TWI594856B - Multifunctional manipulator arm - Google Patents

Description

Multi-function robot

The invention relates to a multifunctional mechanical arm; in particular to a feature that the first arm portion, the second arm portion and the seat body structure of the mechanical arm have different elevation angles, and the upper projecting device and the front auxiliary device are respectively arranged. And the corresponding grounding device to improve the functionality and efficiency of the robot arm, and can assist various multifunctional robotic arms for disaster relief missions, military purposes or engineering purposes.

According to the conventional mechanical arm structure, such as "a kind of robotic arm" of Taiwan Invention Patent No. I341778; or "Intelligent Tingjian Town" by Taiwan New Notice No. M405348; or "Machine Arm System of Taiwan Invention and Publication No. TW201238723" The robotic arm is attached to the arm at the foremost end of the arm to provide a single operation for the jaws or drill holes. In addition, the robot has no other expandable functions or techniques for the robot to perform other applications. The use and function of the robot arm are limited, reducing the practicality and economic benefits of the robot arm.

Accordingly, the inventors have accumulated rich experience in design, development, and manufacturing of related technical fields for many years, and have researched and improved the shortcomings of the conventional robotic arm to invent the present case.

The object of the present invention is to provide a projectile device, an auxiliary device and a grounding device with different functions by using different angles of the arms of the robot arm, so that the robot arm can be applied to various disaster relief, military purposes or engineering purposes. Wait for the task.

The multifunctional robot arm of the present invention comprises at least a robot arm and a carrier, the robot arm is provided with a base, and the base body is pivotally disposed with a first arm portion and between the base and the lower portion of the first arm portion a first power cylinder is disposed above the first arm portion to provide a projecting device, wherein the projecting device is a device for projecting a specific elevation angle; and the first arm pivots a second arm a second power cylinder disposed between the lower side of the first arm and the lower side of the second arm, the second arm pivoting a body, and a third power is disposed between the second arm and the seat The cylinder is provided with a grounding device for performing a specific purpose for the ground or underground conditions; the carrier is disposed below the base of the robot arm for carrying the mechanical arm.

The multifunctional robot arm of the present invention, wherein the first power cylinder is a dual power cylinder structure disposed under the two sides of the first arm portion to strengthen the supporting force and balance of the mechanical arm to the first arm portion, and The aforementioned second power cylinder is disposed between the dual power cylinder structures.

In the multifunctional robot arm of the present invention, the second arm portion is provided with an auxiliary device to provide an auxiliary function for the condition in front of the robot arm.

In order to further understand the present invention, the embodiment of the optimal multifunctional robot arm is as shown in FIGS. 1 to 10, and includes at least:

The first arm portion 11 is pivoted between the base 10 and the first arm portion 11 to utilize the first The power cylinder 12 adjusts the bending angle of the base 10 and the first arm portion 11. The first power cylinder 12 is configured as a dual power cylinder disposed on both sides of the first arm portion 11 to strengthen the mechanical arm to the first arm. The second power cylinder 15 may be disposed in the middle of the dual power cylinder structure to solve the problem that the first power cylinder 12 and the second power cylinder 15 cannot be simultaneously set when the length of the first arm portion 11 is insufficient. The problem under the first arm. Of course, if the length of the first arm portion 11 is sufficient to simultaneously dispose the first power cylinder 12 and the second power cylinder 15 below the first arm portion 11, the first power cylinder with only a large power is required to complete. The telescopic operation of the first arm is indispensable. A fixing seat 110 is disposed above the first arm portion 11 to provide a projecting device 13. The projecting device 13 is a fire sprinkler, a disinfecting spray gun, a rope throwing gun, a turret, and the like, which requires a specific elevation angle for object ejection. A searchlight (not shown) is disposed on both sides of the first arm portion 11 to assist the projectile device 13 in performing a night task.

A second arm portion 14 is pivotally disposed on the first arm portion 11 , and a second power cylinder 15 is disposed between the first arm portion 11 and the lower portion of the second arm portion 14 to adjust the second power cylinder 15 . The bending angle of the one arm portion 11 and the second arm portion 14; the second arm portion 14 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 14 pivots a body 16 , and a third power cylinder 17 is disposed between the second arm portion 14 and the seat body 16 to adjust the second arm portion 14 and the seat body by the third power cylinder 17 . The bending angle of 16; the aforementioned seat body 16 is used to couple a pair of ground devices 18, which is a device such as a jaw, a drill, a chainsaw, a ground penetrating radar, a sonar, a mine, etc., for ground or Underground conditions for specific purposes.

The carrier 2 is disposed under the base 10 of the robot arm 1 to carry the robot arm 1 and is used to move the robot arm. The carrier 2 is a crawler carrier (as shown in FIG. 8). Wheeled vehicles, vehicles, boats and other mobile devices.

As shown in the embodiment of FIG. 8, when the multifunctional mechanical arm of the present invention is applied to a fire rescue, the mechanical arm can be placed on a fire-fighting vehicle, and the ejection device 13 and the infrared sensor of the fire sprinkler are pre-equipped. The auxiliary device (not shown) and the device 18 for the jaws, when performing the rescue task, the rescuer has to remotely control the robot arm or follow the robot arm, first use the auxiliary device of the infrared sensor to find The position of the survivor is used, and then the fire sprinkler 13 is used to extinguish the fire. When the fire control is controlled, the obstacles are removed by the jaws or the ground device 18 of the drill bit, so that the helper can enter safely. The fire saved people. Furthermore, the present invention utilizes the first power cylinder 12 having a dual power cylinder structure to stably support and adjust the spray color angle of the fire sprinkler to replace the current firefighters who must stand at the forefront of the fire field to hold a very heavy fire sprinkler. The task of extinguishing fires not only improves the efficiency of disaster relief, but also reduces the chance of casualties.

Therefore, the multi-function mechanical arm of the present invention utilizes the characteristics of different elevation angles of the first arm portion 11, the second arm portion 14, and the seat body 16 of the mechanical arm to respectively set the upper projecting device 13 and the front side. The auxiliary device and the lower grounding device 18 are used to enhance the functionality and use efficiency of the robot arm.

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‧‧‧ Robotic arm
10‧‧‧ Pedestal
11‧‧‧ First arm
110‧‧‧ fixed seat
12‧‧‧First Power Cylinder
13‧‧‧Ejection device
14‧‧‧ Second arm
15‧‧‧second power cylinder
16‧‧‧ body
17‧‧‧ Third Power Cylinder
18‧‧‧ground devices
2‧‧‧ Vehicles

1 is a perspective view (1) of the multifunctional robot arm of the present invention. Figure 2 is a partially exploded view of the multifunctional robot arm of the present invention. Figure 3 is a plan view of the multifunctional robot arm of the present invention. Figure 4 is a bottom plan view of the multifunctional robot arm of the present invention. Fig. 5 is a motion diagram (1) of the multifunctional robot arm of the present invention. Figure 6 is a motion diagram (2) of the multifunctional robot arm of the present invention. Figure 7 is a perspective view (2) of the multifunctional robot arm of the present invention. Fig. 8 is a view showing an operation example of the multifunctional robot arm of the present invention.

1‧‧‧ Robotic arm

10‧‧‧ Pedestal

11‧‧‧ First arm

110‧‧‧ fixed seat

12‧‧‧First Power Cylinder

13‧‧‧Ejection device

14‧‧‧ Second arm

15‧‧‧second power cylinder

16‧‧‧ body

17‧‧‧ Third Power Cylinder

18‧‧‧ground devices

Claims (6)

The utility model relates to a multifunctional mechanical arm, which comprises at least a mechanical arm and a base. The base body is pivotally provided with a first arm, and a first power cylinder is disposed between the base and the first arm, the first A fixing seat is disposed above the arm portion to provide a projecting device, wherein the projecting device is a device for projecting a specific elevation angle; the first arm portion is pivotally disposed 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 The processing is performed for a specific purpose for the ground or underground conditions; the vehicle is disposed under the base of the robot arm to carry the mechanical arm and the moving mechanical arm to make the robot arm maneuverable. According to the multi-functional mechanical arm of claim 1, wherein the first power cylinder is a dual-power cylinder structure disposed below both sides of the first arm portion to strengthen the support force and balance of the mechanical arm to the first arm portion. Acting and placing the aforementioned second power cylinder between the dual power cylinder structures. The multifunctional robot arm according to claim 1 or 2, wherein the aforementioned projecting device is a fire sprinkler, a disinfecting spray gun, a rope throwing gun or a turret. The multifunctional robot arm of claim 1 or 2, wherein the second arm portion is provided with an auxiliary device to provide an auxiliary function for the condition in front of the robot arm. The multifunctional robot arm according to claim 4, wherein the auxiliary device is a lamp, a camera, a sensor or a small weapon. The multifunctional robot arm according to claim 1 or 2, wherein the ground device is a jaw, a drill, a chainsaw, a ground penetrating radar, a sonar or a mine.