An all-terrain ball-footed robot capable of operating in fire scenes

Abstract

The present invention belongs to the field of robotics and relates to an all-terrain spherical-footed robot capable of operating in fire scenes. The all-terrain spherical-footed robot capable of operating in fire scenes comprises a multi-axis rotor subsystem as the robot's power source; spherical wheel feet wrapped around the exterior of the high-temperature-resistant multi-axis rotor subsystem; and a heat-insulating and heat-exchange temperature control system disposed on the multi-axis rotor subsystem. The multi-axis rotor system serves as the robot's power source, and the robot's forward, backward, turning, ascent, and descent movements are achieved by adjusting the rotational speed of the rotors on each axis. Furthermore, the exterior of the multi-axis rotor subsystem is wrapped by spherical wheel feet with motion isolation. The multi-axis rotor subsystem and spherical wheel feet enable the robot to both fly off the ground like a drone and roll forward on the ground and walls, achieving amphibious movement both in the air and on land, resolving the technical issue of the robot's insufficient ability to operate in environments with multiple obstacles, confined spaces, and high temperatures.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an all-terrain ball-footed robot capable of working in a fire scene. Background Art

[0002] With the development of urbanization and industrialization, the number of high-rise buildings, industrial plants and other buildings has increased rapidly. However, the fire protection issues of high-rise buildings, industrial plants and other buildings have gradually become a hidden danger threatening the safety of buildings, people's lives and property.

[0003] Regarding search and rescue and detection when a fire occurs in a building, the current equipment and solutions have the following problems: First, it is difficult to intervene with equipment: if the fire occurs at a high altitude in the building, the ground fire trucks are restricted in height and it is difficult to control the high-rise fire; if the fire is inside the building, it will be more difficult for the fire-fighting facilities outside the building to extinguish the fire; if wheeled, tracked or legged land robots are used to enter the fire scene, in addition to stairs, there are other obstacles such as fallen building materials in high-rise buildings, which will make it difficult for the land robots to move; second, the fire detection capabilities of firefighters are insufficient: if firefighters enter a building to put out a fire, they need to detect the fire source and the location of dangerous goods in the building, otherwise the lives of the firefighters entering the building will be threatened.

[0004] When it comes to search and rescue and detection during a factory fire, due to the complex factory environment and the possibility of flammable and explosive dangerous goods stored inside, if firefighters 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 lives of firefighters.

[0005] Existing equipment primarily relies on land-based robots to address these issues. However, these robots struggle to navigate terrain with numerous obstacles. Buildings and factories, often filled with numerous items, create a multi-obstacle environment, limiting their capabilities.

[0006] In summary, in view of the problem that existing robots have insufficient application capabilities in multiple obstacles, confined spaces and high temperature conditions, it is necessary to develop a robot system that has strong obstacle-crossing capabilities, can move freely in confined spaces and is resistant to high temperatures. Summary of the Invention

[0007] The purpose of the present invention is to provide an all-terrain ball-foot robot that can work in fire scenes, so as to solve the technical problem that robots in the prior art have insufficient application capabilities under multiple obstacles, narrow spaces and high temperature conditions.

[0008] To achieve the above objectives, the present invention provides the following technical solutions:

[0009] The all-terrain spherical foot robot capable of operating in a fire scene comprises:

[0010] The multi-axis rotor subsystem, as the power source of the robot, adjusts the rotor speed on each axis to achieve the robot's forward, backward, turning, ascent and descent movements;

[0011] Spherical wheel feet, wrapped around the outside of the high-temperature resistant multi-axis rotor subsystem, to achieve the motion isolation function of the robot;

[0012] The heat insulation and heat exchange temperature control system is arranged on the multi-axis rotor subsystem to improve the working reliability of the robot in a fire environment.

[0013] In some embodiments, the spherical wheel foot includes an outer frame, a middle frame and an inner shaft. The outer frame is a spherical structure, which is used to enable the robot to roll forward on the ground and walls; the middle frame is connected to the outer frame through a motion isolation bearing to achieve single-degree-of-freedom rotation between the two; the inner shaft is installed on the middle frame, and the multi-axis rotor subsystem is connected to the inner shaft through a joint bearing, which can achieve one degree of freedom rotation and free movement that intersects with its rotation axis and is plus or minus 15° along the axial direction.

[0014] In some embodiments, the outer frame includes a number of spokes, connecting rings and connecting pieces. There are three connecting rings, namely a disc connecting ring and a circular frame connecting ring. The disc connecting ring is arranged on one polar axis of the outer frame, and the circular frame connecting ring is symmetrically arranged on the other polar axis of the outer frame; the middle frame is connected to the circular frame connecting ring through a pair of motion isolation bearings; the spokes are spherically arranged between the three connecting rings to form the overall frame of the outer frame; the connecting piece is installed at the intersection of two of the spokes.

[0015] In some embodiments, the middle frame is a rod-shaped structure, and the inner shaft is vertically connected to the middle of the middle frame toward the side of the disc connecting ring.

[0016] In some embodiments, the multi-axis rotor subsystem includes a power cabin assembly, a control cabin assembly, a connecting hoop, a suspension, a main cross arm and structural secondary reinforcement. The power cabin assembly is installed on the connecting hoop, the control cabin assembly is installed on the suspension, the connecting hoop is installed at the end of the main cross arm; the suspension is installed on the inner side of the main cross arm; the structural secondary reinforcement is connected to two adjacent connecting hoops.

[0017] In some embodiments, there are four power compartment assemblies, each of which includes a rotor blade, a transmission shaft system, a power motor, and a main body mounting seat; the rotor blade is connected to the power motor through the transmission shaft system; and the power motor is mounted on the main body mounting seat.

[0018] In some embodiments, the control cabin assembly includes a wireless communication antenna, an inertial measurement element, a flight control computer, a power supply, an electronic speed regulator, a GPS, and an image detector; the image detector is electrically connected to the wireless communication antenna, the inertial measurement element is electrically connected to the flight control computer, and the flight control computer is electrically connected to the wireless communication antenna, the power motor, and the electronic speed regulator; the power supply is electrically connected to the power motor, the inertial measurement element, the flight control computer, the image detector, the GPS, and the electronic speed regulator.

[0019] In some embodiments, the thermal insulation and heat exchange temperature control system is provided on both the power compartment assembly and the control compartment assembly.

[0020] In some embodiments, the heat-insulating heat exchange temperature control system includes a cold source storage chamber, a heat exchange system, an inner envelope, an insulation layer, an outer envelope and a hatch; one end of the heat exchange system is connected to the cold source storage chamber, and the other end surrounds the periphery of the power motor and surrounds the various gaps inside the control cabin assembly; the inner envelope is wrapped around the power motor, the main body mounting seat, the cold source storage chamber, and the outside of the control cabin assembly; the outer envelope is wrapped around the outside of the inner envelope; the insulation layer is located between the outer envelope and the inner envelope; the hatch can be opened and closed to cover the top of the cold source storage chamber.

[0021] In some embodiments, the image detector is a dual-mode camera of white light and infrared.

[0022] Beneficial effects

[0023] The all-terrain spherical-foot robot proposed in this invention, which can work in fire scenes, has the following beneficial effects compared with the existing technology:

[0024] 1. The all-terrain spherical foot robot capable of operating in fire scenes uses a multi-axis rotor system as its power source, and adjusts the rotation speed of the rotors on each axis to achieve the robot's forward, backward, turning, ascent, and descent movements;

[0025] 2. The all-terrain spherical-footed robot capable of operating in fire scenes has a multi-axis rotor subsystem encased in spherical wheel feet with motion isolation. The multi-axis rotor subsystem and spherical wheel feet enable the present invention to both fly off the ground like a drone and roll forward on the ground and walls, enabling amphibious movement both in the air and on land. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is a working diagram of an all-terrain ball-foot robot capable of operating in a fire scene according to the present invention;

[0028] Figure 2 This is a top view of an all-terrain spherical-foot robot capable of operating in a fire scene according to the present invention;

[0029] Figure 3 This is a front view of an all-terrain spherical-foot robot capable of operating in a fire scene according to the present invention;

[0030] Figure 4 This is an isometric view of an all-terrain spherical-foot robot capable of operating in a fire scene according to the present invention;

[0031] Figure 5 This is a schematic structural diagram of the spherical wheel foot of an all-terrain spherical foot robot capable of operating in a fire scene according to the present invention;

[0032] Figure 6 This is a schematic structural diagram of a high-temperature resistant multi-axis rotor subsystem in an all-terrain spherical-foot robot capable of operating in a fire scene according to the present invention;

[0033] Figure 7 This is a schematic diagram of the power cabin assembly of the high-temperature resistant multi-axis rotor subsystem of an all-terrain spherical foot robot capable of operating in a fire scene according to the present invention;

[0034] Figure 8 This is a schematic diagram of the control cabin assembly of the high-temperature resistant multi-axis rotor subsystem of an all-terrain spherical-foot robot that can operate in a fire scene according to the present invention.

[0035] In the figure: 1. Spherical wheel foot; 2. Multi-axis rotor subsystem; 3. Outer frame; 4. Middle frame; 5. Inner shaft; 6I. Motion isolation bearing; 6II. Spherical bearing; 7. Spoke; 8. Connecting ring; 9. Connecting part; 10. Connecting hoop; 11. Suspension part; 12. Main body cross arm; 13. Structural secondary reinforcement; 14. Power cabin assembly; 15. Control cabin assembly; 16. Rotor blades; 17. Transmission shaft system; 18. Power motor; 19. Main body mounting seat; 20. Cold source storage room; 21. Heat exchange system; 22. Inner enclosure; 23. Thermal insulation layer; 24. Outer enclosure; 25. Canopy; 26. Wireless communication antenna; 27. Inertial measurement unit; 28. Flight control computer; 29. ​​Power supply; 30. Electronic speed controller; 31. GPS; 32. Image detector. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without inventive effort are within the scope of protection of the present invention.

[0037] Example 1

[0038] like Figure 2 、 Figure 3 、 Figure 4 As shown, an all-terrain spherical foot robot capable of working in a fire scene is provided, comprising:

[0039] The multi-axis rotor subsystem 2 uses a four-axis rotor solution as the robot's power source. By adjusting the rotor speed of each axis, the robot can move forward, backward, turn, ascend, and descend.

[0040] The spherical wheel foot 1 is wrapped around the outside of the high-temperature resistant multi-axis rotor subsystem 2 to achieve the motion isolation function of the robot;

[0041] The adiabatic heat exchange temperature control system, installed on the multi-axis rotor subsystem 2, is used to improve the robot's operational reliability in fire environments. This system utilizes a composite temperature control system that combines insulation and heat exchange. Insulation prevents heat from the fire environment from transferring to the robot's key structures and electronic components, while heat exchange ensures that heat generated by components within the robot, such as the motor, is absorbed during operation, preventing the robot's temperature from rising too high due to heat dissipation.

[0042] The all-terrain spherical-footed robot capable of operating in a fire scene adopts a multi-axis rotor subsystem 2 as a power source, and realizes the robot's forward, backward, turning, ascent and descent movements by adjusting the rotational speed of the rotors on each axis; at the same time, the outer side of the multi-axis rotor subsystem 2 is wrapped by a spherical wheel foot 1 with a motion isolation function; the combination of the multi-axis rotor subsystem 2 and the spherical wheel foot 1 with a motion isolation function enables the present invention to fly off the ground like a drone, and also has the ability to roll forward on the ground and walls, realizing an amphibious motion mode of flying in the air and moving on land, and having a stronger adaptability to narrow spaces and complex terrains.

[0043] At the same time, in order to ensure that the ball-foot robot can work reliably in a fire environment, a composite temperature control system of heat insulation and heat exchange is adopted to ensure that the working environment temperature of the electronic circuits, servo systems, payloads and other components on the robot is within its adaptable temperature range.

[0044] like Figure 5 As shown, the spherical wheel foot 1 comprises an outer frame 3, a middle frame 4, and an inner shaft 5. The outer frame 3 is a spherical structure used to enable the robot to roll forward on the ground and walls. The middle frame 4 is connected to the outer frame 3 via a motion isolation bearing 6I, enabling single-degree-of-freedom rotation between the two, forming a set of rotary motion pairs. The inner shaft 5 is mounted on the middle frame 4, and the multi-axis rotor subsystem 2 is connected to the inner shaft 5 via a spherical bearing 6II, enabling single-degree-of-freedom rotation and free motion along the axis normal to the rotation axis and within a range of ±15°. In other words, it forms a set of rotary motion pairs and a deflection motion pair intersecting the plane normal to the axis of the motion pair within a range of ±15°. The superposition of these multiple sets of degrees of freedom rotation ensures 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 within a wide range.

[0045] like Figure 2 、 3 As shown in Figures 4 and 5, the outer frame 3 includes a number of spokes 7, connecting rings 8 and connecting pieces 9. There are three connecting rings 8, namely a disc connecting ring and a circular frame connecting ring. The disc connecting ring is arranged on one polar axis of the outer frame 3, and the circular frame connecting rings are symmetrically arranged at both ends of the other polar axis of the outer frame 3; the middle frame 4 is connected to the circular frame connecting ring through a pair of motion isolation bearings 6I; the spokes 7 are spherically arranged between the three connecting rings 8 to form the overall framework of the outer frame 3; the connecting piece 9 is installed at the intersection of two spokes 7.

[0046] like Figure 5 As shown, the middle frame 4 is a rod-shaped structure, and the inner shaft 5 is vertically connected to the middle of the middle frame 4 toward the side of the disc connecting ring.

[0047] like Figure 6 As shown, the multi-axis rotor subsystem 2 includes a power cabin assembly 14, a control cabin assembly 15, and an installation frame assembly; wherein, the installation frame assembly is a self-contained integral body, thereby fixing the entire high-temperature resistant multi-axis rotor subsystem into one, specifically, the installation frame assembly includes a connecting hoop 10, a suspension 11, a main cross arm 12 and a structural secondary reinforcement 13; the power cabin assembly 14 is installed on the connecting hoop 10, the control cabin assembly 15 is installed on the suspension 11, and the connecting hoop 10 is installed at the end of the main cross arm 12; the suspension 11 is installed on the inner side of the main cross arm 12; the structural secondary reinforcement 13 is connected to two adjacent connecting hoops 10.

[0048] like Figure 7As shown, there are four power pod assemblies 14, each comprising rotor blades 16, a transmission shaft system 17, a power motor 18, and a main body mounting base 19. Rotor blades 16 are connected to power motor 18 via transmission shaft system 17, providing pulling force when power motor 18 rotates. Power motor 18 is mounted on and fixedly connected to main body mounting base 19. Rotor blades 16, transmission shaft system 17, and power motor 18 form the entire power system, providing pulling force for robot movement.

[0049] The adiabatic heat exchange temperature control system includes a cold source storage chamber 20, a heat exchange system 21, an inner enclosure 22, a thermal insulation layer 23, an outer enclosure 24 and a hatch 25, which ensures a tolerable working environment temperature for the power system;

[0050] The outside of the power compartment assembly 14 is provided with a heat insulation heat exchange temperature control system. Specifically, the other side of the main body mounting seat 19 is connected to the cold source storage chamber 20. One end of the heat exchange system 21 is connected to the cold source storage chamber 20, and the other end is surrounded by the power motor 18. During the working process, the cold source storage chamber 20 is filled with a cold source medium (such as solid carbon dioxide) to achieve heat exchange between the cold source storage chamber 20 and the heat emitted by the power motor 18, thereby ensuring that the power motor 18 does not shut down due to overheating; the inner envelope 22 is wrapped around the power motor 1 8. The main body mounting seat 19 and the outside of the cold source storage chamber 20, that is, the inner envelope 22 is wrapped around the outside of the power cabin assembly 14, except for the rotor blades 16; the outer envelope 24 and the inner envelope 22 are filled with insulation material to form an insulation layer 23 located between the outer envelope 24 and the inner envelope 22, which is used to reduce the high temperature of the external environment from being transferred into the cabin; the hatch 25 is openable and closable and is sealed on the top of the cold source storage chamber 20. By opening the hatch 25, a cold source, such as solid carbon dioxide, can be injected into the cold source storage chamber 20 when the robot is in use.

[0051] At this point, the entire power compartment assembly 14 forms a fully enclosed whole with external insulation, internal cold source heat exchange, and a power output. The robot has four power compartment assemblies 14 to provide the power required for the robot to move.

[0052] like Figure 8 As shown, the control cabin assembly 15 includes an electrical module, which includes a wireless communication antenna 26, an inertial measurement element 27, a flight control computer 28, a power supply 29, an electronic speed regulator 30, a GPS 31, an image detector 32, and other circuit hardware; the image detector 32 is electrically connected to the wireless communication antenna 26, the inertial measurement element 27 is electrically connected to the flight control computer 28, and the flight control computer 28 is electrically connected to the wireless communication antenna 26, the power motor 18 and the electronic speed regulator 30; the power supply 29 is electrically connected to the power motor 18, the inertial measurement element 27, the flight control computer 28, the image detector 32, the GPS 31, and the electronic speed regulator 30.

[0053] The wireless communication antenna 26 transmits image information detected by the robot to a ground station. The inertial measurement unit 27 measures the robot's acceleration and angular velocity during motion and transmits these to the flight control computer 28. The flight control computer 28 receives the robot's motion information from the inertial measurement unit 27 and, via the wireless communication antenna 26, receives control commands from the ground station. Based on these commands and the robot's motion information, it calculates control commands for the motor and electronic speed controller 30, controlling the rotor speed and direction. The image detector 32 is capable of imaging objects of varying temperatures, enabling the robot to detect burning materials at varying temperatures and providing critical information such as fire source identification. The power supply 29 provides power to the robot's motors, the inertial measurement unit in the control cabin, the flight control computer, and other components.

[0054] The control cabin assembly 15 is also equipped with an insulation and heat exchange temperature control system to ensure that the electrical modules can withstand the operating environment temperature. Specifically, an inner enclosure 22 is provided on the outside of the control cabin assembly 15, and an outer enclosure 24 is provided on the outside of the inner enclosure 22. Insulation material is filled between the outer enclosure 24 and the inner enclosure 22 to form an insulation layer 23, which is used to reduce the transmission of high temperature from the external environment into the cabin. Finally, the hatch 25 is installed and tightened. A cold source storage chamber 20 is provided near the top of the control cabin assembly 15. One end of the heat exchange system 21 is connected to the cold source storage chamber 20, and the other end extends into the various gaps inside the control cabin assembly 15, thereby forming a structure surrounding the various gaps inside the control cabin assembly. During operation, the cold source storage chamber 20 is filled with a cold source medium (such as solid carbon dioxide) to achieve heat exchange between the cold source storage chamber 20 and the heat emitted by the electronic components in the cabin, ensuring that the electronic components do not shut down due to overheating. A retractable hatch 25 covers the top of the cold source storage chamber 20. By opening hatch 25, a cold source, such as solid carbon dioxide, can be injected into the cold source storage chamber 20 during robot operation. The entire control cabin assembly 15 now forms a fully enclosed structure with external insulation and internal heat exchange for the cold source, ensuring a consistent operating temperature for all electronic components.

[0055] Independent cooling systems are respectively provided in the power cabin and the control cabin to reduce the integral correlation and further enhance the risk-resistance thereof. That is, in the event of accidental distress, the entire machine will not be unable to operate due to a failure of a certain unit.

[0056] The thermal insulation system uses insulating material to wrap the multi-axis rotor subsystem 2, excluding the rotors, to form a closed thermal insulation layer (inner and outer encapsulation, as well as the insulation layer). This reduces the transfer of high-temperature heat energy from the fire environment to the robot's interior. The heat exchange system, located within the robot, uses a low-temperature cooling source as the low-temperature portion of the heat exchange. This heat is exchanged via heat pipes with components that generate heat during operation, such as the motor, electronic speed controller, battery, and circuit elements. This reduces the temperature of these components, preventing them from overheating and causing them to malfunction.

[0057] Furthermore, the image detector 32 is a dual-mode camera of white light and infrared, which enables the robot to detect burning objects of different temperatures and is used to determine key information such as the source of the fire.

[0058] like Figure 1 As shown, the working process of the ball-foot robot is as follows:

[0059] Step 1: After arriving near the fire scene, the operator opens the robot's power hatch 25 and control hatch 25, adds a cold source medium (including but not limited to solid carbon dioxide, etc.) into its cold source storage chamber 20, and then closes each hatch 25;

[0060] Step 2: Release the robot and remotely control it into the fire scene via wireless data link;

[0061] Step 3: When the robot is moving on a relatively flat ground or the slope of the obstacle is not steep, it rolls forward on the spherical wheel feet 1, and the multi-axis rotor subsystem 2 provides forward power;

[0062] Step 4: When the robot encounters a high obstacle or a steep slope during its movement, it relies on the multi-axis rotor subsystem 2 to generate lift to fly over the obstacle;

[0063] Step 5: During the robot's movement, the ground station sends motion control instructions to the robot via a wireless data link. The robot receives the control instructions from the ground station via the wireless communication antenna 26 and moves according to the control instructions. The robot detects the internal environment of the fire scene via the image detector 32 it carries and transmits the image information back to the ground station via the wireless communication antenna 26.

[0064] Step 6: After completing the survey of the fire scene environment, the robot returns.

[0065] First of all, it should be noted that “inward” refers to the direction toward the center of the accommodating space, and “outward” refers to the direction away from the center of the accommodating space.

[0066] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0067] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0068] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0069] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0070] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0071] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An all-terrain ball-foot robot capable of operating in a fire scene, characterized in that: include: The multi-axis rotor subsystem, as the power source of the robot, adjusts the rotor speed on each axis to achieve the robot's forward, backward, turning, ascent and descent movements; The spherical wheel foot is wrapped around the outside of the multi-axis rotor subsystem to realize the motion isolation function of the robot; the spherical wheel foot includes an outer frame, a middle frame and an inner shaft, the outer frame is a spherical structure, which is used to realize the rolling forward of the robot on the ground and the wall; the middle frame is connected to the outer frame through a motion isolation bearing to realize a single degree of freedom rotation between the two; the inner shaft is installed on the middle frame, and the multi-axis rotor subsystem is connected to the inner shaft through a joint bearing, which can realize a rotation of one degree of freedom and a free movement intersecting with its rotation axis and along the axial direction of plus or minus 15 degrees; the multi-axis rotor subsystem includes a power cabin assembly, a control cabin assembly, a connecting hoop, a suspension The power cabin assembly is mounted on the connecting hoop, the control cabin assembly is mounted on the suspension, and the connecting hoop is mounted on the end of the main cross arm; the suspension is mounted on the inner side of the main cross arm; the structural secondary reinforcement is connected to two adjacent connecting hoops; there are four power cabin assemblies, each of which includes a rotor blade, a transmission shaft system, a power motor, and a main body mounting seat; the rotor blade is connected to the power motor through the transmission shaft system; the power motor is mounted on the main body mounting seat; the power cabin assembly and the control cabin assembly are both provided with a heat insulation and heat exchange temperature control system; An adiabatic heat exchange temperature control system is provided on the multi-axis rotor subsystem to improve the operating reliability of the robot in a fire environment; the adiabatic heat exchange temperature control system includes a cold source storage chamber, a heat exchange system, an inner enclosure, an insulation layer, an outer enclosure, and a hatch; one end of the heat exchange system is connected to the cold source storage chamber, and the other end surrounds the power motor and surrounds the gaps inside the control cabin assembly; the inner enclosure wraps around the power motor, the main body mounting seat, the cold source storage chamber, and the outside of the control cabin assembly; the outer enclosure wraps around the outside of the inner enclosure; and the insulation layer is located between the outer enclosure and the inner enclosure. The hatch cover is openable and closable and is sealed on the top of the cold source storage chamber.

2. The all-terrain spherical foot robot capable of operating in a fire scene according to claim 1, characterized in that: The outer frame includes a number of spokes, connecting rings and connecting pieces. There are three connecting rings, namely a disc connecting ring and a circular frame connecting ring. The disc connecting ring is arranged on one polar axis of the outer frame, and the circular frame connecting ring is symmetrically arranged on the other polar axis of the outer frame. The middle frame is connected to the circular frame connecting ring through a pair of motion isolation bearings. The spokes are spherically arranged between the three connecting rings to form the overall framework of the outer frame. The connecting piece is installed at the intersection of two of the spokes.

3. The all-terrain spherical foot robot capable of operating in a fire scene according to claim 2, characterized in that: The middle frame is a rod-shaped structure, and the inner shaft is vertically connected to the middle of the middle frame toward the side of the disc connecting ring.

4. The all-terrain spherical foot robot capable of operating in a fire scene according to claim 1, characterized in that: The control cabin assembly includes a wireless communication antenna, an inertial measurement element, a flight control computer, a power supply, an electronic speed regulator, a GPS, and an image detector; the image detector is electrically connected to the wireless communication antenna, the inertial measurement element is electrically connected to the flight control computer, and the flight control computer is electrically connected to the wireless communication antenna, the power motor, and the electronic speed regulator; the power supply is electrically connected to the power motor, the inertial measurement element, the flight control computer, the image detector, the GPS, and the electronic speed regulator.

5. The all-terrain spherical foot robot capable of operating in a fire scene according to claim 4, characterized in that: The image detector is a white light and infrared dual-mode camera.

Images