to assemble and lacks flexibility. Once a large-scale collapse of the mine occurs, rescue equipment such as excavators are needed to dig out the surface ruins. Summary of the invention
[0004] The purpose of the present invention is to overcome the above-mentioned shortcomings and provide an auxiliary mechanical device suitable for mine collapse rescue and a method of use. This device has high flexibility, small size, and saves time in rescue work, which can greatly improve the existing rescue efficiency. The device determines the approximate location of the trapped persons through existing technology, and can also use the original shafts and tunnels to quickly reach the rescued persons. The mechanical device is small as a whole, occupies a small volume, is flexible and changeable, and has a faster excavation speed, which greatly improves the efficiency of mine rescue work.
[0005] In order to realize the above-mentioned technical features, the purpose of the present invention is achieved as follows: an auxiliary mechanical device suitable for mine collapse rescue, including a main body for carrying and supporting the entire device, a propulsion mechanism for moving the entire device is installed on the main body, a clamping structure for rescue clamping is fixedly installed on the top of the main body, and a camera for real-time capture of the surrounding situation of the device is carried at the top end of the clamping structure, and the camera transmits the captured image to an external receiving device via wireless communication.
[0006] The main body includes an external frame, an electric motor, a transmission shaft and a first motor. The transmission shaft is rotatably installed at the rear of the external frame through a bearing. A bevel gear is installed in the middle of the transmission shaft. The transmission shaft and the output shaft of the motor are transmitted through a group of bevel gears. The motor is fixedly installed on the outer top of the external frame; the two first motors are installed on the inner side wall in front of the external frame, and a main transmission gear is fixedly installed on the output shafts of the two first motors.
[0007] The propulsion mechanism includes two sets of track structures and a transmission structure; the track structure is divided into a front structure and a rear structure, the front structure includes a triangular connecting frame, a front track and a front track disc, the front track disc is installed at the corner of the triangular connecting frame, the front track is wound around the three front track discs, the rear structure includes a rear track, a rear track disc and a track disc connecting frame, there is a rear track disc at each end of the track disc connecting frame, and the rear track is wound around two rear track discs.
[0008] The transmission structure includes an electric motor, a transmission shaft, a first motor, a main transmission gear, a connecting shaft, a slave transmission gear, a main pulley, a protective net and a belt; the two ends of the transmission shaft are respectively fixedly connected to the two sets of rear crawler discs, the connecting shaft is fixedly mounted on the main body and the protective net through bearings, the slave transmission gear is fixedly mounted on the connecting shaft and meshes with the main transmission gear for transmission, the main pulley is installed between two triangular connecting frames, the main pulley is fixedly connected to one end of the connecting shaft, and the main pulley and a front crawler disc are driven by a belt.
[0009] The clamping structure includes a turntable, a robotic arm frame, a robotic arm, a robotic claw, a robotic claw fixing frame and a robotic claw power supply; the turntable is installed on the upper front side of the main body, the robotic arm frame is fixed on the turntable, the robotic arm is fixed in the robotic arm frame, the robotic arm includes a lower robotic arm and an upper robotic arm, the lower end of the lower robotic arm is hinged to the robotic arm frame and a first angle motor is provided at the hinge, and the robotic arm is driven by the first angle motor; the lower robotic arm and the upper robotic arm are hinged and a second angle motor is provided at the hinge, and the robotic arm is driven by the second angle motor, the end of the upper robotic arm is fixed by a robotic claw fixing frame and a robotic claw power supply is provided at the front end of the upper robotic arm, and the end of the robotic claw power supply is hinged to a robotic claw.
[0010] The mechanical claw includes a fixed pressure plate, a fixed bracket, gear one, gear two, a bracket plate, connecting rod one, a gasket, a nut, gear three, gear four, connecting rod two, an opening and closing motor, a flipping motor, gear five, a synchronous belt and a synchronous wheel. The fixed bracket is connected to the mechanical claw power supply through a pair of fixed pressure plates. The rotating shaft of the mechanical claw power supply is equipped with gear one, and the gear one is meshed with gear two. The rotating shaft of the flipping motor is equipped with gear two, and the flipping motor is driven to realize the flipping of the hand grip.
[0011] The opening and closing motor and the flip motor are in the bracket plate, and the opening and closing motor passes through one side of the bracket plate to connect to gear three. The connecting rod one and the connecting rod two are arranged in pairs and are respectively arranged on both sides of the claw of the mechanical claw. One end of the connecting rod one and the connecting rod two is fixed to the outside of the claw of the mechanical claw and the other end is fixed to the outside of the bracket plate and is fixed by a gasket and a nut and a corresponding connecting rod connecting shaft. The connecting rod connecting shaft in the bracket plate and the connecting rod connecting shaft in the claw of the mechanical claw are both provided with synchronous wheels, and two synchronous wheels on one side are provided with synchronous belts. The ends of the two connecting rods two on the outside of the bracket plate are respectively provided with gears four and five, and the gear four is meshed with gears three and five, and the claw of the mechanical claw is opened and closed by the opening and closing motor.
[0012] A method for using an auxiliary mechanical device suitable for mine collapse rescue comprises the following steps: S1: Turn on the power of the device and place the auxiliary mechanical device into the mine to be explored; S2: The camera captures the road condition information around the auxiliary mechanical device in real time, and transmits the image information to the device control system and the external receiving device at the same time. The device control system performs visual analysis and judgment on the image information transmitted by the camera, senses the obstacles in front of and around the auxiliary mechanical device, and feeds back the situation to the control system. The control system controls the propulsion mechanism to perform obstacle avoidance operations; S3: The external receiving device receives the image information transmitted by the camera in real time. The staff analyzes the solidity of the walls in the mine through the image information and determines whether it is safe to enter; S4: For collapsed mine tunnels, the auxiliary mechanical device sends a signal to the outside world, and the outside workers control the clamping structure to clear the road through the images captured in real time by the camera; S5: After successfully finding the trapped people, the auxiliary mechanical device repeatedly enters the mine to transport water and food rescue supplies to the trapped people, buying time for the rescue operations of outside rescue workers.
[0013] The present invention has the following beneficial effects: 1. The present invention adopts a crawler-type propulsion structure, which can be applied to a variety of terrains and can effectively avoid the situation where the device cannot move forward due to complex terrain.
[0014] 2. The device of the present invention is small in size, takes less time to perform rescue work, and can greatly improve the existing rescue efficiency.
[0015] 3. The device of the present invention determines the approximate location of the trapped persons through existing technology, and can also use the existing shafts and tunnels to quickly reach the persons to be rescued, and bring them rescue supplies such as water and food, thereby buying time for the rescue of the rescuers. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0017] Figure 1 It is a schematic diagram of the three-dimensional structure from the first viewing angle of the present invention.
[0018] Figure 2 It is a schematic diagram of the three-dimensional structure from a second viewing angle of the present invention.
[0019] Figure 3 It is a schematic diagram of the three-dimensional structure from a third viewing angle of the present invention.
[0020] Figure 4 It is a schematic diagram of the clamping structure of the present invention.
[0021] Figure 5 Schematic diagram of the structure of the mechanical claw of the present invention.
[0022] Figure 6 It is a schematic diagram of the transmission structure of the present invention.
[0023] In the figure: main body 100, external frame 101, motor 102, transmission shaft 103, first motor 104, main transmission gear 105; Propulsion mechanism 200, crawler structure 201, triangular connecting frame 202, front crawler 203, front crawler disc 204, rear crawler 207, rear crawler disc 208, crawler disc connecting frame 209, transmission structure 215, connecting shaft 210, slave transmission gear 211, main pulley 212, protection net 213, belt 214; Clamping structure 300, turntable 301, mechanical arm frame 302, mechanical arm 303, mechanical claw 304, lower mechanical arm 305, upper mechanical arm 306, first angle motor 307, second angle motor 308, mechanical claw fixing frame 309, mechanical claw power supply 310; Fixed pressure plate 311, fixed bracket 312, gear 1 313, gear 2 314, bracket plate 315, connecting rod 1 316, gasket 317, nut 318, gear 3 319, gear 4 320, connecting rod 2 321, opening and closing motor 322, flipping motor 323, gear 5 324, synchronous belt 325, synchronous wheel 326; Camera 400. DETAILED DESCRIPTION
[0024] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.
[0025] Embodiment 1: See also Figure 1-6 , an auxiliary mechanical device suitable for mine cave collapse rescue, comprising a main body 100, a propulsion mechanism 200, a clamping structure 300 and a camera 400. The clamping structure 300 is mounted on the main body 100, and the camera 400 is mounted on the clamping structure 300. The camera 400 can capture the situation around the device in real time and transmit the captured image to an external receiving device.
[0026] See also Figure 6 The main body 100 includes an outer frame 101, a motor 102, a transmission shaft 103 and a first motor 104. The transmission shaft 103 is fixedly installed at the rear of the main body 100, a rolling bearing is installed between the transmission shaft 103 and the main body 100, a bevel gear is installed in the middle of the transmission shaft 103, and the transmission shaft 103 and the motor 102 are matched and driven by a set of bevel gears. Two first motors 104 are installed inside the main body 100, and a main transmission gear 105 is fixedly installed on the output shafts of the two first motors 104.
[0027] See also Figure 1-3 The propulsion mechanism 200 includes two sets of crawler structures 201 and a transmission structure 215. The crawler structure 201 is divided into a front structure and a rear structure. The front structure includes a triangular connecting frame 202, a front crawler 203 and a front crawler disc 204. The front crawler disc 204 is installed at the corner of the triangular connecting frame 202. The front crawler 203 is wound around the three front crawler discs 204. The rear structure includes a rear crawler 207, a rear crawler disc 208 and a crawler disc connecting frame 209. There is a rear crawler disc 208 at each end of the crawler disc connecting frame 209. The rear crawler 207 is wound around the two rear crawler discs 208.
[0028] See also Figure 6 The transmission structure 215 includes a motor 102, a transmission shaft 103, a first motor 104, a main transmission gear 105, a connecting shaft 210, a slave transmission gear 211, a main pulley 212, a protective net 213 and a belt 214. The two ends of the transmission shaft 103 are respectively fixedly connected to the two sets of rear crawler discs. The connecting shaft 210 is fixedly installed on the main body 100 and the protective net 213 through a bearing, and the slave transmission gear 211 is fixedly installed on the connecting shaft 210 and meshes with the main transmission gear 105 for transmission. The main pulley 212 is installed between the two triangular connecting frames 202, and the main pulley 212 is fixedly connected to one end of the connecting shaft 210. The main pulley 212 and a front crawler disc 204 are driven by a belt 214.
[0029] See also Figure 4 The clamping structure 300 includes a turntable 301, a mechanical arm frame 302, a mechanical arm 303, and a mechanical claw 304. A mechanical claw fixing frame 309 and a mechanical claw power supply 310. The turntable 301 is installed on the front upper side of the main body 100. The mechanical arm frame 302 is fixed on the turntable 301. The mechanical arm 303 is fixed inside the mechanical arm frame 302. The mechanical arm 303 includes a lower mechanical arm 305 and an upper mechanical arm 306. The lower end of the lower mechanical arm 305 is hinged with the mechanical arm frame 302 and a first angle motor 307 is provided at the hinge and driven by the first angle motor 307. The lower mechanical arm 305 and the upper mechanical arm 306 are hinged and a second angle motor 308 is provided at the hinge and driven by the second angle motor 308. The end of the upper mechanical arm 306 is fixed by the mechanical claw fixing frame 309 and a mechanical claw power supply 310 is provided at the front end of the upper mechanical arm 306. The end of the mechanical claw power supply 310 is hinged with the mechanical claw 304.
[0030] See also Figure 5 The mechanical claw 304 includes a fixed pressure plate 311, a fixed bracket 312, a gear 1 313, a gear 2 314, a bracket plate 315, a connecting rod 1 316, a gasket 317, a nut 318, a gear 3 319, a gear 4 320, a connecting rod 2 321, an opening and closing motor 322, a flipping motor 323, a gear 5 324, The synchronous belt 325 and the synchronous wheel 326, the fixed bracket 312 is connected to the mechanical claw power supply 310 through a pair of fixed pressure plates 311, the rotating shaft of the mechanical claw power supply 310 is installed with a gear 1 313, the gear 1 313 and the gear 2 314 are meshed with each other, the rotating shaft of the flip motor 323 is installed with a gear 2 314, and the flip motor 323 drives the flipping of the hand grip, the opening and closing motor 322 and the flip motor 323 are in the bracket plate 315, the opening and closing motor 322 passes through one side of the bracket plate 315 to connect the gear 3 319, the connecting rod 1 316 and the connecting rod 2 321 are arranged in pairs and are respectively arranged on both sides of the claw of the mechanical claw 304, the connecting rod 1 316 and One end of the connecting rod 2 321 is fixed to the outside of the claw of the mechanical claw 304 and the other end is fixed to the outside of the bracket plate 315 and is fixed by a gasket 317 and a nut 318 and a corresponding connecting rod connecting shaft. The connecting rod connecting shaft inside the bracket plate 315 and the connecting rod connecting shaft inside the claw of the mechanical claw 304 are both provided with a synchronous wheel 326. A synchronous belt 325 is provided on the two synchronous wheels 326 on one side. The ends of the two connecting rods 2 321 on the outside of the bracket plate 315 are respectively provided with a gear 4 320 and a gear 5 324. The gear 4 320 is meshed with the gear 3 319 and the gear 5 324, and the opening and closing of the claw of the mechanical claw 304 is realized by the drive of the opening and closing motor 322.
[0031] Embodiment 2: An auxiliary mechanical device suitable for mine cave collapse rescue, used for mine cave collapse rescue, comprises the following steps: S1: Turn on the power of the device and place it into the mine to be explored.
[0032] S2: The camera 400 captures the road condition information around the device in real time, and transmits the image information to the device control system and the external receiving device at the same time. The device control system performs visual analysis and judgment on the image information transmitted by the camera 400, senses the obstacles in front of and around the device, and feeds back the situation to the control system. The control system controls the propulsion mechanism 200 to perform obstacle avoidance operations.
[0033] S3: The external receiving device receives the image information transmitted by the camera 400 in real time. The staff analyzes the solidity of the walls in the mine through the image information and determines whether it is safe to enter.
[0034] S4: For the collapsed mine tunnel, the device sends a signal to the outside world, and the outside staff controls the device clamping structure 300 to clear the road through the image captured in real time by the camera 400.
[0035] S5: After successfully finding the trapped people, the device can repeatedly enter the mine to transport rescue supplies such as water and food to the trapped people, thereby buying time for the rescue operations of outside rescue workers.
Claims
1. An auxiliary mechanical device suitable for mine collapse rescue, characterized in that: The invention comprises a main body (100) for carrying and supporting the entire device, a propulsion mechanism (200) for moving the entire device is installed on the main body (100), a clamping structure (300) for rescue clamping is fixedly installed on the top of the main body (100), a camera (400) for real-time capture of the surrounding conditions of the device is installed at the top end of the clamping structure (300), and the camera (400) transmits the captured image to an external receiving device through wireless communication.
2. An auxiliary mechanical device suitable for mine collapse rescue according to claim 1, characterized in that: The main body (100) comprises an external frame (101), an electric motor (102), a transmission shaft (103) and a first electric motor (104); the transmission shaft (103) is rotatably mounted at the rear of the external frame (101) via a bearing; a bevel gear is mounted in the middle of the transmission shaft (103); the transmission shaft (103) and an output shaft of the electric motor (102) are matched and transmitted via a group of bevel gears; the electric motor (102) is fixedly mounted on the outer top of the external frame (101); the two first electric motors (104) are mounted on the inner side wall in front of the external frame (101); and a main transmission gear (105) is fixedly mounted on the output shafts of the two first electric motors (104).
3. An auxiliary mechanical device suitable for mine collapse rescue according to claim 1, characterized in that: The propulsion mechanism (200) comprises two sets of crawler structures (201) and a transmission structure (215); the crawler structure (201) is divided into a front structure and a rear structure; the front structure comprises a triangular connecting frame (202), a front crawler (203) and a front crawler disc (204); the front crawler disc (204) is installed at the corner of the triangular connecting frame (202); the front crawler (203) is wound around the three front crawler discs (204); the rear structure comprises a rear crawler (207), a rear crawler disc (208) and a crawler disc connecting frame (209); the crawler disc connecting frame (209) has a rear crawler disc (208) at each end; the rear crawler (207) is wound around the two rear crawler discs (208).
4. An auxiliary mechanical device suitable for mine collapse rescue according to claim 3, characterized in that: The transmission structure (215) comprises an electric motor (102), a transmission shaft (103), a first motor (104), a main transmission gear (105), a connecting shaft (210), a slave transmission gear (211), a main pulley (212), a protective net (213) and a belt (214); the two ends of the transmission shaft (103) are respectively fixedly connected to two sets of rear crawler discs; the connecting shaft (210) is fixedly mounted on the main body (100) and the protective net (213) via a bearing; the slave transmission gear (211) is fixedly mounted on the connecting shaft (210) and meshes with the main transmission gear (105) for transmission; the main pulley (212) is mounted between two triangular connecting frames (202); the main pulley (212) is fixedly connected to one end of the connecting shaft (210); and the main pulley (212) and a front crawler disc (204) are driven via a belt (214).
5. The auxiliary mechanical device suitable for mine collapse rescue according to claim 1, characterized in that: The clamping structure (300) comprises a rotating disk (301), a mechanical arm frame (302), a mechanical arm (303), a mechanical claw (304), a mechanical claw fixing frame (309), and a mechanical claw power supply (310); the rotating disk (301) is mounted on the front upper side of the main body (100); the mechanical arm frame (302) is fixed on the rotating disk (301); the mechanical arm (303) is fixed inside the mechanical arm frame (302); the mechanical arm (303) comprises a lower mechanical arm (305) and an upper mechanical arm (306); the lower mechanical arm (305 ) is hinged to a mechanical arm frame (302) and has a first angle motor (307) at the hinge, and is driven by the first angle motor (307); the lower mechanical arm (305) and the upper mechanical arm (306) are hinged and have a second angle motor (308) at the hinge, and are driven by the second angle motor (308); the end of the upper mechanical arm (306) is fixed by a mechanical claw fixing frame (309) and has a mechanical claw power supply (310) at the front end of the upper mechanical arm (306); the end of the mechanical claw power supply (310) is hinged to a mechanical claw (304).
6. An auxiliary mechanical device suitable for mine collapse rescue according to claim 5, characterized in that: The mechanical claw (304) comprises a fixed pressure plate (311), a fixed bracket (312), a gear one (313), a gear two (314), a bracket plate (315), a connecting rod one (316), a gasket (317), a nut (318), a gear three (319), a gear four (320), a connecting rod two (321), an opening and closing motor (322), a flipping motor (323), a gear five (324), a synchronous belt (325) and a synchronous wheel (326). The fixed bracket (312) is connected to the mechanical claw power supply (310) via a pair of fixed pressure plates (311). The rotating shaft of the mechanical claw power supply (310) is equipped with a gear one (313). The gear one (313) and the gear two (314) are meshed with each other. The rotating shaft of the flipping motor (323) is equipped with a gear two (314). The flipping motor (323) drives the mechanical claw to flip.
7. An auxiliary mechanical device suitable for mine collapse rescue according to claim 6, characterized in that: The opening and closing motor (322) and the flipping motor (323) are inside the bracket plate (315); the opening and closing motor (322) passes through one side of the bracket plate (315) and is connected to the gear three (319); the connecting rod one (316) and the connecting rod two (321) are arranged in pairs and are respectively arranged on both sides of the claw part of the mechanical claw (304); one end of the connecting rod one (316) and the connecting rod two (321) are fixed to the outside of the claw part of the mechanical claw (304) and the other end is fixed to the outside of the bracket plate (315) and is fixed by a gasket (317) and a nut (318) and a corresponding connecting rod. The rod connecting shaft is fixed, the connecting rod connecting shaft inside the bracket plate (315) and the connecting rod connecting shaft inside the claw part of the mechanical claw (304) are both sleeved with synchronous wheels (326), and the two synchronous wheels (326) on one side are sleeved with synchronous belts (325), and the ends of the two connecting rods (321) outside the bracket plate (315) are respectively provided with gears four (320) and gears five (324), and the gears four (320) are meshed with gears three (319) and gears five (324), and the claw part of the mechanical claw (304) is opened and closed by the opening and closing motor (322).
8. A method for using the auxiliary mechanical device suitable for mine collapse rescue according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1: Turn on the power of the device and place the auxiliary mechanical device into the mine to be explored; S2: The camera (400) captures road condition information around the auxiliary mechanical device in real time, and transmits the image information to the device control system and an external receiving device at the same time. The device control system performs visual analysis and judgment on the image information transmitted by the camera (400), senses obstacles in front of and around the auxiliary mechanical device, and feeds back the situation to the control system. The control system controls the propulsion mechanism (200) to perform obstacle avoidance operations; S3: The external receiving device receives the image information transmitted in real time by the camera (400), and the staff analyzes the solidity of the wall in the mine through the image information and determines whether it is safe to enter; S4: For a collapsed mine tunnel, the auxiliary mechanical device sends a signal to the outside world, and the outside workers control the clamping structure (300) to clear the road through the image captured in real time by the camera (400); S5: After successfully finding the trapped people, the auxiliary mechanical device repeatedly enters the mine to transport water and food rescue supplies to the trapped people, buying time for the rescue operations of outside rescue workers.