200933120 九、發明說明： 【發明所屬之技術領域】 種可 以 =發明是一種地雷清除的裝置，尤其是關於 利用it，自動進行除雷的遙控式地雷清除農置（ 【先前技術】 引爆地雷或爆裂物，是-個非常危險的工作 雷或除爆裂物’需要倚靠受過精良訓練的 目前除 ❹物或地雷移動至空礦處而後觸動予以引爆，或員將爆裂 當地拆除地雷。然而，隨著科技的進步，地雷暴二可以 設計日趨精良而難以拆除，因此爆髮物的 的方法予以弓m。mi 僅月b以别述移動爆裂物 彳I爆而迠樣的清除地雷的方法 過程有絲毫閃失，經常造成人員傷亡。 ，、要在移動 【發明内容】 為了解決前述的除雷方法經生 ©太钚昍私α 故成人員傷亡的問題， 本么月仏钬以一可接受遙控的裝 也么S遍 邊裝置設有一個引爆 女全罩肢，除爆人員僅需遙控該 ' ,, φ . μ8 „ 茨凌置，以引爆安全罩體罩 全的目的。 建到保蠖除爆人員性命安 本發明提供-種遙控式地雷清除裝置，立包含： 一控制裝置；以及 /、 一除雷車本體，其包含： -車體，其接受該控制裳置之遙控而進行位置移 4 200933120 動； ^ -機械手臂’其-端樞設於該車體表面，並接受 泫控制裝置之遙控而移動其一自由端； 一攝影測距模組，其接受該控制裝置之遙控對— 進行影像擷取以及距離感測，並將機取結果及感 測、、Ό果傳送至該控制裝置；以及 —引爆安全罩體，其包含： ❹ -安全罩本體，其為-面開放的罩冑，其表面 δ又表该機械手臂的自由端； „ _ ㈤以上的活動插銷組’包含-活動插銷本體 插銷：二向活動插設於該活動插銷本體的-插鎖，該活動 ;=體表面固定設於該安全罩本體的-環側壁表面，該 銷接為:杨銷端與該安全罩本體之開放面朝同肖’且該插 及空制裝置之遙控而可推出該活動插銷組本體；以 Ο 面；以及 引爆件，其包含： 威體’其徑向設於該安全罩本體外部表 一引爆桿，直_嚷 . 內，B * '、一第一端活動插設於該殼體 儿其一第二端貫穿該安令 的六以〜 女全罩本體並至於該安全罩本體 -令二間，其接受該控 谨也 ^ 制衷置之遙控對該殼體進行活塞 運動，使第二端可及至該安 文王罩本體的開放面對應位置。 面 〔地，以工制裝置包含一控制介面以及一顯示介 ’喝介面可顯示該攝影測距模組之影像擷取及感測 5 200933120 結果：該控制介面接受觸發而控制該除雷車本體之動作 進—步地，該安全罩本體表 孔。 w貝芽6又有複數個洩壓 件 進步地，該引爆桿之第二端轴向連接一引爆緩衝 其中，該引爆緩衝件回一彈簧。 精此，除爆人員僅需透過控制該控制裝置 S亥除雷車本餹，佔甘批丨」暹控 0煤算減 仃疋位爆裂物、放置安全罩以及引 爆寺動作，由於除慑人g、土 、除爆人貝迠離爆裂物，因此其生命安200933120 IX. Description of the invention: [Technical field to which the invention pertains] The invention can be a mine-clearing device, in particular, a remote-controlled mine clearing farm that uses the it to automatically perform lightning removal (previous technique) detonating a mine or bursting Things, is a very dangerous work mine or in addition to the blastings' need to rely on the well-trained current mites or mines to move to the empty mines and then touch to detonate, or the staff will burst local demolition mines. However, with technology The progress, the thunderstorm 2 can be designed to become more sophisticated and difficult to dismantle, so the method of the explosives is to bow the m. mi only the month b to describe the method of clearing the explosives, and the method of clearing the mines has a slight loss, Frequently causing casualties. ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, The S-passing device is provided with a full-covering female limb, and the detonator only needs to remotely control the ', φ. μ8 „ 茨 凌, to detonate the safety cover. The purpose of the invention is to provide a remote-controlled mine clearing device, comprising: a control device; and/or a mine-removing vehicle body, comprising: - a vehicle body, which accepts the control skirt Positioning remote control and shifting position 4 200933120; ^ - The mechanical arm's end is pivoted on the surface of the vehicle body and is controlled by the remote control of the cymbal control device to move its free end; a photographic ranging module accepts a remote control pair of the control device - performing image capture and distance sensing, and transmitting the result and sense, and the result to the control device; and - detonating the safety cover, comprising: - a safety cover body, The cover is open-faced, and the surface δ is further represented by the free end of the robot arm; „ _ (five) or more of the movable latch set includes: the movable latch body latch: the two-way movable insertion of the movable latch body Lock, the activity; = the surface of the body is fixed on the surface of the ring side wall of the safety cover body, the pin connection is: the pop pin end and the open face of the safety cover body face the same side and the remote control of the insertion and the air device And can launch the live a bolt body; a boring surface; and a blasting member, comprising: a vehicular body whose radial direction is disposed outside the body of the safety cover, a blasting rod, straight _ 嚷. inside, B * ', a first end movable insertion The second end of the housing penetrates the six-to-female full body of the security device and the two main body of the safety cover body, and the second body of the safety cover body receives the control and the remote control The movement of the piston enables the second end to reach the corresponding position of the open surface of the main body of the Anwen. The surface (the ground device includes a control interface and a display interface to display the image of the photographic range module 撷取 Sense 5 200933120 Result: The control interface accepts the trigger to control the action of the mine-removing vehicle body, and the safety cover body surface hole. The w-bud 6 has a plurality of pressure relief members. Progressively, the second end of the detonating rod is axially connected to a detonating buffer, wherein the detonating cushion member returns to a spring. In this case, the demolition personnel only need to control the control device S Hai to remove the mine car, which is the majority of the smashing of the smashing of the smashing, the safety cover and the detonation of the temple. g, soil, in addition to the explosion of the shellfish from the blast, so its life
欠到厫密保障。 王J 【實施方式】 -主rt/v批》考第圖至第四圖’其係為本發明之遙控式地雷 裝置的較佳實施例，其包含-除雷車本體(10)以及一 控制裝置（20)。 ❹一 S亥除雷車本體（1〇)包含一車體（12)、一機械手臂^)、 一攝影測距模組（16)以及一引爆安全罩體（18)。 該車體（12)可為-接受遙控而移動的車體，如一遙控 履帶車或—遙控四驅車·.等，本較佳實施例之車體（12)為 一接党該控制裝置（20)而移動之遙控履帶車。 /機械手|(14)之一端樞設於該車體（12)表面，苴可 接受該控制裝置(20)之遙控而改變延伸、收縮狀態以：其 延伸位置。 该攝影測距模組（彳6)可設於 該車體（12)或該機械手I owe it to meticulous protection. King J [Embodiment] - main rt / v batch "test to fourth figure" is a preferred embodiment of the remote control mine device of the present invention, comprising - a mine removal body (10) and a control Device (20). The S S 亥 雷 雷 雷 本体 body unit (1 〇) includes a body (12), a mechanical arm ^), a photographic ranging module (16) and a detonating safety cover (18). The vehicle body (12) can be a vehicle body that is remotely controlled to move, such as a remote-controlled tracked vehicle or a remote-controlled four-wheel drive vehicle. The vehicle body (12) of the preferred embodiment is a party control device (20). ) and the remote control tracked vehicle. One end of the manipulator|(14) is pivotally mounted on the surface of the vehicle body (12), and the remote control of the control device (20) can be changed to change the extended and contracted state to its extended position. The photographic ranging module (彳6) can be disposed on the vehicle body (12) or the robot
6 200933120 (14)上，本較佳實 、 J之攝衫測距模组Π 6 大人•方由 表面，該攝影測, L、且（b)认衣该車體（12) 1距杈組（1 6)接受該控制穿 一特定目標進行拳德把姐^ 利哀置（2〇)之控制對 模組（16)將其拍攝 且汶攝衫測距 谓’貝】、，’°果傳送至該控制梦罢/on、 攝影測距模組6丨·^ A 乂 )。該 U6)可為一攝影機或者為一6 200933120 (14), this is the best, J's shirt measuring module Π 6 adults • square surface, the photo measurement, L, and (b) recognize the car body (12) 1 distance group (1 6) Accept the control to wear a specific target to carry out the control of the boxing of the sisters (2〇) to the module (16) to shoot it and the distance of the shirt is called 'Bei】,, '° Transfer to the control dream / on, photography ranging module 6 丨 · ^ A 乂). The U6) can be a camera or a
件的攝影機。去寸徭1、B, 韦W射測距7L , 田5亥攝衫測距模組（16)為攝影機時，且必 包含兩個攝影單元同時 、、 〃了耵呆特疋位置進行拍攝，如此， 即可透過影像運算取得爆裂物與攝影測距模組（1 6)的相對 距離。 該引爆安全罩體（18)包含—安全罩本體（182)、一個以 上之活動插鎖組（184)以及一引爆件（186)。該安全罩本體 (182)係為可承受高壓、撞擊材質製成的罩體，其可依據設 計而成任意外形，本較佳實施例之安全罩本體(182)為兩個 同心半球狀相疊合之罩體，其表面活動設於該機械手臂（14) ❹ 的自由端，且該安全罩體（182)表面貫穿設有複數個洩壓孔 (1822 卜 該一個以上的活動插銷組（1 84)固定設於該安全罩本體 (1 82)之一環側壁表面’其包含一活動插銷本體（1 842)以及 一活動插設於該活動插銷本體（1842)之插銷（1844)，該活 動插銷本體（1842)固定於該安全罩本體（182)之表面，該插 銷（1844)可接受該控制裝置（20)之遙控而延伸或收入該活 動插銷本體（1 842)。本較佳實施例之包含兩個活動插銷組 (184) ’其分別固定連結於該安全罩本體（182)之表面對應 位置。 7 200933120 該引爆件（186)包含一殼體（1 862)、一引爆桿（1864)以 及一引爆緩衝件（1866)’該殼體（1862)固定安全罩本體（182) 之外表面。該引爆桿（1 864)之一端與該殼體（1862)局部對 應並活動插設於該殼體（1 862)，其接受該控制裝置（2〇)之 控制而對該殼體（1862)進行活塞運動；該引爆桿〇864)之 另一端穿入S玄安全罩本體（1 862)内。該引爆緩衝件（1 866) 之一端軸向連接該引爆桿（1 864)穿入該安全罩本體㈠862) ❹Piece of camera. To inch 徭 1, B, Wei W shooting distance measuring 7L, Tian 5 hai shirt measuring range module (16) for the camera, and must contain two photographic units at the same time, smashed the special position for shooting, In this way, the relative distance between the burst and the photographic ranging module (16) can be obtained through image calculation. The detonating safety shield (18) includes a safety shield body (182), a movable latch assembly (184), and a triggering member (186). The safety cover body (182) is a cover body that can withstand high-pressure and impact materials, and can be designed according to any shape. The safety cover body (182) of the preferred embodiment is stacked in two concentric hemispheres. The cover body has a surface movable at a free end of the mechanical arm (14), and a plurality of pressure relief holes are formed through the surface of the safety cover (182) (1822 the one or more movable latch groups (1) 84) fixed on one of the ring side wall surfaces of the safety cover body (1 82), which comprises a movable latch body (1 842) and a latch (1844) movably inserted into the movable latch body (1842), the movable latch The body (1842) is fixed to the surface of the safety cover body (182), and the latch (1844) can extend or receive the movable latch body (1 842) by the remote control of the control device (20). The preferred embodiment The two movable latch sets (184) are respectively fixedly coupled to the corresponding positions of the surface of the safety cover body (182). 7 200933120 The triggering member (186) comprises a housing (1 862) and a detonating rod (1864). And a detonating buffer (1866) 'the housing (18 62) fixing an outer surface of the safety cover body (182). One end of the ignition rod (1 864) is partially corresponding to the housing (1862) and is movably inserted in the housing (1 862), which receives the control device ( The casing (1862) is piston-operated by the control of 2〇); the other end of the detonating rod 864) penetrates into the S-shaped safety cover body (1 862). One end of the detonating cushioning member (1 866) is axially connected to the detonating rod (1 864) and penetrates the safety cover body (1) 862) ❹
之一端，其係為具有受撞擊而緩衝收縮的材料或元件，例 如一彈簧。 該控制裝置（20)係為可控制該車體（12)移動方向、該 機械手臂（14)之自由端位置、該攝影測距模組（16)執行拍 攝、感測及回傳拍攝、感測結果以及該引爆安全罩體8) 固定、引爆…等動作的裝置。本較佳實施例之該控制裝置（2〇) 包含-顯示介面（22)以及—控制介面（24)，該顯示介面⑽ 可即時接收顯示該攝影測距模組（16)之拍攝及感測結果予 一操作者，該控制介面（24)則接受該操作者的觸發而护制 該車體（12)移動位置、該機械手f (14)之延㈣縮、該活 動插銷組（184)之動作以及該引爆件（186)之動作。 請參考第-圖、第四圖、第五圖以及第六圖，使用時， 該除雷車本體（1Q)及該㈣裝置⑽）可以—卡車運送至爆 裂物或地雷的附近位置，將該除雷車本體⑽卸下後將卡 車及該控制裝置(20)移動至爆炸安全範圍，並以該崎 置(2〇)遙控操控該除雷車本體(1〇)進行除雷，1中，其‘ 雷流程之步驟包含：遙控駕駛定位(5”、攝影座標定位 8 200933120 (52)、計算機械手臂移動方位角度（53)、放置引爆安全罩 體（54)、固定引爆安全罩體（55)以及引爆（％)。 該遙控駕駛定位（51)步驟，係為操作者以該控制裝置 (20)遙控該車體（12)朝爆裂物或地雷的方位前進，若是在 除去我軍先前埋設的地雷或者位置已知的爆裂物時，可先 設定位置已知之地雷或爆裂物的衛星定位位置，使用者即 可依據衛星定位位置控制該車體（12)朝該定位位置移動。 ❹ ㈣影座標定位（52)步驟中，操作者藉由控制介面（24) 操控該攝影測距模組（16)對地雷或爆裂物之位置進行攝影 以及距離判斷’並將攝影及感測結果傳送至該控制裝置（20) 及顯示於該顯示介面（22\ γ & & 瓖細作者可以得知地雷及爆裂 物的實際位置、外觀以及距離。 該計算機械手臂移動方位角度（53)步驟中，該控制裝 置（20)依據該攝影測距模組（16)之感測結果得知爆裂物或 =與該攝影測距模組(16)之相對距離後，計算該機械手 ❿ ）必湧、伸或收鈿的方式及角度，使該機械手臂(1 4) 的自由端可以與爆裂物或地雷位置對應。 人置引爆安王罩體（54)步驟中，該機械手臂（14)之 入呈：ft又&制朝地雷或爆裂物的位置下移，使該引爆安 王罩體（18)可以蓋合該㈣或爆裂物。 〃疋引爆安全罩體（55)步驟中，該活動插銷（184)接 =制裝置㈣之控制而將其插銷(1844)推出該活動插 =(1842)，使插銷插入爆裂物或地雷周邊的地面，以 疋6亥引爆安全罩體（18)。 200933120 該引爆（56)步驟中，該控制裝置（2〇)驅動該引爆桿 (1864)推出其殼體（彳862)朝爆裂物或地雷之表面移動直至 碰觸地雷或爆裂物以引爆地雷或爆裂物。由於該引爆件 (186)設有該引爆緩衝件（1866)且該引爆安全罩設有爷 Λ左孔（1 822) ’使地雷或爆裂物因爆炸產生的氣壓得由該 洩壓孔（1822)卸除以及由該引爆緩衝件（1866)形變緩衝， 使該安全罩體（182)及該引爆件（186)可以承受爆炸衝擊而 不容易破壞毁損。 ❹ 【圖式簡單說明】 第一圖為本發明較佳實施例之立體圖。 第一圖為本發明較佳實施例之局部放大側視圖。 第二圖為本發明較佳實施例之一控制裝置立體圖。 第四圖為本發明較佳實施例之一引爆安全罩體局部剖 面圖。 〇 第五圖為本發明較佳實施例之使用示意圖。 第/、圖為本發明之—除雷流程圖。 【主要元件符號說明】 (1 〇)除雷車本體 (12)車體 (14)機械手臂 (16)攝影測距模組 (18)弓丨爆安全罩體 200933120 (182)安全罩本體 (1 822)洩壓孔 (1 84)活動插銷組 (1842)活動插銷本體 (1844)插銷 (186)引爆件 (1862)殼體 (1864)引爆桿 (1866)引爆緩衝件 (20)控制裝置 (22)顯示介面 (24)控制介面One end, which is a material or element that has been cushioned by impact, such as a spring. The control device (20) is configured to control the moving direction of the vehicle body (12), the free end position of the robot arm (14), and the photographing and ranging module (16) performs shooting, sensing, and returning shooting, and feeling The test result and the device for detonating the safety cover 8) fixing, detonating, etc. The control device (2) of the preferred embodiment comprises a display interface (22) and a control interface (24), and the display interface (10) can receive and display the photographing and sensing of the photo ranging module (16). As a result, the operator interface (24) receives the trigger of the operator to protect the moving position of the vehicle body (12), the extension of the robot f (14), and the movable latch group (184). The action and the action of the trigger (186). Please refer to the first, fourth, fifth and sixth figures. In use, the mine removal body (1Q) and the (4) device (10) can be transported by truck to a location near the explosive or mine. After the mine body (10) is removed, the truck and the control device (20) are moved to the explosion safety range, and the mine-removing vehicle body (1〇) is remotely controlled by the rally (2〇) for de-mining, 1 The steps of the 'Thunder Process' include: remote driving positioning (5", camera coordinate positioning 8 200933120 (52), calculating the azimuth angle of the robot arm (53), placing the detonating safety cover (54), and fixing the detonating safety cover (55) And the detonation (%). The remote driving positioning (51) step is for the operator to remotely control the vehicle body (12) toward the location of the explosive or mine by the control device (20), if the military is previously buried When a mine or a location is known to have a burst, the satellite location of the known mine or explosive may be set first, and the user may control the vehicle body (12) to move toward the positioning position according to the satellite positioning position. In the coordinate positioning (52) step, the operation The camera interface (16) controls the position of the mine or the explosive to be photographed and distance judged by the control interface (24) and transmits the photographing and sensing results to the control device (20) and displayed thereon. The display interface (22\ γ && 瓖 fine author can know the actual position, appearance and distance of the mine and the explosive. In the step of calculating the azimuth angle of the mechanical arm (53), the control device (20) is based on the photography After the sensing result of the ranging module (16) is used to know the relative distance between the burst or the photographic distance measuring module (16), the manner and angle of the mechanical handcuffs, which are required to surge, extend or contract, are calculated. The free end of the robot arm (1 4) can be corresponding to the position of the explosive or mine. In the step of detonating the Anwang shell (54), the mechanical arm (14) is inserted into: ft and & Or the position of the explosive is moved down so that the detonating Anwang shell (18) can cover the (4) or the explosive. In the step of detonating the safety cover (55), the movable pin (184) is connected to the device (4) Control the latch (1844) to push the active plug = (1842) to make the latch Insert the burst or the ground around the mine to detonate the safety cover (18). 200933120 In the detonation (56) step, the control device (2〇) drives the detonating rod (1864) to push out its casing (彳) 862) moving toward the surface of the blaster or mine until it touches a mine or blast to detonate a mine or a blast. Since the blasting member (186) is provided with the blasting buffer (1866) and the detonating safety cover is provided with a left The hole (1 822) 'displaces the air pressure generated by the explosion of the mine or the explosive from the pressure relief hole (1822) and is deformed and buffered by the detonation buffer (1866), so that the safety cover (182) and the detonation Pieces (186) can withstand explosion shocks without easily damaging damage. BRIEF DESCRIPTION OF THE DRAWINGS The first figure is a perspective view of a preferred embodiment of the present invention. The first figure is a partially enlarged side view of a preferred embodiment of the invention. The second figure is a perspective view of a control device according to a preferred embodiment of the present invention. Figure 4 is a partial cross-sectional view showing the detonating safety cover of one of the preferred embodiments of the present invention.第五 Figure 5 is a schematic view showing the use of a preferred embodiment of the present invention. The first and the figure are the flow chart of the invention. [Main component symbol description] (1 〇) Except for mine car body (12) Car body (14) Robot arm (16) Photographic distance measuring module (18) Bow blasting safety cover body 200933120 (182) Safety cover body (1) 822) Pressure relief hole (1 84) movable pin group (1842) movable pin body (1844) pin (186) detonating piece (1862) housing (1864) detonating rod (1866) detonating buffer (20) control device (22 ) display interface (24) control interface