Valve well rescue device

Abstract

The invention relates to the technical field of harmful gas detection and emergency underground rescue, in particular to a valve well rescue device which comprises a folding herringbone ladder, a cross linear sliding table, a detection rod assembly and a winding drum lifting assembly. The winding drum lifting assembly is provided with a winding drum mounting bottom plate, a lifting motor, a lifting winding drum, a safety rope and a lifting hook, a gas detector assembly is mounted on the lifting hook, and the winding drum mounting bottom plate is fixedly connected with a sliding block of the cross-shaped linear sliding table which is horizontally arranged; the cross-shaped linear sliding table is fixedly installed at the lower end of a middle platform of the folding herringbone ladder, and the detection rod assembly comprises an electric telescopic rod connected with the winding drum installation bottom plate and a monocular vision sensor and / or an infrared sensor arranged at the front end of the electric telescopic rod. The invention provides a device capable of detecting harmful gas and automatically rescuing, so that the safety of constructors is guaranteed, and casualties and economic loss are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of harmful gas detection and emergency underground rescue, and in particular to a valve well rescue device which can avoid obstacles and realize underground rescue when harmful gas is detected. Background Art

[0002] A valve well is a small, room-like pit (or well) built for underground pipelines and conduits (such as water, oil, and natural gas pipelines). This pit is designed to facilitate the opening and closing of parts of the pipeline network for maintenance or inspection. Valves and other equipment are installed and arranged in this pit, facilitating regular inspection, cleaning, and unclogging of the pipelines to prevent blockage. As urban underground pipeline networks become increasingly complex, valve wells, as critical nodes in the network, have a safety and stability that is directly related to the normal operation of cities and the safety of residents. Common valve well failures include stiff, inflexible valve stems that fail to open and close, detachment of the valve stem from the valve core, and even valve leakage, which can release harmful gases such as natural gas. This can prevent construction workers from timely detecting the concentration of harmful gases underground, resulting in casualties and financial losses. Therefore, research on underground valve well repair and rescue equipment is crucial.

[0003] This paper aims to design a portable valve well rescue system structure that allows workers to be lowered into the well by a robot. Detectors, sensors, and servo motors are used to control the horizontal movement and vertical lift of the worker. Once the worker is down, hazardous gases are monitored in real time, ensuring that they can be quickly pulled to a safe area in an emergency, significantly improving the safety of construction workers. Summary of the Invention

[0004] The purpose of the present invention is to rescue underground construction workers in emergency situations and provide a device that can detect harmful gases and automatically rescue, thereby ensuring the safety of construction workers and reducing casualties and economic losses.

[0005] To this end, the present invention proposes a valve well rescue device, including: a folding herringbone ladder, a cross linear slide, a detection rod assembly, and a drum lifting assembly; the drum lifting assembly has a drum mounting base plate, a lifting motor, a lifting drum, a safety rope and a hook, and a gas detector assembly is installed on the hook. The drum mounting base plate is fixedly connected to the slider of the horizontally arranged cross linear slide, and the cross linear slide is fixedly installed at the lower end of the middle platform of the folding herringbone ladder. The detection rod assembly includes an electric telescopic rod connected to the drum mounting base plate, and a monocular vision sensor and an infrared sensor arranged at the front end of the electric telescopic rod.

[0006] As an optimal technical solution of the present application, the cross linear slide includes an X-axis screw slide and a Y-axis screw slide that are perpendicular to each other, specifically including: an X-axis guide rail slider assembly, an X-axis ball screw nut assembly, an X-axis servo motor, a Y-axis servo motor, a Y-axis ball screw nut assembly and a Y-axis guide rail slider assembly.

[0007] As a preferred technical solution of the present application, the drum lifting assembly also includes a reducer and a lifting motor mounting seat. The lifting motor is fixedly connected to the reducer by screws, and the reducer is fixedly connected to the lifting motor mounting seat; one end of the safety rope is fixed to the lifting drum through a safety rope fixing pressure plate, and the rest of the rope is wound around the lifting drum.

[0008] As a preferred technical solution of the present application, the end of the electric telescopic rod is provided with a monocular vision sensor base, an infrared sensor mounting seat and an infrared sensor fixing piece. A number of grooves are arranged in a ring array on the infrared sensor mounting seat. The infrared sensor is installed in the grooves and fixed by the infrared sensor fixing piece; the monocular vision sensor is fixedly connected to the monocular vision sensor base by screws, and the monocular vision sensor base is fixedly connected to the infrared sensor mounting seat by screws.

[0009] As a preferred technical solution of the present application, a detection rod base, a detection rod connecting tube 1, and a detection rod connecting tube 2 which are hingedly connected in sequence are provided between the electric telescopic rod and the reel mounting base; in the folded state, the detection rod base and the detection rod connecting tube 2 are perpendicular to each other in different planes, and the detection rod connecting tube 2 is temporarily fixed by the detection rod fixing buckle arranged on the cross linear slide.

[0010] As a preferred technical solution of the present application, an upper hook component and a lower hook component connected by bolts are provided between the hook and the safety rope, the middle holes of the hook and the lower hook component are connected to form rotation, the upper hook component is connected to the safety rope, the gas detector component is built in between the upper hook component and the lower hook component, and the lower hook component is provided with a slot for ventilation.

[0011] As an optimal technical solution of the present application, the electric telescopic rod includes a wire-taking servo motor, a wire-taking box, a multi-layer telescopic rod, and multiple sections of traction rope. The wire-taking servo motor drives the traction rope to contract through the wire-taking box and drives the multi-layer telescopic rod to extend and retract.

[0012] As a preferred technical solution of the present application, the multi-layer telescopic rod includes, from the outside to the inside, a detection rod upper arm, a second arm, a third arm, and a detection rod lower arm, and the detection rod upper arm is also provided with a upper arm fixing rivet, a upper arm transition pulley, and an upper arm intermediate pulley; the second arm is provided with a second arm rope row rivet and a second arm intermediate pulley; the third arm is provided with a three-arm fixing rivet, a three-arm intermediate pulley, and the detection rod lower arm is provided with an intermediate pulley and a lower arm fixing rivet; and the traction rope 1 wound in the wire-winding box passes through the upper arm transition pulley and the upper arm intermediate pulley and is fixedly connected with the second arm rope row rivet; the traction rope 2 wound in the wire-winding box passes through the upper arm transition pulley and is fixedly connected with the lower arm fixing rivet; one end of the traction rope 3 is fixedly connected to the second arm rope row rivet and the other end is fixedly connected to the lower arm intermediate pulley through the third arm intermediate pulley; one end of the traction rope 4 is fixedly connected to the upper arm fixing rivet and the other end is fixedly connected to the lower arm intermediate pulley through the second arm intermediate pulley and the third arm fixing rivet.

[0013] As a preferred technical solution of the present application, the wire taking-up box includes a bevel gear group, a two-stage spur gear group, a large reel, a small reel, a fixed pulley group and a pulley bracket. The output shaft of the wire taking-up servo motor is sequentially connected to the bevel gear group and the two-stage spur gear group. The two-stage spur gear group has two driven ends. The large reel is installed on the large reel shaft where one driven end is located, and the small reel is installed on the gear shaft where the other driven end is located; and the traction rope 1 passes through the fixed pulley group and is wound around the large reel, and the traction rope 2 passes through the fixed pulley group and is wound around the small reel.

[0014] As a preferred technical solution of the present application, the bevel gear group includes a driven bevel gear and an input shaft bevel gear connected to the output shaft of the take-up servo motor; the two-stage spur gear group includes a driving cylindrical gear, an intermediate gear, a large drum driving gear and a gear shaft; the driven bevel gear and the driving cylindrical gear are fixed through the input shaft; the driving cylindrical gear is meshed with the intermediate gear, and the intermediate gear is respectively meshed with the large drum driving gear and the gear shaft.

[0015] The valve well rescue device provided by the present invention has the following advantages over the prior art: 1. The present invention can solve the problem of the current lack of underground rescue devices. The design adopts a folding ladder-type main structure. The detection rod can be retracted and folded to the side of the middle slide when not in use, making the entire device not only easy to store and portable, but also simple and convenient to use.

[0016] 2. The present invention adopts harmful gas detection and obstacle avoidance technology. The servo motor is connected to the detector and then automatically or by buttons of the control system to enable construction workers to go up and down and avoid obstacles. When the detector detects a dangerous signal, it can send a signal to the control system to take corresponding actions. It can react faster than humans and significantly reduce the manual operation and fatigue intensity of maintenance personnel.

[0017] 3. The present invention uses the rope row principle to design a retractable mechanism and transmission device, and uses the motor to drive the reel to rotate forward and reverse to retract and release the traction rope, so as to achieve the purpose of retracting the detection rod. The detection rod adopts a hollow structure and can be built-in with sensor signal lines, etc. The whole structure is compact and lightweight.

[0018] 4. The present invention uses a probe rod to go deep into the well to detect obstacles. A monocular vision sensor and three infrared sensors are installed on the top of the probe rod. The infrared sensor assists the visual sensor to achieve 360-degree obstacle detection and make the detection results more accurate.

[0019] 5. The present invention designs a hook structure in which the gas detector is built-in, which is deep underground and close to the workers. It can directly detect the concentration of harmful gases breathed by the workers and shorten the response time.

[0020] 6. The present invention utilizes dual guide rails in the X and Y platforms, eliminating the problem of excessive load on a single guide rail and ensuring smoother operation. The hoisting system utilizes a crane drum structure, designed with a main shaft, flange, and drum housing. This allows forces on the drum housing to be transmitted via the flange to the main shaft, and then to the support frame via the angular contact ball bearings, thus preventing fatigue wear on the reducer output shaft.

[0021] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a right view of the present invention in a folded state; Figure 3 This is the main view of the working state of the present invention; Figure 4 This is a schematic diagram of the telescopic principle of the detection rod of the present invention; Figure 5 This is an axonometric diagram of the probe rod of the present invention; Figure 6 This is an axonometric diagram of the reel drive of the take-up box of the present invention; Figure 7 This is a schematic diagram of the explosion installation of the sensor of the present invention; Figure 8 This is a schematic diagram of a hook assembly of the present invention; Figure 9 For the present invention Figure 4 A partial enlarged view of Figure 10 This is a top view schematic diagram of the reel drive of the take-up box of the present invention; Description of reference numerals: 1. Support column 1; 2. Support column 2; 3. Y-axis servo motor; 4. Y-axis ball screw nut assembly; 5. Y-axis guide rail slider assembly; 6. Intermediate slide; 7. Lifting motor; 8. Reducer; 9. Lifting motor mounting base; 10. Lifting drum; 11. Safety rope; 12. Safety rope fixing plate; 13. Probe rod base; 14. Probe rod connecting pipe 1; 15. Probe rod connecting pipe 2; 16. Wire take-up box cover; 17. Wire take-up servo motor; 18. Intermediate platform; 19. X-axis ball screw nut assembly; 20. X-axis servo motor; 21. X-axis guide rail slider assembly; 22. Probe rod arm; 23. Probe rod fixing buckle; 24. Monocular vision sensor; 25. Wire take-up box; 26. Reel mounting base; 27. Upper hook assembly; 28. Lower hook assembly; 29. ​​Lifting hook; 30. Traction rope 1; 31. Pulley bracket; 32. Small drum; 33. Fixed rivet for upper arm; 34. Transition pulley for upper arm; 35. Rope row rivet for second arm; 36. Traction rope 2; 37. Fixed rivet for third arm; 38. Middle pulley for lower arm; 39. Fixed rivet for lower arm; 40. Traction rope 3; 41. Middle pulley for second arm; 42. Lower arm of probe rod; 43. Middle pulley for third arm; 44. Third arm; 45. Second arm; 46. Middle pulley for upper arm; 47. Traction rope 4 ; 48. Input shaft bevel gear; 49. Driving cylindrical gear; 50. Intermediate gear; 51. Large drum; 52. Infrared sensor mounting seat; 53. Infrared sensor fixing piece; 54. Monocular vision sensor base; 55. Infrared sensor; 56. Fixed pulley set; 57. Large drum driving gear; 58. Input shaft; 59. Intermediate shaft; 60. Driven bevel gear; 61. Large drum shaft; 62. Gear shaft; 63. Cylindrical spring; 64. Gas detector assembly. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] like Figures 1 to 10As shown, the valve well rescue device of the present invention includes: a folding herringbone ladder, a cross linear slide, a detection rod assembly, and a drum lifting assembly; the drum lifting assembly has a drum mounting base plate 26, a lifting motor 7, a lifting drum 10, a safety rope 11 and a hook 29, and a gas detector assembly 64 is installed on the hook 29. The drum mounting base plate 26 is fixedly connected to the slider of the horizontally arranged cross linear slide, and the cross linear slide is fixedly installed at the lower end of the middle platform 18 of the folding herringbone ladder. The detection rod assembly includes an electric telescopic rod connected to the drum mounting base plate 26, and a monocular vision sensor 24 and an infrared sensor 55 arranged at the front end of the electric telescopic rod.

[0025] Specifically, the folding stepladder includes support columns 1, 2, and an intermediate platform 18. Support columns 1 and 2 are connected by a top beam to enable rotation. The cross linear slide comprises mutually perpendicular X-axis and Y-axis lead screw slides, specifically including an X-axis guide rail slider assembly 21, an X-axis ball screw nut assembly 19, an X-axis servo motor 20, a Y-axis servo motor 3, a Y-axis ball screw nut assembly 4, and a Y-axis guide rail slider assembly 5. The Y-axis servo motor 3 is fixed to the intermediate slide 6 via a motor mount, and the intermediate slide 6 is connected to the X-axis guide rail slider assembly via a slider to enable movement. The reel mounting base 26 is connected to the Y-axis guide rail slider assembly 5 via a slider to enable movement.

[0026] The drum lifting assembly also includes a reducer 8 and a lifting motor mounting base 9. The lifting motor 7 is fixedly connected to the reducer 8 by screws, and the reducer 8 is fixedly connected to the lifting motor mounting base 9, which is fixed to the middle slide 6 by bolts; one end of the safety rope 11 is fixed to the lifting drum 10 through the safety rope fixing pressure plate 12, and the rest of the safety rope is wound around the lifting drum 10.

[0027] A detection rod base 13, a detection rod connecting pipe 14, and a detection rod connecting pipe 2 15 which are hingedly connected in sequence are provided between the electric telescopic rod and the reel mounting base 26; the detection rod base 13 is fixed to the reel mounting base 26 by bolts, and is hinged to the detection rod connecting pipe 1 14 to form a rotation, the detection rod connecting pipe 1 14 is hinged to the detection rod connecting pipe 2 15 to form a rotation, and the detection rod connecting pipe 2 15 is hinged to the detection rod arm 22 to form a rotation, and in the folded state, the detection rod base 13 and the detection rod connecting pipe 2 15 are not perpendicular to the same plane.

[0028] The take-up box cover 16 is fixed to the take-up box body 25 by screws, and the take-up box body 25 is fixedly connected to the detection rod arm 22 by screws, and the take-up servo motor 17 is fixed to the take-up box body 25 by bolts; Figure 3As shown, the detection rod fixing buckle 23 is fixed to the middle slide plate 6 by bolts. When the detection tube is not in use, the detection rod fixing buckle 23 is fixed to the detection rod arm 22 by surface contact (as shown in FIG. Figure 1 as shown), to achieve the purpose of storage.

[0029] like Figure 8 As shown, an upper hook component 27 and a lower hook component 28 are provided between the hook 29 and the safety rope 11. The upper hook component 27 and the lower hook component 28 are connected by bolts. The middle holes of the hook 29 and the lower hook component 28 are connected to form rotation, so the hook 29 can rotate arbitrarily within a week; the upper hook component 27 is connected to the safety rope 11, and the connection is a flexible connection and can be movable; the gas detector component 64 is built in between the upper hook component 27 and the lower hook component 28, and the lower hook component 28 has a slot to allow gas to enter.

[0030] like Figure 5 、 7 As shown, the end of the electric telescopic rod is provided with a monocular vision sensor base 54, an infrared sensor mounting seat 52 and an infrared sensor fixing piece 53. A plurality of grooves are arranged in a ring array on the infrared sensor mounting seat 52. The infrared sensor 55 is installed in the groove and fixed by the infrared sensor fixing piece 53; the monocular vision sensor 24 is fixedly connected to the monocular vision sensor base 54 by screws, and the monocular vision sensor base 54 is fixedly connected to the infrared sensor mounting seat 52 by screws, and the infrared sensor mounting seat 52 is fixedly connected to the detection rod arm 42 by screws; the infrared sensor fixing piece 53 protrudes and is inserted into the side hole of the infrared sensor 55, and is then fixed to the infrared sensor mounting seat 52 by screws, and the inner side of the infrared sensor 55 is fixed by deforming the cylindrical spring 63.

[0031] like Figure 4 、 Figure 9 As shown, the electric telescopic rod includes a wire-taking servo motor 17, a wire-taking box 25, a multi-layer telescopic rod, and multiple sections of traction rope. The wire-taking servo motor 17 drives the traction rope to contract through the wire-taking box 25 and drives the multi-layer telescopic rod to extend and retract.

[0032] The multi-layer telescopic rod includes, from the outside to the inside, a detection rod upper arm 22, a second arm 45, a third arm 44, and a detection rod lower arm 42. The detection rod upper arm 22 is also provided with an upper arm fixing rivet 33, an upper arm transition pulley 34, and an upper arm intermediate pulley 46; the second arm 45 is provided with a second arm rope row rivet 35 and a second arm intermediate pulley 41; the third arm 44 is provided with a three-arm fixing rivet 37 and a three-arm intermediate pulley 43; the detection rod lower arm 42 is provided with an arm intermediate pulley 38 and an arm fixing rivet 39.

[0033] The wire-taking box 25 includes a bevel gear group, a two-stage spur gear group, a large reel 51, a small reel 32, a fixed pulley group 56 and a pulley bracket 31. The output shaft of the wire-taking servo motor 17 is sequentially connected to the bevel gear group and the two-stage spur gear group. The two-stage spur gear group has two driven ends. The large reel 51 is installed on the large reel shaft 61 where one driven end is located, and the small reel 32 is installed on the gear shaft 62 where the other driven end is located.

[0034] One end of the traction rope 30 is fixed and wound around the big drum 51, and the other end is fixedly connected to the second-arm rope row rivet 35 through the fixed pulley group 56, the big arm transition pulley 34, the big arm intermediate pulley 46; one end of the traction rope 2 36 is fixed and wound around the small drum 32, and the other end is fixedly connected to the forearm fixed rivet 39 through the fixed pulley group 56, the big arm transition pulley 34; one end of the traction rope 340 is fixedly connected to the second-arm rope row rivet 35, and the other end is fixedly connected to the forearm intermediate pulley 38 through the third-arm intermediate pulley 43; one end of the traction rope 47 is fixedly connected to the big arm fixed rivet 33, and the other end is fixedly connected to the third-arm fixed rivet 37 through the second-arm intermediate pulley 41; the fixed pulley group 56 rotates with the pulley bracket 31, and the pulley bracket 31 is mounted on the take-up box 25 by screws.

[0035] like Figure 6 、 Figure 10 As shown, the bevel gear set includes a driven bevel gear 60 and an input shaft bevel gear 48 connected to the output shaft of the take-up servo motor 17; the secondary spur gear set includes a driving cylindrical gear 49, an intermediate gear 50, a large reel driving gear 57 and a gear shaft 62.

[0036] The output shaft of the take-up servo motor 17 is fixedly connected to the input shaft bevel gear 48 by fasteners such as keys. The input shaft bevel gear 48 meshes with the driven bevel gear 60, and the driven bevel gear 60 and the driving cylindrical gear 49 are axially and circumferentially fixed on the input shaft 58 by keys, shaft shoulders, and sleeves; the driving cylindrical gear 49 meshes with the intermediate gear 50, and the intermediate gear 50 is axially and circumferentially fixed on the intermediate shaft 59 by keys, shaft shoulders, and sleeves; the intermediate gear 50 meshes with the large reel drive gear 57 and the gear shaft 62 respectively; the large reel 51 and the large reel drive gear 57 are axially and circumferentially fixed on the large reel shaft 61 by keys, shaft shoulders, and sleeves; the large reel shaft 61, gear shaft 62, intermediate shaft 59, input shaft 58 rotate with the inner ring of the bearing, and then the outer ring of the bearing is fixedly connected to the take-up box 25 by interference fit.

[0037] The working principle and working process of the valve well rescue device of the present invention are briefly described below.

[0038] Before going down the well, maintenance workers should inspect the well environment to eliminate harmful gases and other dangerous factors. The present invention uses a probe rod to detect the downhole environment. A monocular vision sensor 24 and three infrared sensors 55 are mounted on top of the probe rod. The monocular vision sensor 24 identifies obstacles during the rescue process, and the three infrared sensors 55 assist in more accurate obstacle identification. A gas detector assembly 64, installed within the hook assembly, can detect harmful gas concentrations deep underground in real time. If the concentration exceeds the standard, it sends a signal to the control system.

[0039] Underground rescue can be divided into two processes: lowering and lifting. When not in use, the entire rescue device is in a folded state. Figure 2 As shown, the rescue device is deployed during operation. Figure 3 As shown, it is placed on the well surface. After the maintenance worker puts on a safety harness (not shown), the probe rod is deployed. A manual button is then used to control the X-axis servo motor 20, which rotates the X-axis ball screw nut assembly 19. This rotational motion is converted into linear motion, driving the intermediate slide 6 along the X-axis guide rail slider assembly 21. Similarly, the Y-axis servo motor 3 is controlled to rotate the Y-axis ball screw nut assembly 4, which in turn drives the side-mounted drum mounting base 26 along the Y-axis guide rail slider assembly 5. The XY platform, combining two degrees of freedom, allows the maintenance worker to move in a planar manner, avoiding obstacles. Finally, the lifting motor 7 is controlled via the reducer 8, which rotates the drum to lower the rope, allowing the worker to be lowered, while also controlling the lowering of the probe rod.

[0040] The principle of lowering the detection rod is as follows: control the take-up servo motor 17. When the motor rotates forward, the power is transmitted from the input shaft bevel gear 48 to the driven bevel gear 60, and then the driven bevel gear 60 drives the driving cylindrical gear 49 to rotate through the input shaft 58. The driving cylindrical gear 49 drives the intermediate gear 50. The intermediate gear 50 is engaged with the large drum drive gear 57 and the gear shaft 62 at the same time. The large drum drive gear 57 and the gear shaft 62 drive the large drum 51 and the small drum 32 respectively. The small drum 32 rotates to release the traction rope 2 36, and the large drum 51 rotates to retract the traction rope 1 30.

[0041] When traction rope 1 (30) shortens, it passes through boom transition pulley 34 and boom intermediate pulley 46, pulling on arm 2 (arm) rope row rivet 35, which is fixed to arm 45, thereby pulling arm 45 out. Since the total length of traction rope 4 (47) and traction rope 3 (40) remains unchanged, one end of traction rope 4 (47) is fixed to boom fixing rivet 33. When arm 45 is extended, arm intermediate pulley 41 moves outward, driving traction rope 4 (47) to pull arm 3 fixing rivet 37, thereby extending arm 44. Meanwhile, traction rope 3 (40) is fixed to arm 2 (arm) rope row rivet 35. When arm 44 is extended, arm intermediate pulley 43 drives traction rope 3 (40) to pull arm intermediate pulley 38, thereby extending the arm.

[0042] Since the length of the traction rope 2 36 changes to 3 times that of the traction rope 1 30 during the extension and retraction process, the rotation speed of the small drum 32 should be 3 times that of the large drum 51. This is achieved by controlling the number of teeth of the gear shaft 62 and the large drum drive gear 57 to make the transmission ratio 3. At this point, the detection rod is extended and the worker descends to the bottom of the well to complete the lowering process. Afterwards, the gas detector component 64 detects the underground environment in real time. The lifting process is basically the same as the lowering process, but the lifting process can be automatically controlled. When harmful gases are detected or the concentration of harmful gases exceeds the standard, a signal is sent to the control system, and at the same time, an alarm sounds to remind the workers to prepare to ascend. Subsequently, according to the signals of the infrared sensor 55 of the detection rod and the monocular vision sensor 24, the control system controls the X-direction servo motor 20 and the Y-direction servo motor 3 to drive the middle slide 6 and the drum mounting base plate 26 to move in the X and Y directions respectively to achieve horizontal obstacle avoidance.

[0043] At the same time, the lifting motor 7 rotates the lifting drum 10 to lift the worker from the bottom of the well. Simultaneously, the probe rod is retracted at a constant rate. The principle of probe rod retraction is similar to that of extension. Unlike lowering, the take-up servo motor 17 reverses during retraction, causing the small drum 32 to retract the traction rope 2 36. This traction rope 2 36 pulls the small arm fixing rivet 39 via the fixed pulley set 56 and the large arm transition pulley 34. Simultaneously, the large drum 51 releases the traction rope 1 30, thereby retracting the various sections of the arm. This is the exact opposite of the lowering process, and the lifting process is completed once the worker reaches a safe area. If there is no emergency, the manual button can still be used to control the lift to a safe area, which is basically the same as the lowering process, thus completing the rescue process.

[0044] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A valve well rescue device, characterized in that: include: A folding stepladder, a cross linear slide, a detection rod assembly, and a drum lifting assembly; the drum lifting assembly comprises a drum mounting base plate (26), a lifting motor (7), a lifting drum (10), a safety rope (11), and a hook (29); a gas detector assembly (64) is mounted on the hook (29); the drum mounting base plate (26) is fixedly connected to a slider of the horizontally arranged cross linear slide, and the cross linear slide is fixedly mounted at the lower end of the middle platform (18) of the folding stepladder; the detection rod assembly comprises an electric telescopic rod connected to the drum mounting base plate (26), and a monocular vision sensor (24) and an infrared sensor (55) arranged at the front end of the electric telescopic rod.

2. The valve well rescue device according to claim 1, characterized in that: The cross linear slide comprises an X-axis lead screw slide and a Y-axis lead screw slide which are perpendicular to each other, and specifically comprises: an X-axis guide rail slider assembly (21), an X-axis ball screw nut assembly (19), an X-axis servo motor (20), a Y-axis servo motor (3), a Y-axis ball screw nut assembly (4) and a Y-axis guide rail slider assembly (5).

3. The valve well rescue device according to claim 1, characterized in that: The drum lifting assembly also includes a reducer (8) and a lifting motor mounting seat (9); the lifting motor (7) is fixedly connected to the reducer (8) by screws, and the reducer (8) is fixedly connected to the lifting motor mounting seat (9); one end of the safety rope (11) is fixed to the lifting drum (10) by a safety rope fixing pressure plate (12), and the remaining part is wound around the lifting drum (10).

4. The valve well rescue device according to claim 1, characterized in that: A monocular vision sensor base (54), an infrared sensor mounting seat (52) and an infrared sensor fixing member (53) are provided at the end of the electric telescopic rod; a plurality of grooves are arranged in a ring array on the infrared sensor mounting seat (52); the infrared sensor (55) is installed in the grooves and fixed by the infrared sensor fixing member (53); the monocular vision sensor (24) is fixedly connected to the monocular vision sensor base (54) by means of screws, and the monocular vision sensor base (54) is fixedly connected to the infrared sensor mounting seat (52) by means of screws.

5. The valve well rescue device according to claim 1, characterized in that: A detection rod base (13), a detection rod connecting tube 1 (14), and a detection rod connecting tube 2 (15) are provided between the electric telescopic rod and the reel mounting base plate (26) and are hingedly connected in sequence; in a folded state, the detection rod base (13) and the detection rod connecting tube 2 (15) are skewed and perpendicular, and a detection rod fixing buckle (23) provided on the cross linear slide temporarily fixes the detection rod connecting tube 2 (15).

6. The valve well rescue device according to claim 1, characterized in that: An upper hook component (27) and a lower hook component (28) connected by bolts are provided between the hook (29) and the safety rope (11); the middle holes of the hook (29) and the lower hook component (28) are connected to form a rotation; the upper hook component (27) is connected to the safety rope (11); the gas detector component (64) is built in between the upper hook component (27) and the lower hook component (28); and the lower hook component (28) is provided with a slot for ventilation.

7. The valve well rescue device according to claim 1, characterized in that: The electric telescopic rod comprises a wire-taking servo motor (17), a wire-taking box (25), a multi-layer telescopic rod, and a plurality of sections of traction ropes. The wire-taking servo motor (17) drives the traction rope to contract and drives the multi-layer telescopic rod to extend and retract via the wire-taking box (25).

8. The valve well rescue device according to claim 7, characterized in that: The multi-layer telescopic rod comprises, from the outside to the inside, a detection rod upper arm (22), a second arm (45), a third arm (44), and a detection rod lower arm (42); the detection rod upper arm (22) is also provided with an upper arm fixing rivet (33), an upper arm transition pulley (34), and an upper arm intermediate pulley (46); the second arm (45) is provided with a second arm rope row rivet (35) and a second arm intermediate pulley (41); the third arm (44) is provided with a third arm fixing rivet (37) and a third arm intermediate pulley (43); the detection rod lower arm (42) is provided with an intermediate pulley (38) and a lower arm fixing rivet (39); The traction rope 1 (30) wound in the wire take-up box (25) passes through the upper arm transition pulley (34), the upper arm middle pulley (46), and is fixedly connected to the second arm rope row rivet (35); the traction rope 2 (36) wound in the wire take-up box (25) passes through the upper arm transition pulley (34), and is fixedly connected to the forearm fixed rivet (39); one end of the traction rope 3 (40) is fixedly connected to the second arm rope row rivet (35), and the other end passes through the third arm middle pulley (43) and is fixedly connected to the forearm middle pulley (38); one end of the traction rope 4 (47) is fixedly connected to the upper arm fixed rivet (33), and the other end passes through the second arm middle pulley (41) and is fixedly connected to the third arm fixed rivet (37).

9. The valve well rescue device according to claim 8, characterized in that: The wire take-up box (25) comprises a bevel gear set, a two-stage spur gear set, a large drum (51), a small drum (32), a fixed pulley set (56) and a pulley bracket (31); the output shaft of the wire take-up servo motor (17) is sequentially connected to the bevel gear set and the two-stage spur gear set in a transmission manner; the two-stage spur gear set has two driven ends; the large drum (51) is mounted on a large drum shaft (61) where one driven end is located, and the small drum (32) is mounted on a gear shaft (62) where the other driven end is located; and the traction rope 1 (30) passes through the fixed pulley set (56) and is wound around the large drum (51); and the traction rope 2 (36) passes through the fixed pulley set (56) and is wound around the small drum (32).

10. The valve well rescue device according to claim 9, characterized in that: The bevel gear set comprises a driven bevel gear (60) and an input shaft bevel gear (48) connected to the output shaft of a wire-reeling servo motor (17); the secondary spur gear set comprises a driving cylindrical gear (49), an intermediate gear (50), a large reel driving gear (57) and a gear shaft (62); the driven bevel gear (60) and the driving cylindrical gear (49) are fixed via an input shaft (58); the driving cylindrical gear (49) is meshed with the intermediate gear (50), and the intermediate gear (50) is respectively meshed with the large reel driving gear (57) and the gear shaft (62).

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