TWI601614B - Rescue and relief primary-secondary robot - Google Patents
Rescue and relief primary-secondary robot Download PDFInfo
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- TWI601614B TWI601614B TW104112872A TW104112872A TWI601614B TW I601614 B TWI601614 B TW I601614B TW 104112872 A TW104112872 A TW 104112872A TW 104112872 A TW104112872 A TW 104112872A TW I601614 B TWI601614 B TW I601614B
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Description
本發明係為一種救援救災子母機器人；尤指一種整合高機動性之載具、多功能之機械手臂、連動式佈放裝置、即時監控雲台及偵查補給子機器人，以達到執行救援救災任務、降低救援人員傷亡的風險、提升救援成功的機率之功效，提升子母機器人之實用性及使用效率之救援救災子母機器人。The invention relates to a rescue disaster relief mother robot; in particular to a vehicle with integrated high mobility, a multifunctional robot arm, a linkage deployment device, an instant monitoring cloud platform and a detection supply sub-robot to achieve the rescue and disaster relief task. It will reduce the risk of casualties of rescuers, improve the effectiveness of rescue success, and enhance the practicality and efficiency of the mother-in-law robot.
按習知應用於救援、救災或偵查之機器人結構，如台灣新型公告第M449601之「防災機器人組」，係於一行動載具上固設一救災機器人或偵測機器人，以利用該行動載具將救災機器人或偵測機器人移動到救災地點或偵測地點，進行單一之救災或偵測任務。A robotic structure that is applied to rescue, disaster relief or investigation, such as the "Disaster Prevention Robotics Group" of Taiwan's New Bulletin No. M449601, is to fix a disaster relief robot or a detection robot on a mobile vehicle to utilize the mobile vehicle. Move a disaster relief robot or a detection robot to a disaster relief location or detection location for a single disaster relief or detection mission.
或如台灣新型公告第M282811號之「移動式母子型機器人」，係利用一母車搭載一子機器人，並利用母車之可升降載台或導板將子機器人運送至特定地點後，再利用子機器人進行偵查任務。Or, as for the "Mobile Parent-Child Robot" of Taiwan's New Bulletin No. M282811, a child robot is used to carry a sub-robot, and the sub-robot can be transported to a specific location by using the liftable platform or guide of the mother vehicle. The sub-robot performs a reconnaissance task.
然而，該習知應用於救援、救災或偵查之機器人皆僅為了單一目的而設置，故每一種機器人僅得以完成單一任務，若要進行較為複雜的救援救災任務，則必需同時出動多台具有不同功能之機器人；如此將使得救援救災人員必需花費大量的時間和精力在機器人的調度上，且必需增設多組人員分別對不同機器人進行操控，而浪費大量人力資源，使機器人之使用不具實用性。However, the robots used in rescue, disaster relief or investigation are set for a single purpose, so each robot can only perform a single task. To carry out more complex rescue and relief tasks, it is necessary to simultaneously dispatch multiple units. Functional robots; this will make it necessary for rescue and relief personnel to spend a lot of time and energy on the robot's dispatch, and it is necessary to add multiple groups of personnel to control different robots separately, which wastes a lot of human resources and makes the use of robots impractical.
緣此，本發明者積多年相關技術領域之豐富設計開發及製造實施經驗，針對習知應用於救援、救災及偵查之機器人之缺點再予以研究改良，而發明本案。As a result, the inventors have accumulated rich experience in design, development, and manufacturing implementation in related technical fields for many years, and have researched and improved the shortcomings of the robots used in rescue, disaster relief, and investigation, and invented the case.
本發明之目的，乃在創作一種具有高機動性之載具、多功能之機械手臂、連動式佈放裝置及即時監控雲台之母機器人，並於母機器人之佈放裝置內搭載複數台偵查補給子機器人，使子母機器人應用於各種人員不適合進入的災害現場進行救援救災時，得使用遠端操控技術連接至子母機器人，並將子母機器人遙控至災害現場，且透過子母機器人所回傳之現場資訊，進一步對子母機器人下達救援、救災或偵查指令，並可根據災害現場的狀況，利用母機器人之佈放裝置快速派遣各種偵查補給子機器人到各種母機器人無法進入的特殊環境內進行偵查及補給操作，以達到救援救災之目的，並降低救援救災人員的傷亡風險。The object of the present invention is to create a carrier with high mobility, a multifunctional robot arm, a linkage type deployment device, and a mother robot for real-time monitoring of the pan/tilt, and carry a plurality of detections in the deployment device of the mother robot. When the sub-robot is replenished and applied to the disaster scene where various personnel are not suitable for disaster relief, it is necessary to use remote control technology to connect to the sub-mother robot, and remotely control the sub-robot to the disaster site, and through the robot Returning the on-site information, further issuing rescue, disaster relief or investigation instructions to the mother robot, and according to the situation of the disaster site, using the deployment device of the mother robot to quickly dispatch various investigation and supply sub-robots to special environments that various female robots cannot enter. Investigate and replenish operations to achieve the purpose of rescue and disaster relief, and reduce the risk of casualties for rescue and relief personnel.
本發明之救援救災子母機器人，至少包含載具、機械手臂2、佈放裝置、監控雲台及子機器人，前述載具設載體，並於載體設電控裝置，前述電控裝置係與載具、機械手臂、佈放裝置及監控雲台電性連接，以透過電控裝置進行母機器人所有裝置之收發訊號及操控，前述載體上方設旋轉式載台，並於載體左右兩側設移動裝置；前述機械手臂係設置於前述載具之載台前端，前述機械手臂設拋射裝置及對地裝置；前述佈放裝置係設置於前述載具之載台後端，並為一連動式結構，前述佈放裝置設伸縮組件，該伸縮組件係設置於前述載台之中間位置，前述佈放裝置設兩組佈放架，該佈放架係設置於前述載台之兩側，並連接前述伸縮組件，前述佈放架樞設一佈放管，以利用佈放管搭載複數子機器人；前述監控雲台係架設於前述載具之載台後端，前述監控雲台設支撐架，該支撐架係固設於前述載台上，並於支撐架上端設監控室，前述監控室設透明外罩。The rescue disaster relief mother robot of the present invention comprises at least a vehicle, a robot arm 2, a deployment device, a monitoring cloud platform and a sub-robot, the carrier is provided with a carrier, and an electronic control device is arranged on the carrier, and the electronic control device and the carrier are The electrical connection between the device, the mechanical arm, the deployment device and the monitoring pan/tilt is carried out to transmit and receive signals and control of all the devices of the female robot through the electronic control device, and the rotating carrier is arranged above the carrier, and the mobile device is arranged on the left and right sides of the carrier; The mechanical arm is disposed at a front end of the carrier of the carrier, and the robot arm is provided with a projecting device and a grounding device; the placing device is disposed at a rear end of the carrier of the carrier, and is a interlocking structure, and the cloth is The telescopic assembly is provided with a telescopic assembly, and the telescopic assembly is disposed at an intermediate position of the loading platform. The deployment device is provided with two sets of laying racks, and the laying rack is disposed on two sides of the loading platform, and is connected to the telescopic assembly. The cloth rack is pivotally provided with a laying pipe for carrying a plurality of sub-robots by using the laying pipe; the monitoring cloud platform is erected at the rear end of the carrier of the carrier, and the monitoring cloud platform is provided The support frame is fixed on the aforementioned loading platform, and a monitoring room is arranged on the upper end of the support frame, and the monitoring room is provided with a transparent cover.
本發明之救援救災子母機器人，其中前述載具之載體設第一動力裝置、第二動力裝置及電控裝置，前述第一動力裝置之動力係連接至室腔後側之第一傳動軸，前述第二動力裝置之動力係連接至室腔前側之第二傳動軸；前述移動裝置設主動輪，以連接前述第一動力裝置之第一傳動軸，前述主動輪之外圍係設置一履帶；前述移動裝置之主動輪之一側設抬升模組，該抬升模組於前述第二傳動軸之外側係樞設一抵頂前述履帶下方之第一轉輪，並於第二傳動軸之端部固設第一連動桿，前述第一連動桿之端部係樞設一抵頂前述履帶前方之第二轉輪，並於第二轉輪之另一側樞設第二連動桿，前述第二連動桿之端部係樞設一抵頂前述履帶上方之第三轉輪，並於第三轉輪樞設第三連動桿，該第三連動桿之端部係樞設前述第一動力裝置之第一傳動軸；前述移動裝置設爪鈎模組，該爪鈎模組係設置於前述抬升模組之外側，前述爪鈎模組設第一支撐桿，該第一支撐桿之一端係固設於前述載體之側邊，另一端係樞設第一套體，前述第一支撐桿之垂直方向固設第二支撐桿，該第二支撐桿係與水平面形成一小於90度之夾角，並於第二支撐桿端部之一側樞設第二套體，前述爪鈎模組設第一臂桿，該第一臂桿係套設於前述第一套體內，且該第一臂桿之一端係樞設一桿體，並將該桿體之另一端設置於前述抬升模組之第二連動桿上，前述第一臂桿之另一端係樞設第二臂桿，該第二臂桿係套設於前述第二套體內，並於該第二臂桿之端部設爪鈎。The rescue disaster relief mother robot of the present invention, wherein the carrier of the carrier is provided with a first power device, a second power device and an electric control device, and the power of the first power device is connected to the first drive shaft of the rear side of the chamber, The power of the second power unit is connected to the second transmission shaft on the front side of the chamber; the moving device is provided with a driving wheel to connect the first transmission shaft of the first power unit, and a track is disposed on the periphery of the driving wheel; One side of the driving wheel of the mobile device is provided with a lifting module, and the lifting module is pivoted on the outer side of the second transmission shaft to abut the first rotating wheel below the track, and is fixed at the end of the second transmission shaft. a first linkage rod is disposed, the end portion of the first linkage rod is pivoted to a second rotating wheel in front of the crawler belt, and the second linkage rod is pivoted on the other side of the second rotating wheel, the second linkage The end of the rod is pivoted to a third rotating wheel above the crawler belt, and the third connecting rod is pivoted on the third rotating wheel, and the end of the third linking rod is pivoted with the first power device a drive shaft; the aforementioned moving device is provided with a claw a module, the claw hook module is disposed on an outer side of the lifting module, the claw hook module is provided with a first supporting rod, one end of the first supporting rod is fixed on a side of the carrier, and the other end is pivoted a first sleeve is disposed, and the second support rod is fixed in a vertical direction of the first support rod, and the second support rod forms an angle of less than 90 degrees with the horizontal plane, and is pivoted on one side of the end of the second support rod a second set of body, the claw hook module is provided with a first arm, the first arm is sleeved in the first sleeve, and one end of the first arm is pivoted with a rod, and the rod is The other end of the body is disposed on the second linkage rod of the lifting module, and the other end of the first arm pivots a second arm, and the second arm sleeve is sleeved in the second sleeve body, and A claw hook is provided at an end of the second arm.
本發明之救援救災子母機器人，其中前述機械手臂設基座，前述基座係樞設一第一臂部，並於前述基座與第一臂部下方之間設第一動力缸，前述第一臂部之上方設一固定座，以設置一拋射裝置，前述拋射裝置係為需要一特定仰角進行拋射之裝置；前述第一臂部樞設一第二臂部，並於前述第一臂部下方與第二臂部下方之間設第二動力缸，前述第二臂部樞設一座體，並於前述第二臂部與座體之間設第三動力缸，前述座體設對地裝置，以針對地面或地下狀況進行特定目的之處理作業。In the rescue disaster relief mother robot of the present invention, the robot arm is provided with a base, the base body is pivotally provided with a first arm portion, and a first power cylinder is disposed between the base and the first arm portion, the foregoing a fixing seat is disposed above an arm portion to provide a projecting device, wherein the projecting device is a device that requires a specific elevation angle for projecting; the first arm portion is provided with a second arm portion and is disposed under the first arm portion. a second power cylinder is disposed between the side and the second arm portion, the second arm portion is pivoted with a body, and a third power cylinder is disposed between the second arm portion and the seat body, and the seat body is provided with a grounding device To perform specific purposes for ground or underground conditions.
本發明之救援救災子母機器人，其中前述佈放裝置之伸縮組件設基座，該基座係固設於前述載台上；前述佈放架設底座，該底座係固設於前述載台之側邊，並於底座樞設一半開放式框架，前述半開放式框架之一側係與前述伸縮組件樞設；前述半開放式框架之端部係以第一桿體樞設一佈放管，前述佈放管之形狀係配合前述半開放式框架之形狀而設，使佈放管得以容設於前述半開放式框架內，前述第一桿體係與前述半開放式框架之一端部固定設置，並於第一桿體之前端設第一傘齒輪，前述佈放管之前端係以第二桿體樞設一蓋體，且該第二桿體係與前述蓋體固定設置，並於第二桿體對應前述第一傘齒輪處固設第二傘齒輪。The rescue disaster relief mother robot of the present invention, wherein the telescopic assembly of the deployment device is provided with a base, the base is fixed on the loading platform; the deployment is provided with a base, and the base is fixed on the side of the loading platform One side of the semi-open frame is pivoted with the telescopic assembly; the end of the semi-open frame is pivoted with a first rod body, the aforementioned The shape of the laying pipe is matched with the shape of the semi-open frame, so that the laying pipe is accommodated in the semi-open frame, and the first rod system is fixedly disposed with one end of the semi-open frame, and a first bevel gear is disposed at a front end of the first rod body, a cover body is pivoted on the front end of the cloth discharge tube, and the second rod system is fixedly disposed with the cover body and is disposed on the second rod body. A second bevel gear is fixed to the first bevel gear.
為了更進一步了解本發明，該最佳救援救災子母機器人之實施方式如圖式１～１８所示，至少包含載具1、機械手臂2、佈放裝置3、監控雲台4及子機器人5，其中：In order to further understand the present invention, the embodiment of the optimal rescue disaster relief robot is shown in FIGS. 1 to 18, and includes at least a carrier 1, a robot arm 2, a deployment device 3, a monitoring platform 4, and a sub-robot 5 ,among them:
載具1，設載體10，以容設第一動力裝置100、第二動力裝置101及電控裝置102，前述第一動力裝置100設馬達1000，並將馬達1000之動力連接至載體10後側之第一傳動軸1001，以利用第一傳動軸1001驅動移動裝置11之主動輪110轉動；前述第二動力裝置101於載體10兩側設動力缸1010，動力缸1010設動力桿1011，該動力桿1011係樞設一桿件1012，並將桿件1012之一端與第二傳動軸1013固定設置，以利用第二傳動軸驅動移動裝置11之抬升模組112運作，前述第一動力裝置100及第二動力裝置101係連接一動力源12，以利用該動力源12提供第一動力裝置100、第二動力裝置101、機械手臂2、佈放裝置3及監控雲台4所需的能量；前述電控裝置102係與載具1、機械手臂2、佈放裝置3及監控雲台4電性連接，以透過電控裝置102進行母機器人所有裝置之收發訊號及操控。前述載體10設上蓋103，並得於載體10前方設側蓋104，該側蓋104得為具有滑槽1040之可抽拉之蓋體1041，或為一樞設於載體10一端之蓋板結構（圖中未示），使載體10得打開該側蓋104以進行載體10內部裝置之調整維修，或補充更換動力源12；前述載體10設固定架105，以利用該固定架105於載體10上方設置載台106，前述載台106設底座1060，底座1060中間設置旋轉裝置1061，並於旋轉裝置1061上方設載盤1062，如此即可使載台形成一旋轉式載台，以提升載具之機動性，前述旋轉裝置1061得為具有外齒輪之軸承結構與動力螺桿所組成之旋轉結構。The carrier 1 is provided with a carrier 10 for accommodating the first power device 100, the second power device 101 and the electronic control device 102. The first power device 100 is provided with a motor 1000, and the power of the motor 1000 is connected to the rear side of the carrier 10. The first transmission shaft 1001 rotates the driving wheel 110 of the mobile device 11 by using the first transmission shaft 1001; the second power device 101 is provided with a power cylinder 1010 on both sides of the carrier 10, and the power cylinder 1010 is provided with a power rod 1011. The rod 1011 is pivotally provided with a rod 1012, and one end of the rod 1012 is fixedly disposed with the second propeller shaft 1013 to drive the lifting module 112 of the mobile device 11 by the second propeller shaft, the first power unit 100 and The second power device 101 is connected to a power source 12 to provide the first power device 100, the second power device 101, the robot arm 2, the deployment device 3, and the energy required to monitor the pan/tilt 4 by using the power source 12; The electronic control device 102 is electrically connected to the vehicle 1, the robot arm 2, the deployment device 3, and the monitoring platform 4 to transmit and receive signals and control of all devices of the parent robot through the electronic control device 102. The carrier 10 is provided with a cover 103, and a side cover 104 is disposed in front of the carrier 10. The side cover 104 is a pullable cover 1041 having a sliding slot 1040, or a cover structure pivoted at one end of the carrier 10. (not shown), the carrier 10 is allowed to open the side cover 104 for adjustment and maintenance of the internal device of the carrier 10, or to replace the power source 12; the carrier 10 is provided with a fixing frame 105 for utilizing the fixing frame 105 on the carrier 10. The stage 106 is disposed above, the stage 106 is provided with a base 1060, a rotating device 1061 is disposed in the middle of the base 1060, and a loading plate 1062 is disposed above the rotating device 1061, so that the loading table can form a rotating stage to lift the carrier. For the maneuverability, the rotating device 1061 is a rotating structure composed of a bearing structure having an external gear and a power screw.
前述載具1於載體10之左右兩側設移動裝置11， 前述移動裝置11設主動輪110，以連接前述第一動力裝置100之第一傳動軸1001，前述主動輪110之外圍係設置一履帶111，以利用主動輪110驅動履帶111轉動；前述主動輪110之一側設抬升模組112，該抬升模組112於前述第二傳動軸1013之外側係樞設一抵頂前述履帶111下方之第一轉輪1122，並於第二傳動軸1013之端部固設第一連動桿1123，前述第一連動桿1123之端部係樞設一抵頂前述履帶111前方之第二轉輪1124，並於第二轉輪1124之另一側樞設第二連動桿1125，前述第二連動桿1125之端部係樞設一抵頂前述履帶111上方之第三轉輪1126，並於第三轉輪1126樞設第三連動桿1127，該第三連動桿1127之端部係樞設前述第一動力裝置100之第一傳動軸1001；如圖１及１０所示，當前述第二動力裝置101之桿件1012被動力桿1011向內拉動時，桿件1012即會帶動第一連動桿1123向上轉動，此時第二連動桿1125與第三連動桿1127即會同步向上移動，以完成第二轉輪1124與第三轉輪1126之抬升，並使前述履帶111變形為梯形態樣。The carrier device 1 is provided with a moving device 11 on the left and right sides of the carrier 10. The moving device 11 is provided with a driving wheel 110 for connecting the first transmission shaft 1001 of the first power device 100, and a crawler belt is disposed on the periphery of the driving wheel 110. 111. The driving wheel 111 is driven to rotate by the driving wheel 110. One side of the driving wheel 110 is provided with a lifting module 112. The lifting module 112 is pivoted on the outer side of the second transmission shaft 1013 to abut the bottom of the crawling belt 111. The first rotating wheel 1122 is fixed to the end of the second transmission shaft 1013, and the first connecting rod 1123 is fixed to the end of the first connecting rod 1123. And a second linkage rod 1125 is pivoted on the other side of the second reel 1124. The end of the second linkage rod 1125 is pivoted to a third reel 1126 above the crawler belt 111, and is rotated at the third rotation. The wheel 1126 pivots a third linkage rod 1127, and the end of the third linkage rod 1127 pivots the first transmission shaft 1001 of the first power unit 100; as shown in FIGS. 1 and 10, when the second power unit 101 is When the rod 1012 is pulled inward by the power rod 1011, the rod 1012 will be carried The first linkage rod 1123 rotates upward, and the second linkage rod 1125 and the third linkage rod 1127 move synchronously upward to complete the lifting of the second rotation wheel 1124 and the third rotation wheel 1126, and deform the aforementioned crawler belt 111 into Ladder shape.
前述載具1之移動裝置11設爪鈎模組113，該爪鈎模組113係設置於前述抬升模組112之外側，前述爪鈎模組113設第一支撐桿1130，該第一支撐桿1130之一端係固設於前述載體10之側邊，另一端係樞設第一套體1131，前述第一支撐桿1130之垂直方向固設第二支撐桿1132，該第二支撐桿1132係與水平面形成一小於90度之夾角，並於第二支撐桿1132端部之一側樞設第二套體1133，前述第二支撐桿1132與水平面之夾角角度為20度~30度時可使爪鈎模組113具有最佳輔助攀爬之效果；前述爪鈎模組113設第一臂桿1134，該第一臂桿1134係套設於前述第一套體1131內，且該第一臂桿1134之一端係樞設一桿體1135，並將該桿體1135之另一端設置於前述抬升模組112之第二連動桿1125上，前述第一臂桿1134之另一端係樞設第二臂桿1136，該第二臂桿1136係套設於前述第二套體1133內，並於該第二臂桿之端部設爪鈎1137；如圖８～１０所示，當前述抬升模組112向上旋轉抬升時，該向後上方移動之第二連動桿1125即會驅動爪鈎模組113之第一臂桿1134向後移動，此時利用第一套體1131做為桿槓之支點，即可反向將第二臂桿1136向前推動，再利用第二套體1133做為第二支點，即可使爪鈎1137向抬升模組112所抬升的方向伸出，即可輔助移動裝置11鈎住前方之障礙物，當抬升模組112恢復至水平位置時，該爪鈎1137即會順勢向後拉回原位，以輔助移動裝置11攀越障礙物。The moving device 11 of the carrier 1 is provided with a claw hook module 113. The claw hook module 113 is disposed on the outer side of the lifting module 112. The claw hook module 113 is provided with a first supporting rod 1130. The first supporting rod is provided. One end of the 1130 is fixed to the side of the carrier 10, and the other end is pivoted with a first sleeve 1131. The first support rod 1130 is fixed with a second support rod 1132 in a vertical direction, and the second support rod 1132 is coupled to The horizontal plane forms an angle of less than 90 degrees, and the second sleeve body 1133 is pivoted on one side of the end of the second support rod 1132. The angle between the second support rod 1132 and the horizontal plane is 20 degrees to 30 degrees. The hook module 113 has an effect of optimally assisting climbing; the claw hook module 113 is provided with a first arm 1134, and the first arm 1134 is sleeved in the first sleeve 1131, and the first arm is One end of the 1134 is pivoted with a rod 1135, and the other end of the rod 1135 is disposed on the second linkage rod 1125 of the lifting module 112. The other end of the first arm 1134 is pivoted with a second arm. a rod 1136, the second arm 1136 is sleeved in the second sleeve 1133, and a claw is arranged at an end of the second arm 1137; As shown in FIG. 8-10, when the lifting module 112 is rotated up and up, the second linkage rod 1125 moving backward and upward will drive the first arm 1134 of the claw hook module 113 to move backward. By using the first sleeve 1131 as the fulcrum of the lever, the second boom 1136 can be pushed forward in the reverse direction, and the second sleeve 1133 can be used as the second pivot point, so that the claw hook 1137 can be lifted to the lift module. When the lifting direction of 112 is extended, the moving device 11 can be assisted to hook the obstacle in front. When the lifting module 112 returns to the horizontal position, the claw hook 1137 will be pulled back to the original position to assist the mobile device 11 . Climb obstacles.
機械手臂2，係設置於前述載具1之載台106前端，前述機械手臂2設基座20，並於基座20係樞設一第一臂部21，且前述基座20與第一臂部21下方之間設第一動力缸22，以利用該第一動力缸22調整基座20與第一臂部21之彎曲角度，前述第一動力缸22得為一設置於第一臂部21兩側下方之雙動力缸結構，以加強機械手臂對第一臂部的支撐力及平衡作用，亦可於該雙動力缸結構之中間設置第二動力缸25，以解決第一臂部21長度不足時無法將第一動力缸22與第二動力缸25同時設置於第一臂部下方之問題。前述第一臂部21之上方設一固定座210，以設置一拋射裝置23，前述拋射裝置23得為消防噴水器、消毒噴槍、拋繩槍、炮台等需要一特定仰角進行拋射之裝置，且得於前述第一臂部21之兩側設置探照燈（圖中未示），以輔助拋射裝置23執行夜間任務。前述第一臂部21樞設一第二臂部24，並於前述第一臂部21下方與第二臂部24下方之間設第二動力缸25，以利用該第二動力缸25調整第一臂部21與第二臂部24之彎曲角度；前述第二臂部24得設置一輔助裝置（圖中未示），以針對機械手臂前方之狀況提供一輔助功能，例如燈具、攝影機、感測器或小型武器等，端視使用之需求而定。前述第二臂部24樞設一座體26，並於前述第二臂部24與座體26之間設第三動力缸27，以利用該第三動力缸27調整第二臂部24與座體26之彎曲角度；前述座體26係用以結合一對地裝置28，該對地裝置28得為一夾爪、鑽頭、探地雷達、聲納、水雷等裝置，以針對地面或地下狀況進行特定目的之處理作業。The robot arm 2 is disposed at the front end of the carrier 106 of the carrier 1 , the robot arm 2 is provided with a base 20 , and a first arm portion 21 is pivoted on the base 20 , and the base 20 and the first arm are A first power cylinder 22 is disposed between the lower portion 21 to adjust the bending angle of the base 20 and the first arm portion 21 by the first power cylinder 22, and the first power cylinder 22 is disposed on the first arm portion 21. The dual power cylinder structure on the lower side of the two sides is used to strengthen the supporting force and balance of the mechanical arm to the first arm portion, and the second power cylinder 25 may be disposed in the middle of the dual power cylinder structure to solve the length of the first arm portion 21. When the battery is insufficient, the first power cylinder 22 and the second power cylinder 25 cannot be disposed at the same time below the first arm portion. A fixing seat 210 is disposed above the first arm portion 21 to provide a projecting device 23, and the projecting device 23 is a fire sprinkler, a disinfecting spray gun, a rope throwing gun, a turret, and the like, which requires a specific elevation angle for projecting, and A searchlight (not shown) is provided on both sides of the aforementioned first arm portion 21 to assist the projecting device 23 in performing nighttime tasks. A second arm portion 24 is pivotally disposed on the first arm portion 21, and a second power cylinder 25 is disposed between the lower portion of the first arm portion 21 and the lower portion of the second arm portion 24 to adjust the second power cylinder 25 The bending angle of the one arm portion 21 and the second arm portion 24; the second arm portion 24 is provided with an auxiliary device (not shown) to provide an auxiliary function for the situation in front of the robot arm, such as a lamp, a camera, a sense Detectors or small arms, etc., depending on the needs of the use. The second arm portion 24 pivots a body 26, and a third power cylinder 27 is disposed between the second arm portion 24 and the seat body 26 to adjust the second arm portion 24 and the seat body by the third power cylinder 27. The bending angle of 26; the seat 26 is used to couple a pair of ground devices 28, which are a jaw, a drill, a ground penetrating radar, a sonar, a mine, etc., for ground or underground conditions. A specific purpose processing operation.
佈放裝置3，係設置於前述載具1之載台106後端，前述佈放裝置3設伸縮組件30，該伸縮組件30係設置於前述載台106之中間位置，前述伸縮組件30設基座300，基座300設兩組動力缸301，動力缸301設動力桿302，前述伸縮組件30設交叉伸縮桿303，該交叉伸縮桿303之一端係連接前述基座300，另一端係連接前述動力桿302，以利用動力缸301推動動力桿302並同步帶動交叉伸縮桿303伸展及收合（如圖１５所示）；當然，前述伸縮組件30亦得不設置動力缸301、動力桿302及交叉伸縮桿303，而於前述基座300設複數鋼索捲收裝置或複數伸縮桿裝置，以利用鋼索或伸縮桿來完成伸縮組件30之伸縮運作（圖中未示）。The deployment device 3 is disposed at the rear end of the carrier 106 of the carrier 1 , and the deployment device 3 is provided with a telescopic assembly 30 . The telescopic assembly 30 is disposed at an intermediate position of the stage 106 , and the telescopic assembly 30 is provided. The base 300 is provided with two sets of power cylinders 301. The power cylinder 301 is provided with a power rod 302. The telescopic assembly 30 is provided with a cross-shaped telescopic rod 303. One end of the cross-shaped telescopic rod 303 is connected to the base 300, and the other end is connected to the foregoing. The power rod 302 is used to push the power rod 302 by the power cylinder 301 and synchronously drive the cross telescopic rod 303 to expand and collapse (as shown in FIG. 15 ); of course, the telescopic assembly 30 is also provided with the power cylinder 301 and the power rod 302 . The telescopic rod 303 is crossed, and a plurality of cable retracting devices or a plurality of telescopic rod devices are disposed on the base 300 to complete the telescopic operation of the telescopic assembly 30 (not shown) by using a steel cable or a telescopic rod.
前述佈放裝置3設兩組佈放架31，該佈放架31係設置於前述載台106之兩側，前述佈放架31設底座310，該底座310係固設於前述載台106之側邊，並於底座310樞設一半開放式框架311，前述半開放式框架311得為半圓型框架或為L型框架，並將前述伸縮組件30與該半開放式框架311之一側樞設，如此，當前述伸縮組件30向外伸出時，即可推動半開放式框架311向下轉動，並於伸縮組件30向內縮回時，驅使半開放式框架311收回原位；前述半開放式框架311得設置一滑槽312，使前述伸縮組件30得保持水平方向之伸縮，避免前述交叉伸縮桿303於伸縮過程中，因半開放式框架311旋轉時所產生之偏斜而造成交叉伸縮桿303無法順利伸展或縮合。The deployment device 3 is provided with two sets of the racks 31. The racks 31 are disposed on two sides of the loading platform 106. The racks 31 are provided with a base 310. The base 310 is fixed to the loading platform 106. The side of the base 310 is pivoted with a half open frame 311. The semi-open frame 311 is a semi-circular frame or an L-shaped frame, and the telescopic assembly 30 and one side of the semi-open frame 311 are pivoted. In this way, when the telescopic assembly 30 is extended outward, the semi-open frame 311 can be pushed downward, and when the telescopic assembly 30 is retracted inward, the semi-open frame 311 is driven back to the original position; The frame 311 is provided with a sliding slot 312, so that the telescopic assembly 30 can be stretched and contracted in the horizontal direction, so as to avoid the cross-extension of the cross-extension rod 303 during the expansion and contraction due to the deflection caused by the rotation of the semi-open frame 311. The rod 303 cannot be smoothly stretched or condensed.
前述半開放式框架311之端部係以第一桿體320樞設一佈放管32，並得將該佈放管32容設於前述半開放式框架311內，前述第一桿體320係與前述半開放式框架311之一端部固定設置，並於第一桿體320之前端設第一傘齒輪321，前述佈放管32的形狀係配合前述半開放式框架311之形狀而設，得為圓形、方形或不規則形管體，端視使用之需求而定；前述佈放管32之前端係以第二桿體322樞設一蓋體323，且該第二桿體322係與前述蓋體323固定設置，並於第二桿體322對應前述第一傘齒輪321處固設第二傘齒輪324。如圖１４～１７所示，當前述伸縮組件30向外伸出並推動半開放式框架311向下轉動時，該佈放管32即會受到重力拉引而脫離半開放式框架311，並向下呈吊掛狀態，且隨著佈放管32向下轉動，該第一桿體320即會與佈放管32呈相對轉動，以利用第一傘齒輪321驅動第二傘齒輪324轉動，使蓋體323被向上打開，反之，當伸縮組件30向內縮回時，隨著佈放管32被轉回原位，該蓋體323亦被向下蓋闔，以確保佈放管32內之子機器人5被安置定位。The end of the semi-open frame 311 is provided with a laying pipe 32 by the first rod body 320, and the laying pipe 32 is accommodated in the semi-open frame 311, and the first rod body 320 is A first bevel gear 321 is disposed at an end of the first open frame 311, and a first bevel gear 321 is disposed at a front end of the first rod 320. The shape of the laying pipe 32 is matched with the shape of the semi-open frame 311. It is a circular, square or irregular tube, depending on the needs of the use; the front end of the laying tube 32 is pivoted with a second body 323, and the second body 322 is The cover body 323 is fixedly disposed, and the second bevel gear 324 is fixed to the second rod body 322 corresponding to the first bevel gear 321 . As shown in FIGS. 14-17, when the telescopic assembly 30 projects outward and pushes the semi-open frame 311 to rotate downward, the deployment tube 32 is pulled by gravity and disengages from the semi-open frame 311, and The lower hanging state, and as the laying pipe 32 is rotated downward, the first rod 320 is relatively rotated with the laying pipe 32 to drive the second bevel gear 324 to rotate by the first bevel gear 321. The cover 323 is opened upward. Conversely, when the telescopic assembly 30 is retracted inward, the cover 323 is also closed downward as the deployment tube 32 is turned back to ensure the child in the discharge tube 32. The robot 5 is positioned and positioned.
監控雲台4，係架設於前述載具1之載台106後端，前述監控雲台4設支撐架40，該支撐架40係固設於前述載台106上，並於支撐架40上端設監控室41，前述監控室41係設置有360度環撓式攝影機及感測元件，使監控者得即時透過監控雲台4得知母機器人周遭環境的變化，前述感測元件得為紅外線感測器、雷達感測器、輻射感測器、毒氣感測器、溫度感測器、聲波感測器、或重力感測器等），以提供救災救援人員作為是否可進入災區現場的判斷依據。前述監控室41設透明外罩42，以保謢監控室41不受到外部風砂及雨水的侵害。The monitoring platform 4 is mounted on the rear end of the carrier 106 of the carrier 1 , and the monitoring platform 4 is provided with a support frame 40 . The support frame 40 is fixed on the loading platform 106 and is disposed on the upper end of the support frame 40 . In the monitoring room 41, the monitoring room 41 is provided with a 360-degree loop camera and a sensing component, so that the monitor can immediately change the environment around the parent robot through the monitoring platform 4, and the sensing component is infrared sensing. , radar sensors, radiation sensors, gas sensors, temperature sensors, sonic sensors, or gravity sensors, etc., to provide disaster relief personnel as a basis for judging whether they can enter the disaster area. The monitoring room 41 is provided with a transparent cover 42 to protect the monitoring room 41 from external wind and rain.
子機器人5，係設置於前述佈放裝置3之佈放管32內，前述子機器人5得為陸地移動型機器人、水陸兩棲機器人或飛行機器人等各種應用於特殊地形環境或可執行不同任務之機器人，以輔助母機器人執行母機器人無法進入之地區之偵查及補給任務。The sub-robot 5 is disposed in the deployment pipe 32 of the deployment device 3, and the sub-robot 5 is a land-moving robot, an amphibious robot, or a flying robot, and the like, which is applied to a special terrain environment or can perform different tasks. In order to assist the parent robot to perform the investigation and replenishment tasks in the area where the parent robot cannot enter.
如圖１～３所示，當本發明之救援救災子母機器人應用於火災救援任務時，係預先於機械手臂搭載消防噴水器之拋射裝置23及夾爪之對地裝置28，並於佈放裝置3之佈放管32內搭載可運輸氧氣瓶及手電筒等救援物資之子機器人，當執行救援任務時，救援人員即可於遠端操控母機器人進入火場的最前方，利用機械手臂2之夾爪可將沿途的路障清除，並利用消防噴水器進行滅火工作（如圖１１及１２所示），此時部分消防人員可跟隨在母機器人後方待命，並利用母機器人作為護盾，以避免突發的***狀況造成第一線人員的傷亡。As shown in FIG. 1 to FIG. 3, when the rescue disaster relief robot of the present invention is applied to a fire rescue mission, the fire sprinkler 23 and the jaw grounding device 28 are mounted on the robot arm in advance and placed on the robot. The distribution tube 32 of the device 3 is equipped with a sub-robot capable of transporting rescue materials such as an oxygen cylinder and a flashlight. When performing a rescue mission, the rescuer can remotely control the female robot to enter the forefront of the fire field, using the clamp of the robot arm 2 The claws can remove the roadblocks along the way and use the fire sprinkler to extinguish the fire (as shown in Figures 11 and 12). At this time, some firefighters can follow the mother robot and use the female robot as a shield to avoid sudden breaks. The explosion caused the first-line personnel to cause casualties.
當火勢被穩定控制住時，可利用監控雲台4之紅外線感測器偵測受難人員的位置，並操控母機器人進入火場內進行救援任務，此時利用將載具1之抬升模組112將移動裝置11之前端抬起，即可減少履帶111與地面的接觸面積，加快載具1的移動速度，當載具1遇到障礙物或樓梯時，利用抬升模組112將移動裝置11之前端抬起，並同步驅動爪鈎模組113之爪鈎1137向前伸出，以鈎住障礙物或樓梯，待抬升模組112將移動裝置11之前端放下時，利用抬升模組向下之壓力，使移動裝置向上撐起，此時輔以爪鈎模組113之爪鈎1137向後拉回之拉力，得使移動裝置11穩固的攀上障礙物或樓梯，讓載具得以順利越過障礙物或順利爬行樓梯（如圖８及９所示），進入建築物內部。When the fire is stably controlled, the infrared sensor of the monitoring pan/tilt 4 can be used to detect the position of the victim, and the parent robot can be controlled to enter the fire field for the rescue task. At this time, the lifting module 112 of the carrier 1 is utilized. Lifting the front end of the mobile device 11 can reduce the contact area between the track 111 and the ground, and accelerate the moving speed of the vehicle 1. When the vehicle 1 encounters an obstacle or a staircase, the lifting device 112 is used to move the mobile device 11 The front end is lifted, and the claw hook 1137 of the claw hook module 113 is synchronously extended to protrude forward to hook the obstacle or the stairs. When the lifting module 112 lowers the front end of the mobile device 11, the lifting module is used downward. The pressure causes the moving device to be propped up. At this time, the pulling force of the claw hook 1137 of the claw hook module 113 is pulled back, so that the moving device 11 can firmly climb the obstacle or the stairs, so that the carrier can smoothly cross the obstacle. Or climb the stairs smoothly (as shown in Figures 8 and 9) and enter the interior of the building.
當母機器人遇到道路坍塌而無法繼續向前行動的狀況時，即可利用佈放裝置3快速將偵查補給子機器人5進行佈放，若佈放空間不足，可旋轉載台106換邊進行佈放（如圖６及１８所示），讓子機器人5得透過較小的縫隙、管路或以飛行方式進行移動，並將救援物資帶給受難者，讓受難者有足夠的氧氣或照明設備以逃離危險地帶，並等待救援人員到場協助；當然，母機器人亦得於一到現場時即先行佈放子機器人5前往受難人員處進行偵查補給任務，以提到受難人員生還的機率。When the mother robot encounters a situation in which the road collapses and cannot continue to move forward, the deployment device 3 can be quickly deployed by the deployment device 3, and if the deployment space is insufficient, the rotation stage 106 can be rotated to perform the cloth. Put (as shown in Figures 6 and 18), let the sub-robot 5 move through small gaps, pipelines or flight, and bring relief supplies to the victims, so that the victims have enough oxygen or lighting equipment In order to escape from the danger zone, and wait for rescuers to come to the site to assist; of course, the mother robot must first deploy the robot 5 to the victims to carry out the investigation and replenishment task when it arrives at the scene, to mention the probability of the victims being surviving.
最後，待母機器人進入建築物內並確認沒有坍塌或***危險後，即可通知救援人員進場搜救，讓救援救災任務可在最低人員傷亡的情況下，以最迅速的方式完成任務。Finally, after the female robot enters the building and confirms that there is no danger of collapse or explosion, the rescuer can be notified to enter the search and rescue, so that the rescue and relief mission can complete the task in the fastest way with the lowest casualties.
因此，本發明之救援救災子母機器人利用具有高機動性之載具1，讓母機器人得具備最佳的行動力以攀越各種崎嶇不平的道路，並輔以創新的連動式結構，以有效的節省載具移動所需消耗的動力，讓載具具有更多的動力以長時間執行任務；且利用多功能之機械手臂2各臂部具有不同仰角之特性，得因應各種不同情況的救援救災任務分別設置不同功能之拋射裝置、輔助裝置及對地裝置，使母機器人得具備更多可擴充之功能性；且利用佈放裝置3之伸縮組件、佈放架及佈放管所形成之連動式結構，得將佈放管內之子機器人快速佈放或搭載，以達到節省載台空間、快速佈放子機器人、保護子機器人、及可同時快速搭載多台子機器人之功效；再輔以即時監控雲台4及偵查補給子機器人5，得讓遠端監控者可確實撐握災害現場的即時狀況，並適當的派出各種應用於特殊地形環境或可執行不同任務之子機器人，以輔助母機器人執行母機器人無法進入之地區之偵查及補給任務。如此，本發明僅需使用一組救援救災子母機器人即可順利完成所有救援救災任務，不但可降低救援人員傷亡的風險，更可大大的提升救援成功的機率，以提升子母機器人之實用性及使用效率，為本案之組成。Therefore, the rescue disaster relief mother robot of the present invention utilizes the vehicle 1 with high mobility, so that the female robot has the best action force to climb various rugged roads, and is supplemented by an innovative interlocking structure to effectively It saves the power required for the movement of the vehicle, allows the vehicle to have more power to perform the task for a long time, and utilizes the characteristics of different elevation angles of the arms of the multifunctional robot arm 2, which can be rescued and rescued according to various situations. The task respectively sets the ejection device, the auxiliary device and the grounding device of different functions, so that the female robot has more expandable functions; and the linkage formed by the telescopic assembly, the laying rack and the laying pipe of the laying device 3 The structure of the sub-robot in the laying pipe can be quickly deployed or carried to save the space of the sub-station, quickly deploy the sub-robot, protect the sub-robot, and can quickly carry multiple sub-robots at the same time; Yuntai 4 and the reconnaissance sub-robot 5 have to allow the remote monitor to truly support the immediate situation of the disaster site and appropriately apply it to various applications. Special terrain or perform different tasks the robot sub to assist female robot reconnaissance robot can not enter the area of the mother and resupply missions. In this way, the invention only needs to use a group of rescue disaster relief robots to successfully complete all rescue and disaster relief tasks, which not only reduces the risk of casualties of rescuers, but also greatly improves the probability of successful rescue to enhance the practicality of the mother robot. And the efficiency of use, the composition of this case.
前述之實施例或圖式並非限定本發明之產品態樣、結構或使用方式，任何所屬技術領域中具有通常知識者之適當變化或修飾，皆應視為不脫離本發明之專利範疇。The above-described embodiments or drawings are not intended to limit the scope of the invention, and the scope of the invention is to be construed as being limited by the scope of the invention.
1‧‧‧載具
10‧‧‧載體
100‧‧‧第一動力裝置
1000‧‧‧馬達
1001‧‧‧第一傳動軸
101‧‧‧第二動力裝置
1010‧‧‧動力缸
1011‧‧‧動力桿
1012‧‧‧桿件
1013‧‧‧第二傳動軸
102‧‧‧電控裝置
103‧‧‧上蓋
104‧‧‧側蓋
1040‧‧‧滑槽
1041‧‧‧蓋體
105‧‧‧固定架
106‧‧‧載台
1060‧‧‧底座
1061‧‧‧旋轉裝置
1062‧‧‧載盤
11‧‧‧移動裝置
110‧‧‧主動輪
111‧‧‧履帶
112‧‧‧抬升模組
1122‧‧‧第一轉輪
1123‧‧‧第一連動桿
1124‧‧‧第二轉輪
1125‧‧‧第二連動桿
1126‧‧‧第三轉輪
1127‧‧‧第三連動桿
113‧‧‧爪鈎模組
1130‧‧‧第一支撐桿
1131‧‧‧第一套體
1132‧‧‧第二支撐桿
1133‧‧‧第二套體
1134‧‧‧第一臂桿
1135‧‧‧桿體
1136‧‧‧第二臂桿
1137‧‧‧爪鈎
12‧‧‧動力源
2‧‧‧機械手臂
20‧‧‧基座
21‧‧‧第一臂部
210‧‧‧固定座
22‧‧‧第一動力缸
23‧‧‧拋射裝置
24‧‧‧第二臂部
25‧‧‧第二動力缸
26‧‧‧座體
27‧‧‧第三動力缸
28‧‧‧對地裝置
3‧‧‧佈放裝置
30‧‧‧伸縮組件
300‧‧‧基座
301‧‧‧動力缸
302‧‧‧動力桿
303‧‧‧交叉伸縮桿
31‧‧‧佈放架
310‧‧‧底座
311‧‧‧半開放式框架
312‧‧‧滑槽
32‧‧‧佈放管
320‧‧‧第一桿體
321‧‧‧第一傘齒輪
322‧‧‧第二桿體
323‧‧‧蓋體
324‧‧‧第二傘齒輪
4‧‧‧監控雲台
40‧‧‧支撐架
41‧‧‧監控室
42‧‧‧透明外罩
5‧‧‧子機器人1‧‧‧ Vehicles
10‧‧‧ Carrier
100‧‧‧First power unit
1000‧‧‧Motor
1001‧‧‧First drive shaft
101‧‧‧second power unit
1010‧‧‧Power cylinder
1011‧‧‧Power rod
1012‧‧‧ rods
1013‧‧‧Second drive shaft
102‧‧‧Electric control device
103‧‧‧Upper cover
104‧‧‧ side cover
1040‧‧‧ chute
1041‧‧‧ cover
105‧‧‧Retaining frame
106‧‧‧ stage
1060‧‧‧Base
1061‧‧‧Rotating device
1062‧‧‧ Carrier
11‧‧‧Mobile devices
110‧‧‧Drive wheel
111‧‧‧ Tracks
112‧‧‧lift module
1122‧‧‧First runner
1123‧‧‧First linkage rod
1124‧‧‧Second runner
1125‧‧‧Second linkage
1126‧‧‧ Third runner
1127‧‧‧3rd linkage rod
113‧‧‧ claw hook module
1130‧‧‧First support rod
1131‧‧‧ first set
1132‧‧‧Second support rod
1133‧‧‧Second set
1134‧‧‧First arm
1135‧‧‧ rod body
1136‧‧‧second arm
1137‧‧‧ claw hook
12‧‧‧Power source
2‧‧‧ Robotic arm
20‧‧‧ Pedestal
21‧‧‧ First arm
210‧‧‧ Fixed seat
22‧‧‧First Power Cylinder
23‧‧‧Projection device
24‧‧‧ second arm
25‧‧‧second power cylinder
26‧‧‧ body
27‧‧‧third power cylinder
28‧‧‧ground devices
3‧‧‧Distribution device
30‧‧‧Flexing components
300‧‧‧Base
301‧‧‧Power cylinder
302‧‧‧Power rod
303‧‧‧cross telescopic rod
31‧‧‧ cloth rack
310‧‧‧Base
311‧‧‧Semi-open framework
312‧‧ ‧ chute
32‧‧‧Distribution tube
320‧‧‧First body
321‧‧‧First bevel gear
322‧‧‧Second body
323‧‧‧ cover
324‧‧‧second bevel gear
4‧‧‧Monitoring PTZ
40‧‧‧Support frame
41‧‧‧Monitoring room
42‧‧‧Transparent cover
5‧‧‧Sub Robot
圖１是本發明之救援救災子母機器人之組合視圖。 圖２是本發明之救援救災子母機器人之立體圖。 圖３是本發明之救援救災子母機器人之俯視圖。 圖４是本發明之救援救災子母機器人之前視圖。 圖５是圖４之部分放大圖。 圖６是本發明之救援救災子母機器人之旋轉狀態之立體圖。 圖７是本發明之載具之部分俯視圖。 圖８是圖７之Ａ－Ａ剖視圖。 圖９是本發明之載具之移動裝置前端抬起狀態之剖視圖。 圖１０是本發明之載具之移動裝置前端抬起狀態之部分側視圖。 圖１１是本發明之機械手臂之彎曲動作之側視圖（一）。 圖１２是本發明之機械手臂之彎曲動作之側視圖（二）。 圖１３是本發明之機械手臂之彎曲動作之立體圖。 圖１４是本發明之佈放裝置之佈放狀態之前視圖。 圖１５是圖１４之部分放大圖。 圖１６是本發明之佈放裝置之俯視圖。 圖１７是圖１６之部分放大圖。 圖１８是本發明之救援救災子母機器人之佈放狀態之立體圖。1 is a combined view of a rescue disaster relief robot of the present invention. 2 is a perspective view of the rescue disaster relief mother robot of the present invention. 3 is a top plan view of the rescue disaster relief robot of the present invention. 4 is a front view of the rescue disaster relief robot of the present invention. Figure 5 is a partial enlarged view of Figure 4. Fig. 6 is a perspective view showing the rotation state of the rescue disaster relief mother robot of the present invention. Figure 7 is a partial plan view of the carrier of the present invention. Figure 8 is a cross-sectional view taken along line A-A of Figure 7; Figure 9 is a cross-sectional view showing the state in which the front end of the moving device of the carrier of the present invention is lifted. Fig. 10 is a partial side elevational view showing the state in which the front end of the moving device of the carrier of the present invention is lifted. Figure 11 is a side view (1) of the bending action of the robot arm of the present invention. Figure 12 is a side view (2) of the bending action of the robot arm of the present invention. Figure 13 is a perspective view of the bending action of the robot arm of the present invention. Figure 14 is a front elevational view showing the laying state of the laying device of the present invention. Figure 15 is a partial enlarged view of Figure 14. Figure 16 is a plan view of the deployment device of the present invention. Figure 17 is a partial enlarged view of Figure 16. Fig. 18 is a perspective view showing the deployment state of the rescue disaster relief mother robot of the present invention.
1‧‧‧載具 1‧‧‧ Vehicles
10‧‧‧載體 10‧‧‧ Carrier
103‧‧‧上蓋 103‧‧‧Upper cover
106‧‧‧載台 106‧‧‧ stage
1060‧‧‧底座 1060‧‧‧Base
1061‧‧‧旋轉裝置 1061‧‧‧Rotating device
1062‧‧‧載盤 1062‧‧‧ Carrier
11‧‧‧移動裝置 11‧‧‧Mobile devices
110‧‧‧主動輪 110‧‧‧Drive wheel
111‧‧‧履帶 111‧‧‧ Tracks
112‧‧‧抬升模組 112‧‧‧lift module
113‧‧‧爪鈎模組 113‧‧‧ claw hook module
1137‧‧‧爪鈎 1137‧‧‧ claw hook
2‧‧‧機械手臂 2‧‧‧ Robotic arm
20‧‧‧基座 20‧‧‧ Pedestal
21‧‧‧第一臂部 21‧‧‧ First arm
210‧‧‧固定座 210‧‧‧ Fixed seat
22‧‧‧第一動力缸 22‧‧‧First Power Cylinder
23‧‧‧拋射裝置 23‧‧‧Projection device
24‧‧‧第二臂部 24‧‧‧ second arm
25‧‧‧第二動力缸 25‧‧‧second power cylinder
26‧‧‧座體 26‧‧‧ body
27‧‧‧第三動力缸 27‧‧‧third power cylinder
28‧‧‧對地裝置 28‧‧‧ground devices
3‧‧‧佈放裝置 3‧‧‧Distribution device
30‧‧‧伸縮組件 30‧‧‧Flexing components
31‧‧‧佈放架 31‧‧‧ cloth rack
32‧‧‧佈放管 32‧‧‧Distribution tube
323‧‧‧蓋體 323‧‧‧ cover
4‧‧‧監控雲台 4‧‧‧Monitoring PTZ
40‧‧‧支撐架 40‧‧‧Support frame
41‧‧‧監控室 41‧‧‧Monitoring room
42‧‧‧透明外罩 42‧‧‧Transparent cover
Claims (10)
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| TW104112872A TWI601614B (en) | 2015-04-22 | 2015-04-22 | Rescue and relief primary-secondary robot |
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| TW104112872A TWI601614B (en) | 2015-04-22 | 2015-04-22 | Rescue and relief primary-secondary robot |
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| CN106695801B (en) * | 2017-02-24 | 2023-03-21 | 浙江师范大学 | Multifunctional rescue robot |
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| CN112171680B (en) * | 2020-08-12 | 2022-09-09 | 佛山市华易科技有限公司 | Primary and secondary inspection robot for mountain photovoltaic power station |
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| TW201637795A (en) | 2016-11-01 |
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