TWI601614B - Rescue and relief primary-secondary robot - Google Patents

Description

Rescue disaster relief robot

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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:

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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‧‧‧ 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

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‧‧‧ Vehicles

10‧‧‧ Carrier

103‧‧‧Upper cover

106‧‧‧ stage

1060‧‧‧Base

1061‧‧‧Rotating device

1062‧‧‧ Carrier

11‧‧‧Mobile devices

110‧‧‧Drive wheel

111‧‧‧ Tracks

112‧‧‧lift module

113‧‧‧ claw hook module

1137‧‧‧ claw hook

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

31‧‧‧ cloth rack

32‧‧‧Distribution tube

323‧‧‧ cover

4‧‧‧Monitoring PTZ

40‧‧‧Support frame

41‧‧‧Monitoring room

42‧‧‧Transparent cover

Claims (10)

The utility model relates to a rescue disaster relief mother robot, which comprises at least: a vehicle, a carrier, and an electric control device disposed on the carrier, wherein the electronic control device is electrically connected with the vehicle, the robot arm, the deployment device and the monitoring cloud platform to be electrically controlled. The device performs transmission and reception signals and manipulations of all devices of the mother robot, and the rotating carrier is disposed above the carrier, and the mobile device is disposed on the left and right sides of the carrier; the mechanical arm is disposed at the front end of the carrier of the carrier, and the mechanical arm is set to project The device and the grounding device are disposed at the rear end of the carrier of the carrier, and are a linkage structure. The deployment device is provided with a telescopic assembly, and the telescopic assembly is disposed at a middle position of the carrier. The laying device is provided with two sets of laying racks, which are disposed on two sides of the loading platform, and are connected to the telescopic assembly, and the laying rack is pivotally provided with a laying pipe for carrying a plurality of laying pipes a robot; a monitoring cloud platform, which is erected at a rear end of the carrier of the aforementioned carrier, and the monitoring cloud platform is provided with a support frame, the support frame The utility model is fixed on the loading platform and has a monitoring room at the upper end of the support frame; the sub-robot is disposed in the laying pipe of the discharging device. According to the rescue disaster relief robot of claim 1, 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 rear side of the chamber. a first transmission shaft, the power of the second power unit is connected to a 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 the peripheral line of the driving wheel a crawler belt is disposed on one side of the driving wheel of the mobile device, and the lifting module is pivotally disposed on the outer side of the second transmission shaft to a first rotating wheel below the crawler belt, and is driven by the second rotating wheel. A first linkage rod is fixed to an end of the shaft, and an end of the first linkage rod is pivoted to a second rotating wheel in front of the crawler belt, and a second linkage rod is pivoted on the other side of the second rotating wheel. The end of the second linkage rod is pivoted to a third rotating wheel above the crawler belt, and a third linkage rod is pivoted on the third rotating wheel, and the end portion of the third linkage rod is pivoted a first drive shaft of a power unit; The moving device is provided with a claw hook module, and 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, and one end of the first supporting rod is fixed on a side of the carrier The other end pivots a first sleeve, and the first support rod fixes a second support rod in a vertical direction, the second support rod forms an angle of less than 90 degrees with the horizontal plane, and is at an end of the second support rod The second arm is pivoted on one side of the part, and the first hook is disposed in the first sleeve, and one end of the first arm is pivoted And the other end of the rod 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 is sleeved in the foregoing Two sets of bodies, and claw hooks are arranged at the ends of the second arm. According to the second aspect of the patent application scope, the rescue disaster relief mother robot, wherein the side of the carrier is provided with a side cover for adjusting, repairing, replenishing or replacing the internal device of the chamber. According to the second aspect of the patent application scope, the angle of the angle between the second support rod and the horizontal plane is 20 degrees to 30 degrees. According to the rescue disaster relief robot of the first application of the patent scope, the robot arm is provided with a base, the base is pivoted with a first arm, and a first between the base and the first arm is disposed. a power cylinder, a fixing seat is disposed above the first 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 a second power cylinder is disposed between the lower side of the first arm portion and the lower portion of 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 is The grounding device is designed to perform specific purposes for ground or underground conditions. According to the fifth aspect of the patent application scope, the first power cylinder is a dual power cylinder structure disposed on both sides of the first arm portion to strengthen the support force of the mechanical arm to the first arm portion. Balancing, and the aforementioned second power cylinder is disposed between the dual power cylinder structures. According to the rescue disaster relief robot of claim 5, wherein the second arm is provided with an auxiliary device to provide an auxiliary function for the situation in front of the robot arm. According to the rescue disaster relief mother robot of claim 1, wherein the telescopic assembly of the deployment device is provided with a base, the base is fixed on the loading platform; the laying device is provided with a base, and the base is fixed on the base a side of the stage, and a half open frame is pivoted on the base, and 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 a laying pipe, 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 and one end of the semi-open frame are The first bevel gear is fixed at the front end of the first rod body, the front end of the laying tube is pivoted with a second body, and the second rod system is fixedly disposed with the cover body, and The second bevel gear is fixed to the second rod body corresponding to the first bevel gear. According to claim 8 of the scope of the patent application, the pedestal is provided with two sets of power cylinders, the power cylinder is provided with a power rod, and a telescopic rod is disposed on the telescopic assembly, and one end of the cross telescopic rod is connected to the base The other end is connected to the power rod to push the power rod with the power cylinder and simultaneously drive the cross telescopic rod to stretch and fold. According to the rescue disaster relief mother robot of claim 8 , the foregoing pedestal is provided with a plurality of cable retracting devices or a plurality of telescopic rod devices to complete the telescopic operation of the telescopic assembly by using a steel cable or a telescopic rod.