An all-terrain spherical-foot robot that can work in a fire scene

Abstract

The present invention belongs to the field of robots, and particularly relates to an all-terrain spherical-foot robot capable of working in a fire scene. An all-terrain spherical-foot robot capable of working in a fire scene, which includes spherical wheel feet. The spherical wheel feet are hollow spherical structures, and a high-temperature-resistant multi-axis rotor subsystem is arranged in the spherical wheel feet. The beneficial effects of the present invention are as follows: 1. Heat exchange ensures that heat generated by heat-generating components such as motors inside the robot during operation can be absorbed, preventing their temperatures from becoming too high due to the inability to dissipate heat. 2. It avoids the complex heat insulation and heat exchange systems brought about by the distributed arrangement of multiple motors, making the temperature control system simpler. 3. It enables the robot system to have two traveling modes, namely land travel and air flight, and has a stronger adaptability to complex terrains.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and particularly relates to an all-terrain spherical-foot robot that can work in a fire scene. Background Art

[0002] With the development of urbanization and industrialization, the number of buildings such as high-rise buildings and industrial factories has increased rapidly. However, the fire protection problems of buildings such as high-rise buildings and industrial factories have gradually become hidden dangers threatening building safety and the safety of people's lives and property.

[0003] For the search and rescue and detection in buildings during a fire, the current equipment and solutions have the following problems: First, it is difficult for equipment to intervene: If the location of the fire in the building is at a high altitude, the fire trucks on the ground are restricted by height and it is difficult to control the fire at high altitudes; If the fire point is inside the building, it will be more difficult for the fire-fighting facilities outside the building to extinguish the fire source; If wheeled, tracked or legged land robots are used to enter the fire scene, due to the presence of other obstacles such as fallen building materials in addition to stairs in high-rise buildings, it will be difficult for the land robots to move. Second, the fire-fighting personnel have insufficient ability to detect the fire situation: If the fire-fighting personnel enter the building to fight the fire, they need to detect the fire source situation, the location of dangerous goods placement, etc. inside the building, otherwise the fire-fighting personnel entering the building will be threatened with life safety.

[0004] For the search and rescue and detection in factories during a fire, due to the complex factory environment and the possible storage of flammable and explosive dangerous goods inside, if the fire-fighting personnel do not detect the fire situation and the placement of dangerous goods inside the factory before entering the fire scene, it will pose a threat to the life safety of the fire-fighting personnel.

[0005] The solution to the above problems by existing equipment mainly relies on land robots. Land robots have the problem of insufficient traveling ability under multi-obstacle terrain conditions, and there are a large number of items stored in buildings and factories, which are extremely likely to form a multi-obstacle environment, restricting the working ability of land robots.

[0006] In summary, in view of the problem of insufficient application ability of existing robots under multi-obstacle, narrow space and high-temperature conditions, it is necessary to develop a robot system with strong obstacle-crossing ability, capable of freely moving in a narrow space and resistant to high temperature. Summary of the Invention

[0007] The purpose of the present invention is to provide an all-terrain spherical-foot robot that can work in a fire scene in view of the problem of insufficient application ability of existing robots under multi-obstacle, narrow space and high-temperature conditions.

[0008] The specific technical solution adopted by the present invention is as follows: an all-terrain spherical-foot robot that can work in a fire scene, which includes spherical wheel feet. The spherical wheel feet are hollow spherical structures, and a high-temperature-resistant multi-axis rotor subsystem is arranged in the spherical wheel feet.

[0009] For the all-terrain spherical-foot robot that can work in a fire scene as described above, the spherical wheel feet include a spherical wheel foot outer frame. The spherical wheel foot outer frame is an annular part. Four spherical wheel foot outer frames form a spherical contour. A connecting ring is arranged at the intersection point of the four spherical wheel foot outer frames to form a spherical skeleton. The spherical wheel foot outer frame is connected to the spherical wheel foot middle frame through a motion isolation bearing I and can rotate with a single degree of freedom with respect to the spherical wheel foot middle frame; the spherical wheel foot middle frame is connected to the spherical wheel foot inner shaft through a motion isolation bearing II and rotates freely with respect to the spherical wheel foot inner shaft.

[0010] For the all-terrain spherical-foot robot that can work in a fire scene as described above, the high-temperature-resistant multi-axis rotor subsystem includes a rotor transmission component, an arm, an image detector, and a temperature control cabin; the rotor transmission component includes an upper rotor, a lower rotor, a rotor mounting seat, an upper rotor transmission gear, a lower rotor transmission gear, and a power output gear; the upper rotor and the lower rotor form a pair of coaxial dual-paddle systems and are installed on the rotor mounting seat. The blade inclination directions of the upper rotor and the lower rotor are opposite; the upper rotor is fixedly connected to the upper rotor mounting seat, the lower rotor is fixedly connected to the lower rotor mounting seat, the power output shaft is fixedly connected to the power output gear, and the power output gear meshes with the upper rotor transmission gear and the lower rotor transmission gear respectively; when the power output shaft rotates, the power output gear fixedly connected to it drives the upper rotor transmission gear and the lower rotor transmission gear to rotate in opposite directions respectively. The upper rotor transmission gear and the lower rotor transmission gear drive the upper rotor and the lower rotor to rotate respectively, thereby generating a pulling force to push the robot to move; the rotor transmission component is installed on the temperature control cabin through the arm.

[0011] For the all-terrain spherical-foot robot that can work in a fire scene as described above, the image detector has the ability to image objects at different temperatures.

[0012] The present invention has the following beneficial effects compared with the prior art: 1. Adopt a composite temperature control system of heat insulation + heat exchange. The heat insulation ensures that the heat in the fire scene environment will not be transferred to the key structures and electronic components of the robot; the heat exchange ensures that the heat generated by the components such as motors inside the robot during operation can be absorbed, so that their temperatures will not be too high due to the inability to dissipate heat.

[0013] 2. Adopt a bevel gear type rotor transmission mechanism to drive two rotors to rotate through the power output shaft, ensuring that the motors of the multi-axis rotor can be centrally arranged in the temperature control cabin, avoiding the complex heat insulation and heat exchange systems brought about by the distributed arrangement of multiple motors, and making the temperature control system simpler.

[0014] 3. The solution of combining spherical wheel feet with a motion isolation function and a multi-axis rotor system is adopted, enabling the robot system to have two traveling modes: land travel and air flight, and having a stronger adaptability to complex terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is the flowchart of the operation of the present invention;

[0016] Figure 2(a) is the top view of the present invention, (b) is the front view of the present invention, and (c) is the perspective view of the present invention;

[0017] Figure 3 It is the exploded view of the present invention;

[0018] Figure 4 It is the structural schematic diagram of the spherical wheel feet in the present invention;

[0019] Figure 5 It is the structural schematic diagram of the high-temperature resistant multi-axis rotor subsystem in the present invention;

[0020] Figure 6 It is the exploded view of the high-temperature resistant multi-axis rotor subsystem in the present invention;

[0021] Figure 7 It is the schematic diagram of the coaxial dual-propeller transmission structure in the present invention;

[0022] Figure 8 It is the schematic diagram of the electrical module in the present invention;

[0023] Figure 9(a) is the structural schematic diagram of the electrical module with the heat exchange shell removed in the present invention, and (b) is the top view of the electrical module with the heat exchange shell removed in the present invention;

[0024] Among them, 1 - spherical wheel feet, 2 - high-temperature resistant multi-axis rotor subsystem, 3 - outer frame of spherical wheel feet, 4 - connecting ring, 5 - middle frame of spherical wheel feet, 6 - motion isolation bearing I, 7 - inner shaft of spherical wheel feet, 8 - motion isolation bearing II, 9 - upper rotor, 10 - lower rotor, 11 - rotor mounting seat, 12 - power output shaft, 13 - arm, 14 - image detector, 15 - temperature control cabin, 16 - power output gear, 17 - upper rotor transmission gear, 18 - lower rotor transmission gear, 19 - upper cover of temperature control cabin, 20 - lower cover of temperature control cabin, 21 - one-way pressure relief valve, 22 - upper heat insulation filling layer, 23 - lower heat insulation filling layer, 24 - electrical module, 25 - heat exchange shell, 26 - low-temperature cold source, 27 - wireless communication antenna, 28 - motor heat insulation sleeve, 29 - frame, 30 - motion control cabin, 31 - motor, 32 - motor mounting seat. DETAILED DESCRIPTION OF THE INVENTION

[0025] The all-terrain spherical-foot robot capable of working in a fire scene described in the present invention uses a multi-axis rotor system as the power source, and realizes the forward, backward, turning, ascending and descending movements of the robot by adjusting the rotational speeds of the rotors on each axis. At the same time, the outside of the multi-axis rotor subsystem is wrapped by spherical wheel feet with a motion isolation function. The multi-axis rotor subsystem and the spherical wheel feet enable the present invention to not only fly away from the ground like a drone, but also have the ability to roll forward on the ground and walls, realizing amphibious movement in the air and on land.

[0026] At the same time, in order to ensure the reliable operation of the spherical-foot robot described in the present invention in a fire scene, the present invention adopts a composite temperature control system of heat insulation + heat exchange to ensure that the working environment temperatures of components such as the electronic circuits, servo systems, and payloads on the robot are within their adaptable temperature ranges. Among them, the heat insulation system uses heat insulation materials to wrap the parts of the multi-axis rotor subsystem other than the rotors to form a closed heat insulation layer, weakening the transfer of high-temperature heat energy in the fire scene to the inside of the robot. The heat exchange system inside the robot uses a low-temperature cold source as the low-temperature part of the heat exchange, and conducts heat exchange with components such as motors, electronic speed controllers, batteries, and circuit components that generate heat during operation through heat conduction pipes, reducing the temperatures of components such as motors and electronic speed controllers and preventing them from overheating and being unable to work properly.

[0027] The technical solution adopted by the present invention is as follows:

[0028] The present invention consists of a high-temperature-resistant multi-axis rotor subsystem and spherical wheel feet.

[0029] The spherical wheel feet are composed of a spherical wheel foot outer frame, a connecting ring, a spherical wheel foot middle frame, a spherical wheel foot inner shaft, and several motion isolation bearings. Among them, several spherical wheel foot outer frames are connected to each other through the connecting ring to form a spherical skeleton; the spherical wheel foot outer frame is connected to the spherical wheel foot middle frame through a motion isolation bearing and can rotate with a single degree of freedom with the spherical wheel foot middle frame; the spherical wheel foot middle frame is connected to the spherical wheel foot inner shaft through a motion isolation bearing and rotates freely with the spherical wheel foot inner shaft, so that the attitude movement of the high-temperature-resistant multi-axis rotor subsystem is not affected by the attitude movement of the spherical wheel feet.

[0030] The high-temperature resistant multi-axis rotor subsystem includes a rotor drive assembly, an arm, an image detector, and a temperature control cabin. The rotor drive assembly includes an upper rotor, a lower rotor, a rotor mounting seat, an upper rotor drive gear, a lower rotor drive gear, and a power output gear. The upper rotor and the lower rotor form a pair of coaxial dual-rotor systems, which are installed on the rotor mounting seat. The blade inclination directions of the upper rotor and the lower rotor are opposite to ensure that the rotation directions of the two rotors are opposite during operation, but the pulling force directions generated are the same. The upper rotor is fixedly connected to the upper rotor mounting seat, the lower rotor is fixedly connected to the lower rotor mounting seat, the power output shaft is fixedly connected to the power output gear, and the power output gear meshes with the upper rotor drive gear and the lower rotor drive gear respectively. When the power output shaft rotates, the power output gear fixedly connected to it drives the upper rotor drive gear and the lower rotor drive gear to rotate in opposite directions respectively. The upper rotor drive gear and the lower rotor drive gear drive the upper rotor and the lower rotor to rotate respectively, thereby generating a pulling force to push the robot to move. The rotor drive assembly is installed on the temperature control cabin through the arm.

[0031] The image detector has the ability to image objects at different temperatures, enabling the robot to detect combustibles at different temperatures and be used to identify key information such as the fire source.

[0032] The temperature control cabin is composed of an outer fireproof and heat-insulating cavity, a middle heat-insulating cavity, and an internal electrical module. The outer fireproof and heat-insulating cavity is composed of an upper cover of the temperature control cabin and a lower cover of the temperature control cabin. The upper cover of the temperature control cabin and the lower cover of the temperature control cabin are two semi-closed cavities, one end is closed and the other end is open. They are made of high-temperature resistant and fireproof materials. After the open end faces of the two are buckled, a closed cavity can be formed for preliminary heat insulation. The one-way pressure relief valve is installed on the closed end face of the upper cover of the temperature control cabin to ensure that external high-temperature gases cannot enter the temperature control cabin, and at the same time, it can discharge the gas generated during the internal heat exchange process of the low-temperature cold source in the temperature control cabin to ensure the pressure stability inside the temperature control cabin. The middle heat-insulating cavity is composed of an upper heat-insulating filling layer and a lower heat-insulating filling layer. Both the upper heat-insulating filling layer and the lower heat-insulating filling layer are made of heat-insulating materials and are in the shape of semi-closed cavities with one end closed and the other end open. There are small holes opened on the closed end face of the upper heat-insulating filling layer for the one-way pressure relief valve to pass through. The middle heat-insulating cavity plays a main heat-insulating role and, together with the outer fireproof and heat-insulating cavity, isolates the heat in the fire scene environment from the electrical module, minimizing the influence of the ambient temperature on the components in the electrical module.

[0033] The electrical module includes a heat exchange shell, a cryogenic cold source, a wireless communication antenna, a motor heat insulation sleeve, a frame, a motion control cabin, a motor, and a motor mount. The frame is a plate-like structure for mounting the cryogenic cold source, the motion control cabin, and the motor mount. The motor mount is installed on the frame for mounting the motor. The motor is fixed on each motor mount and is connected to each power output shaft through the motor heat insulation sleeve. The rotation of the motor drives the rotation of the power output shaft, and then drives the rotor to rotate to generate power.

[0034] The cryogenic cold source is installed on the frame and is arranged at an interval from the motor. The heat exchange shell wraps the cryogenic cold source and the motor, and its structure is a multi-page structure, which is convenient for absorbing the heat generated by the motor during operation and conducting it to the cryogenic cold source. When the motor operates, heat is generated. Since the outside of the electrical module is wrapped by an outer fireproof and heat insulation cavity and a middle heat insulation cavity, the heat cannot be dissipated. Therefore, heat exchange can be carried out between the heat exchange shell and the cryogenic cold source to reduce the temperature of the motor during operation; for other electronic components that do not generate much heat during operation, the heat they emit during operation does not directly exchange heat between the heat exchange shell and the cryogenic cold source, but is first dissipated into the middle heat insulation cavity and then absorbed by the cryogenic cold source through the heat exchange shell to reduce its operating temperature.

[0035] The wireless communication antenna is used to transmit the image information detected by the robot to the ground station. The motion control cabin includes an inertial measurement element, a flight control computer, a power supply, and other circuit hardware. The inertial measurement element is used to measure the acceleration and angular rate of the robot during movement and transmit them to the flight control computer; the flight control computer can receive the robot motion information output by the inertial measurement element, and can receive the control instructions sent by the ground station through the wireless communication antenna 27, and calculate the motor and servo control instructions according to the control instructions and the robot motion information to control the rotor speed and orientation; the power supply provides electrical energy for the motor 31 of the robot, the inertial measurement element, the flight control computer and other components in the motion control cabin 30.

[0036] The working process of the present invention is as follows:

[0037] Step 1: Install the cryogenic cold source in the temperature control cabin of the robot near the fire site, combine the upper cover and the lower cover of the temperature control cabin, and install the temperature control cabin of the robot in the spherical wheel foot;

[0038] Step 2: Release the robot and remotely control the robot to enter the fire site through the wireless data link;

[0039] Step 3: When the ground is relatively flat or the slope of the obstacle is not large during the movement of the robot, rely on the spherical wheel foot to roll forward, and the multi-axis rotor system provides the forward power;

[0040] Step 4: When the obstacles encountered by the robot during movement are relatively high and the slope is relatively large, rely on the multi-axis rotor subsystem to generate lift to leap over the obstacles;

[0041] Step 5: During the movement of the robot, the ground station sends motion control instructions to the robot via a wireless data link. The robot relies on the on-board imaging device to detect the internal environment of the fire scene and transmits the image information back to the ground station via the wireless data link;

[0042] Step 6: After completing the investigation of the fire scene environment, the robot returns.

[0043] The following presents specific examples.

[0044] This embodiment provides an all-terrain spherical-foot robot that can work in a fire scene. As shown in Figure 2, in this embodiment, the all-terrain foot robot includes a spherical wheel foot 1 and a high-temperature-resistant multi-axis rotor subsystem 2 (as Figure 3 shown), where the high-temperature-resistant multi-axis rotor subsystem 2 adopts a four-axis rotor scheme.

[0045] Among them, the spherical wheel foot 1 (as Figure 4 shown) is composed of a spherical wheel foot outer frame 3, a connecting ring 4, a spherical wheel foot middle frame 5, a motion isolation bearing I 6, a spherical wheel foot inner shaft 7, and a motion isolation bearing II 8. Among them, several spherical wheel foot outer frames 3 are connected to each other through the connecting ring 4 to form a spherical skeleton; the spherical wheel foot outer frame 3 is connected to the spherical wheel foot middle frame 5 through the motion isolation bearing I 6 and can rotate with a single degree of freedom with respect to the spherical wheel foot middle frame 5; the spherical wheel foot middle frame 5 is connected to the spherical wheel foot inner shaft 7 through the motion isolation bearing II 8 and rotates freely with respect to the spherical wheel foot inner shaft 7, so that the attitude movement of the high-temperature-resistant multi-axis rotor subsystem 2 is not affected by the attitude movement of the spherical wheel foot.

[0046] As Figure 5 shown, the high-temperature-resistant multi-axis rotor subsystem 2 includes an upper rotor 9, a lower rotor 10, a rotor mounting seat 11, a power output shaft 12, an arm 13, an image detector 14, and a temperature control cabin 15.

[0047] The upper rotor 9 and the lower rotor 10 form a pair of coaxial dual-rotor systems, which are installed on the rotor mounting seat 11 and driven to rotate through the power output shaft 12; the blade inclination directions of the upper rotor 9 and the lower rotor 10 are opposite to ensure that the rotation directions of the two rotors are opposite during operation, but the pulling force directions are the same. The transmission relationship between the power output shaft 12 and the upper rotor 9 and the lower rotor 10 is as Figure 7As shown in the figure, the upper rotor 9 is fixedly connected to the upper rotor transmission gear 17, the lower rotor 10 is fixedly connected to the lower rotor transmission gear 18, the power output shaft 12 is fixedly connected to the power output gear 16, and the power output gear 12 meshes with the upper rotor transmission gear 17 and the lower rotor transmission gear 18 respectively. The power output shaft 12 is driven to rotate by the motor 31 in the temperature control cabin 15. When the power output shaft 12 rotates, the power output gear 12 fixedly connected thereto drives the upper rotor transmission gear 17 and the lower rotor transmission gear 18 to rotate in opposite directions respectively. The upper rotor transmission gear 17 and the lower rotor transmission gear 18 drive the upper rotor 9 and the lower rotor 10 to rotate respectively, thereby generating a pulling force to push the robot to move. There are four groups of the upper rotor 9, the lower rotor 10, the rotor mounting seat 11, and the power output shaft 12, which are respectively installed on the frame 29 of the temperature control cabin 15 through four arms 13.

[0048] In this embodiment, the image detector 14 adopts a white light + infrared dual-mode camera, enabling the robot to detect combustibles at different temperatures and be used to distinguish key information such as the fire source.

[0049] The temperature control cabin 15 consists of a temperature control cabin upper cover 19, a temperature control cabin lower cover 20, a one-way pressure relief valve 21, an upper heat insulation filling layer 22, a lower heat insulation filling layer 23, and an electrical module 24. The temperature control cabin upper cover 19 and the temperature control cabin lower cover 20 are two semi-closed cavities, one end is closed and the other end is open, and they are made of high-temperature resistant and fireproof materials. After the open end faces of the two are buckled, a closed cavity can be formed for preliminary heat insulation; the upper heat insulation filling layer 22, the lower heat insulation filling layer 23, and the electrical module 24 are placed in this closed cavity; the one-way pressure relief valve 21 is installed on the closed end face of the temperature control cabin upper cover 19 to ensure that external high-temperature gases cannot enter the closed cavity composed of the temperature control cabin upper cover 19 and the temperature control cabin lower cover 20, and at the same time, it can discharge the gas generated by the low-temperature cold source 26 in the closed cavity during the internal heat exchange process, ensuring the pressure stability inside the temperature control cabin 15.

[0050] Both the upper heat insulation filling layer 22 and the lower heat insulation filling layer 23 are made of heat insulation materials, and their shapes are both semi-closed cavities with one end closed and the other end open. Among them, the closed end face of the upper heat insulation filling layer is provided with a small hole for the one-way pressure relief valve 21 to pass through; the upper heat insulation filling layer 22 is installed inside the temperature control cabin upper cover 19, and the lower heat insulation filling layer 23 is installed inside the temperature control cabin lower cover 20. The upper heat insulation filling layer 22 and the lower heat insulation filling layer 23 together form a closed cavity, which wraps the electrical module 24 therein, playing a main heat insulation role, and together with the temperature control cabin upper cover 19 and the temperature control cabin lower cover 20, isolates the heat in the fire field environment from the electrical module 24, minimizing the influence of the ambient temperature on the components in the electrical module 24.

[0051] As Figure 8As shown in FIGS. 9, the electrical module 24 includes a heat exchange shell 25, a cryogenic cold source 26, a wireless communication antenna 27, a motor heat insulation sleeve 28, a frame 29, a motion control cabin 30, a motor 31 and a motor mounting seat 32. The frame 29 is a plate-like structure for mounting the cryogenic cold source 26, the motion control cabin 30 and the motor mounting seat 32. There are 4 groups of motor mounting seats 32, which are mounted on the frame 29 and used for mounting the motor 31. In this embodiment, there are 4 groups of motors 31, which are fixed on the respective motor mounting seats 32 and connected to the respective power output shafts 12 through the motor heat insulation sleeves 28. The rotation of the motor 31 drives the rotation of the power output shaft 12, and then drives the rotation of the rotor to generate power.

[0052] In this embodiment, there are 4 groups of cryogenic cold sources 26, which use solid carbon dioxide materials and are mounted on the frame 29, arranged at intervals with the 4 groups of motors 31. The heat exchange shell 25 wraps around the cryogenic cold source 26 and the motor 31, and its structure is a multi-page structure, which is convenient for absorbing the heat generated by the motor 31 during operation and conducting it to the cryogenic cold source 26. When the motor 31 operates, it generates heat. Since the electrical module 24 is wrapped by a closed heat insulation cavity composed of an upper heat insulation filling layer 22 and a lower heat insulation filling layer 23 and a closed heat insulation cavity composed of a temperature control cabin upper cover 19 and a temperature control cabin lower cover 20, the heat cannot escape. Therefore, heat exchange can be carried out through the heat exchange shell 25 and the cryogenic cold source 26 to reduce the temperature of the motor 31 during operation; for other electronic components that do not generate much heat during operation, the heat they emit during operation does not directly exchange heat through the heat exchange shell 25 and the cryogenic cold source 26, but first emits into the closed heat insulation cavity composed of the upper heat insulation filling layer 22 and the lower heat insulation filling layer 23, and then is absorbed by the cryogenic cold source 26 through the heat exchange shell 25 to reduce its operating temperature.

[0053] The wireless communication antenna 27 is used to transmit the image information detected by the robot to the ground station. The motion control cabin 30 includes an inertial measurement element, a flight control computer, a power supply and necessary circuit hardware. The inertial measurement element is used to measure the acceleration and angular rate of the robot during motion and transmit them to the flight control computer; the flight control computer can receive the robot motion information output by the inertial measurement element, and can receive the control instructions sent by the ground station through the wireless communication antenna 27, and calculate the motor and servo control instructions according to the control instructions and the robot motion information to control the rotor speed and orientation; the power supply provides electrical energy for components such as the motor 31, the inertial measurement element and the flight control computer in the motion control cabin 30.

[0054] The overall working process of this embodiment is as follows:

[0055] As Figure 1As shown in the figure, after the operator arrives near the fire site, install the low-temperature cold source 26 in the temperature control cabin 15 of the robot, combine the upper cover 19 of the temperature control cabin with the lower cover 20 of the temperature control cabin, and install the temperature control cabin 15 of the robot in the spherical wheel foot 1; after the robot is assembled, release the robot and remotely control the robot to enter the fire site through the wireless data link; when the ground is relatively flat or the slope of the obstacle is not large during the movement of the robot, rely on the spherical wheel foot 1 to roll forward, and the high-temperature resistant multi-axis rotor subsystem 2 provides the forward power; when the obstacles encountered by the robot during the movement are relatively high and the slope is relatively large, rely on the high-temperature resistant multi-axis rotor subsystem 2 to generate lift to leap over the obstacles; during the movement of the robot, the ground station sends motion control instructions to the robot through the wireless data link, and the robot relies on the wireless communication antenna 27 to receive the control instructions sent by the ground station and move according to the control instructions; the robot relies on the carried image detector 14 to detect the internal environment of the fire site and transmit the image information back to the ground station through the wireless communication antenna 27; after completing the investigation of the fire site environment, the robot returns.

[0056] In summary, the above is only a preferred embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An all-terrain spherical-foot robot that can work in a fire scene, Characterized in that: It includes a spherical wheel foot (1), which is a hollow spherical structure, and a high-temperature-resistant multi-axis rotor subsystem (2) is arranged in the spherical wheel foot (1); A temperature control cabin (15) is arranged in the high-temperature-resistant multi-axis rotor subsystem (2), and the temperature control cabin (15) is composed of an outer fireproof and heat-insulating cavity, a middle heat-insulating cavity and an internal electrical module (24); The outer fireproof and heat-insulating cavity is composed of a temperature control cabin upper cover (19) and a temperature control cabin lower cover (20). The temperature control cabin upper cover (19) and the temperature control cabin lower cover (20) are two semi-closed cavities, one end is closed and the other end is open. They are made of high-temperature-resistant and fireproof materials. After the open end faces of the two are buckled, a closed cavity can be formed for preliminary heat insulation; a one-way pressure relief valve (21) is installed on the closed end face of the temperature control cabin upper cover (19) to ensure that external high-temperature gas cannot enter the temperature control cabin, and at the same time to allow the gas generated during the internal heat exchange process of the low-temperature cold source in the temperature control cabin to leak out; The middle heat-insulating cavity is composed of an upper heat-insulating filling layer (22) and a lower heat-insulating filling layer (23). Both the upper heat-insulating filling layer (22) and the lower heat-insulating filling layer (23) are made of heat-insulating materials, and their shapes are semi-closed cavities with one end closed and the other end open. Among them, the closed end face of the upper heat-insulating filling layer (22) is provided with a small hole for the one-way pressure relief valve to pass through; The electrical module (24) includes a heat exchange shell (25), a low-temperature cold source (26), a wireless communication antenna (27), a motor heat-insulating sleeve (28), a frame (29), a control cabin (30), a motor (31) and a motor mounting seat (32); among them, the frame (29) is a plate-like structure for installing the low-temperature cold source, the motion control cabin and the motor mounting seat; the motor mounting seat is installed on the frame (29) for installing the motor; the motor is fixed on the motor mounting seat and is connected to each power output shaft through the motor heat-insulating sleeve. The motor rotates to drive the power output shaft to rotate, and then drives the rotor to rotate to generate power; The low-temperature cold source is installed on the frame (29) and is arranged at intervals with the motor; the heat exchange shell wraps the low-temperature cold source and the motor (31), and its structure is a multi-page structure, which is convenient for absorbing the heat generated by the motor during operation and conducting it to the low-temperature cold source.

2. An all-terrain spherical-foot robot that can work in a fire scene according to claim 1, Characterized in that: The spherical wheel foot (1) includes a spherical wheel foot outer frame (3). The spherical wheel foot outer frame (3) is a circular ring part. Four spherical wheel foot outer frames (3) form a spherical contour. A connecting ring (4) is arranged at the intersection of the four spherical wheel foot outer frames (3) to form a spherical skeleton. The spherical wheel foot outer frame (3) is connected to the spherical wheel foot middle frame (5) through a motion isolation bearing I (6) and can rotate with a single degree of freedom with the spherical wheel foot middle frame (5); the spherical wheel foot middle frame (5) is connected to the spherical wheel foot inner shaft (7) through a motion isolation bearing II (8) and rotates freely with the spherical wheel foot inner shaft (7).

3. An all-terrain spherical-foot robot that can work in a fire scene according to claim 2, Characterized in that: The high-temperature resistant multi-axis rotor subsystem (2) includes a rotor transmission assembly, an arm (13), an image detector (14), and a temperature control cabin (15); the rotor transmission assembly includes an upper rotor (9), a lower rotor (10), a rotor mounting seat (11), an upper rotor transmission gear (17), a lower rotor transmission gear (18), and a power output gear (16); among them, the upper rotor (9) and the lower rotor (10) form a coaxial dual-rotor system, which is installed on the rotor mounting seat (11), and the blade inclination directions of the upper rotor (9) and the lower rotor (10) are opposite; the upper rotor (9) is fixedly connected to the upper rotor mounting seat, the lower rotor (10) is fixedly connected to the lower rotor mounting seat, the power output shaft is fixedly connected to the power output gear (16), and the power output gear (16) is meshed with the upper rotor transmission gear (17) and the lower rotor transmission gear (18) respectively; when the power output shaft rotates, the power output gear fixedly connected to it drives the upper rotor transmission gear (17) and the lower rotor transmission gear (18) to rotate in opposite directions respectively, and the upper rotor transmission gear (17) and the lower rotor transmission gear (18) drive the upper rotor (9) and the lower rotor (10) to rotate respectively, thereby generating a pulling force to push the robot to move; the rotor transmission assembly is installed on the temperature control cabin through the arm.

4. The all-terrain spherical foot robot capable of working in a fire scene as described in claim 3, characterized in that: The image detector (14) has the ability to image objects at different temperatures.

5. The all-terrain spherical foot robot capable of working in a fire scene as described in claim 1, characterized in that: The wireless communication antenna (27) is used to transmit the image information detected by the robot to the ground station; the motion control cabin includes an inertial measurement element, a flight control computer, a power supply, and other circuit hardware, wherein the inertial measurement element is used to measure the acceleration and angular rate of the robot during movement and transmit them to the flight control computer; the flight control computer can receive the robot motion information output by the inertial measurement element, and can receive the control instructions sent by the ground station through the wireless communication antenna (27), and calculate the motor and servo control instructions according to the control instructions and the robot motion information to control the rotor speed and orientation; the power supply provides electrical energy for components such as the motor (31) of the robot and the inertial measurement element and flight control computer in the motion control cabin (30).

Images