TWI547394B - Reconnaissance and replenishment robot - Google Patents

Description

Scouting supply robot

The invention relates to a multi-function detection and replenishment robot; in particular, a linkage device with an outward telescopic device and a mobile device equipped with a multi-array crawler and an umbrella wheel, and various detectors for setting lamps, cameras, infrared sensors and the like The instrument and the robot that can carry the body of the replenishment are applied to the rescue detection robot module of various disasters or places where the personnel are difficult to enter.

The reconnaissance replenishing robot used for rescue and disaster relief according to the prior art, such as the "Reconnaissance Robot and its Module" of Taiwan New Announcement No. M416786, includes a configuration with an audio and video capture device, an audio playback device, at least one motor, and one a power supply, a body wireless output device, and a body of a wireless input device, the power supply is supplied to the audio and video capture device, the audio playback device and the at least one motor, and the wireless output device is electrically connected to the audio and video a device for receiving audio and video from the video capture device, the wireless input device is electrically connected to the audio playback device to transmit a sound to the audio playback device; and a mobile device is disposed in the body And being driven by the at least one motor to move the body.

However, the conventional detection robot is only suitable for general flat use, and it is difficult to operate in a narrow space, a pipeline, or a rugged place, and is not suitable for use in various disaster areas or places where it is difficult for people to enter the area to conduct investigation. And replenishment work.

Or "Automated Dry Ice Cleaning Robot" of Taiwan Patent No. M483829, which comprises a main cylinder body. The main cylinder body is provided with a partition plate, and the side of the partition plate can be connected to the dry ice gas, and the other side is provided. There is a rotating mechanism for spraying dry ice gas at 360 degrees, and an array of claw arm mechanism is assembled on the main cylinder body, and the claw arm mechanism is controlled to be folded and unfolded via a synchronous driving mechanism, so as to be able to resist the size of the pipe wall. At the same time, displacement is performed via the crawler belts on the respective claw arm mechanisms, thereby allowing the robot to enter the pipeline to clean the pipe wall with spray-type dry ice.

However, the plurality of claw arm mechanisms of the conventional dry ice cleaning robot are only suitable for movement in the pipe wall, and the claw arm structure is inclined folding and unfolding, which will cause the center of gravity of the robot to be offset and cannot be on the general road surface. Walking is also not suitable for walking on rugged roads, so it is not suitable for investigation and replenishment in places where people in disaster areas or in areas where it is difficult to enter.

Accordingly, the inventors of the present invention have accumulated rich experience in design, development, and manufacturing of related technical fields, and have researched and improved the shortcomings of conventional robots to invent the present invention.

The object of the present invention is to create a reconnaissance replenishing robot that can be moved in various narrow spaces, pipelines, or rugged places, and is applied to investigation and replenishment work in places where people in various disaster areas or exploration areas are difficult to enter. .

The detection replenishing robot of the present invention comprises at least a body, a linkage device and a plurality of mobile devices, wherein the main body is provided with an electric control room on one side and a chamber cavity on the other side; the linkage device is disposed around the outer side of the body, and the linkage device a plurality of power cylinders are fixed on one end of the body and disposed in the same direction as a central axis of the body, the power cylinder is provided with a power rod, and the linkage device is provided with a ring body, and the ring system fixes the power At the other end of the rod, a plurality of cross-expansion rods are arranged between the plurality of power cylinders, wherein an end portion of the obliquely extending telescopic rod is pivotally disposed on the body, and the other end of the telescopic rod is inclined to the end of the telescopic rod Provided on the ring body, the other end of the cross telescopic rod is pivoted with a fixing frame to fix the moving device; the plurality of moving devices are provided with a carrier to be fixed with the fixing frame of the linking device, and a track is arranged around the middle of the carrier. And a wheel rod is arranged inside the front and rear ends of the carrier to set a plurality of umbrella wheels, wherein the wheel bars are provided with transmission wheels, and the transmission wheel systems are respectively located on the inner side of the track The wheel rod, the umbrella wheel and the crawler belt are synchronously operated, a motor is arranged in the carrier, and the motor is used to drive the rotation of one wheel rod to synchronously drive the cover belt, the other shaft rod and each of the umbrella wheels to rotate, so that the mobile device reaches multiple angles. The effect of all-round movement.

The scouting replenishing robot of the present invention does not need to be provided with a linkage device, and a multi-array expansion device is disposed around the outer side of the main body to respectively carry a plurality of mobile devices, so that each group of telescopic devices can operate independently without being affected by other telescopic devices; One end of the telescopic device is provided with a fixing frame to fix the mobile device.

The scouting replenishing robot of the present invention, wherein the electronic control room has a central control system for transmitting and receiving signals and manipulating the robot, and a camera, a plurality of illumination lamps and a detecting component are arranged in the electric control room, and the detecting component may be set in plural or may be different according to different Replace the use requirements.

In the reconnaissance replenishing robot of the present invention, the chamber cavity is a hollow cavity, and a cover body is disposed at an end of the chamber cavity, and the cover body is provided with an object hole, and the size of the object hole is slightly larger than a general The size of the palm of an adult allows the replenisher to directly reach into the cavity of the body to take the refill in the chamber.

In order to further understand the present invention, the implementation of the optimal reconnaissance replenishing robot is as shown in the following formulas 1 to 10, and includes at least:

The main body 1 is provided with an electric control room 10 on one side and a chamber 11 on the other side. The electric control room 10 has a central control system (not shown) for transmitting and receiving signals and manipulating the robot, and a camera is arranged in the electric control room 10 100, a plurality of illumination lamps 101 and detection components 102 (as shown in Figures 8 and 10), such as infrared sensors, radar sensors, radiation sensors, gas sensors, temperature sensors, acoustic sensors The gravity sensor or the like enables the robot to perform various investigation tasks. The foregoing detection component 102 may be provided in plural or may be replaced according to different usage requirements. The chamber 11 is a hollow cavity, and a cover 110 is disposed at an end of the chamber 11 so that the chamber 11 can be opened by the cover 110 to load or take various supplies. (For example, water, food or various tools), a cover hole 111 is also provided in the cover body 110, and the size of the take-up hole 111 is slightly larger than the size of a general adult's palm, so that the recipient can directly extend the hand. The chamber 11 is inserted into the chamber 11 of the body 1 to take up the replenishment in the chamber 11 (as shown in FIGS. 3 and 4); the chamber 11 is also provided with no replenishment, and other devices are provided to match The need for different uses.

The interlocking device 2 is disposed around the outer side of the main body 1. The interlocking device 2 is provided with a plurality of power cylinders 20 fixed to one end of the main body 1 and disposed in the same direction as the central axis of the main body 1. The power cylinder 20 is provided with a power rod 200; the interlocking device 2 is provided with a ring body 21 for fixing the other end of the power rod 200, and when the plurality of power cylinders 20 are telescopically moved, the ring body 21 is synchronously driven. Moving forward and backward; a plurality of intersecting telescopic rods 22 are disposed between the plurality of power cylinders 20, wherein an end portion of the obliquely extending telescopic rod 22 is pivotally disposed on the body 1 and the other end obliquely intersects the end of the telescopic rod 22 The portion is pivotally disposed on the ring body 21, so that when the power rod 200 of the plurality of power cylinders 20 synchronously drives the ring body 21 to move, the cross-shaped telescopic rod 22 can be synchronously extended or retracted to the outside of the body; The other end of the telescopic rod 22 is pivotally provided with a fixing frame 220 to fix the mobile device 3.

The plurality of mobile devices 3 are provided with a carrier 30 fixed to the fixing frame 220 of the interlocking device 2, a track 31 is disposed on the periphery of the carrier 30, and a wheel bar 32 is disposed inside the front and rear ends of the carrier 30 to set a plurality of umbrella wheels. 320, the wheel 32 is provided with a transmission wheel 321 which is respectively located at two ends of the inner side of the crawler belt 31, so that the wheel rod 32, the umbrella wheel 320 and the crawler belt 31 are synchronously operated; of course, if the carrier 3 is sufficient The space of the second wheel bar 32 is also added between the two wheel bars 32 to increase the mobility of the mobile device 3; the carrier 30 is provided with a plurality of auxiliary umbrella wheels 33 as a movement. The auxiliary wheel of the device 3 is used; a motor 34 is disposed in the carrier 30, and the wheel 34 is driven to rotate by the motor 34. The motor 34 is driven by the gear module or the sprocket module to drive the wheel 32. Thus, when the motor 34 drives a shaft 32 to rotate, the cover 31, the other shaft 32, and the respective umbrellas 320 can be synchronously rotated to achieve the multi-angle omnidirectional movement of the mobile device 3.

In addition, the scouting robot of the present invention is also provided with the interlocking device 2, and a multi-array expansion device (not shown) is disposed around the outer side of the main body 1 to mount the plurality of mobile devices 3, respectively, so that each group of the telescopic devices can be independent. The operation is not affected by other telescopic devices; one end of the telescopic device is provided with a fixing frame to fix the mobile device 3. Thus, when one of the telescopic devices or the mobile device 3 is faulty or stuck, the set of the telescopic device and the mobile device 3 are stowed to prevent the problematic telescopic device or the mobile device 3 from affecting the overall mobility of the robot. Moreover, by utilizing the effects of the independent operation of each group of telescopic devices, it is possible to achieve the best adjustment effect by moving various irregular terrains.

Therefore, the detection supply robot of the present invention utilizes the camera 100 of the body 1 and the plurality of illumination lamps 101 and the detection component 102 to enable the remote monitor to obtain real-time information and operate the robot to perform a reconnaissance and replenishment task at a specific place, as shown in FIG. 8 As shown in FIG. 10, when the scouting replenishing robot of the present invention moves in a relatively small space, the ring body 21 of the linking device 2 can be pushed outward, so that the cross telescopic rod 22 is retracted inward, allowing the robot to move in a narrow space. (As shown in FIG. 8); when moving in a larger tube body, the ring body 21 of the linkage device can be pulled inwardly, so that the cross-extension telescopic rod 22 is pushed outward, so that the moving devices 3 can be attached and supported. The wall moves to prevent the robot from slipping in the tube wall and it is difficult to move, so that the robot can move freely in the tube body without being affected.

Furthermore, the crawler belt and the umbrella wheel structure of the mobile device 3 of the present invention can make the reconnaissance replenishing robot have all-round movement and various terrain adaptability effects, whether it is round, square or irregular, and various rugged roads. Or the steep slope that is easy to overturn, does not affect the movement of the reconnaissance replenishing robot of the present invention, even if the robot accidentally overturns, as long as the body does not cause damage, it can be continuously moved until it reaches the destination, and can be collected. Investigate information or carry out replenishment tasks to complete the investigation and replenishment tasks of places that are difficult for people in various disaster areas or areas in the exploration area to form.

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‧‧‧ Ontology
10‧‧‧Electric control room
100‧‧‧ camera
101‧‧‧Lights
102‧‧‧Reconnaissance components
11‧‧‧ chamber
110‧‧‧ cover
111‧‧‧Acquisition hole
2‧‧‧ linkage device
20‧‧‧Power cylinder
200‧‧‧Power rod
21‧‧‧Act
22‧‧‧cross telescopic rod
220‧‧‧ fixed frame
3‧‧‧Mobile devices
30‧‧‧ Carrier
31‧‧‧ Tracks
32‧‧‧ Wheels
320‧‧‧ Umbrella
321‧‧‧Drive wheel
33‧‧‧Auxiliary umbrella wheel
34‧‧‧Motor

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view of a scouting replenishing robot of the present invention. Figure 2 is a plan view of the reconnaissance supply robot of the present invention. Figure 3 is an enlarged cross-sectional view of a portion A of Figure 2. Fig. 4 is a view showing a combination of a linkage device and a moving device of the reconnaissance replenishing robot of the present invention. Figure 5 is a front elevational view of the mobile device of the reconnaissance replenishing robot of the present invention. Figure 6 is a partial cross-sectional view showing the moving device of the scouting replenishing robot of the present invention. Fig. 7 is a side elevational view showing the state in which the interlocking device of the scouting replenishing robot of the present invention is folded. Fig. 8 is a view showing an operation example (1) of the reconnaissance supply robot of the present invention. Fig. 9 is a side elevational view showing the extended state of the interlocking device of the scouting replenishing robot of the present invention. Fig. 10 is a view showing an operation example (2) of the reconnaissance supply robot of the present invention.

1‧‧‧ Ontology

10‧‧‧Electric control room

100‧‧‧ camera

101‧‧‧Lights

102‧‧‧Reconnaissance components

11‧‧‧ chamber

110‧‧‧ cover

2‧‧‧ linkage device

20‧‧‧Power cylinder

200‧‧‧Power rod

21‧‧‧Act

22‧‧‧cross telescopic rod

220‧‧‧ fixed frame

3‧‧‧ device

30‧‧‧ Carrier

31‧‧‧ Tracks

320‧‧‧ Umbrella

33‧‧‧Auxiliary umbrella wheel

Claims (10)

The invention relates to a detection replenishing robot, which comprises at least: a main body, an electric control room is arranged on one side, and a chamber cavity is arranged on the other side; a linkage device is arranged around the outer side of the main body, and the linkage device is provided with a plurality of power cylinders, and the power cylinder system is fixed One end of the body is disposed in the same direction as the central axis of the body, the power cylinder is provided with a power rod, the linkage device is provided with a ring body, and the ring system fixes the other end of the power rod, between the plurality of power cylinders a plurality of intersecting telescopic rods are disposed, wherein an end portion of the obliquely extending telescopic rod is pivotally disposed on the body, and an end portion of the cross-shaped telescopic rod is pivotally disposed on the ring body, and the cross-shaped telescopic rod is The other end is pivotally fixed to fix the moving device; the plurality of moving devices are provided with a carrier fixed to the fixing frame of the linkage device, a track is arranged around the middle of the carrier, and a wheel bar is arranged inside the front and rear ends of the carrier a plurality of umbrella wheels, wherein the wheel rods are provided with transmission wheels, and the transmission wheel trains are respectively located at two ends of the inner side of the crawler belt, so that the wheels The umbrella wheel and the crawler belt can be synchronously operated. A motor is arranged in the carrier, and the motor is used to drive a wheel to rotate, so as to synchronously drive the cover tape, the other shaft and each of the umbrella wheels to rotate, so that the mobile device can move at multiple angles in all directions. efficacy. The utility model relates to a reconnaissance replenishing robot, which comprises at least: a main body, an electric control room is arranged on one side, and a chamber cavity is arranged on the other side; a multi-array expansion device is arranged around the outer side of the main body, so that each group of telescopic devices can operate independently, the telescopic device One end is provided with a fixing frame to fix the moving device; the plurality of moving devices are provided with a carrier fixed to the fixing frame of the telescopic device, a track is arranged around the middle of the carrier, and a wheel bar is disposed inside the front and rear ends of the carrier to a plurality of umbrella wheels are disposed, wherein the wheel rods are provided with transmission wheels, the transmission wheel systems are respectively located at two ends of the inner side of the crawler belt, so that the wheel rods, the umbrella wheels and the crawler belts are synchronously operated, a motor is arranged in the carrier, and the motor is driven by the motor. The rod rotates to synchronously drive the cover belt, the other shaft and each of the umbrella wheels to rotate, so that the mobile device can achieve multi-angle omnidirectional movement. The reconnaissance replenishing robot according to claim 1 or 2, wherein the electronic control room has a central control system for transmitting and receiving signals and manipulating the robot. The reconnaissance replenishing robot according to the first or second aspect of the patent application, wherein the electronic control room is provided with a camera, a plurality of illumination lamps and a detection component. According to the fourth aspect of the patent application scope, the detection component is an infrared sensor, a radar sensor, a radiation sensor, a temperature sensor, a sound wave sensor, and a gravity sensor. According to the fourth aspect of the patent application scope, the reconnaissance robot is provided, wherein the foregoing scouting components are set in plural and can be replaced according to the needs of use. The reconnaissance replenishing robot according to claim 1 or 2, wherein the chamber is a hollow cavity, and a cover is provided at an end of the chamber. According to the investigation and replenishment robot of the seventh aspect of the patent application, the cover body of the chamber is provided with a receiving hole, and the size of the receiving hole is slightly larger than the size of a general adult palm, so that the recipient can directly extend the hand. Enter the chamber of the body to take the recharge in the chamber. According to the reconnaissance replenishing robot of claim 1 or 2, a set or a plurality of sets of wheel bars, transmission wheels and umbrella wheels are added between the two wheel bars to enhance the mobility of the mobile device. The reconnaissance replenishing robot according to claim 1 or 2, wherein the aforementioned carrier is provided with a plurality of auxiliary umbrella wheels for use as an auxiliary wheel of the mobile device.