Fire rescue exoskeleton robot

Abstract

The invention relates to a fire rescue exoskeleton robot which comprises a back assembly, two drivers, a heat dissipation assembly, a leg rod assembly and a joint assembly. The back assembly comprises a back frame, a back shell and a battery pack. The side, facing the back frame, of the back shell is a mounting face. A battery bin is formed between the back shell and the back frame. And the drivers are arranged on the mounting surface. The heat dissipation assembly comprises a cooling box, a heat pipe set and a driver heat dissipation plate. And a cold storage medium is accommodated in the cooling box. The two driver heat dissipation plates are both arranged on the installation face and attached to the sides, away from the back frame, of the drivers respectively. The heat pipe set comprises a plurality of heat pipes. One end of each heat pipe is connected to the cooling box, and the other end of each heat pipe is connected to any driver heat dissipation plate. And each driver radiating plate is at least connected with one heat pipe. The joint assembly comprises two joint motors and two waist rods. The leg rod assembly comprises two leg rods. The temperature of the driver can be limited within the working temperature range of the driver, and the robot can continuously work in the high-temperature environment.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to a firefighting and rescue exoskeleton robot. Background Art

[0002] The internal structure of urban buildings is complex. Once a fire occurs, running in the fire scene takes a long time and rescue is difficult. In addition, urban firefighters need to carry a large amount of rescue equipment (air breathing apparatus, waist ropes, demolition axes, etc.) when they attack and rescue inside. Long-term and high-intensity rescue operations will seriously consume the physical strength of firefighters, weaken the strength of their lower limbs, and threaten their life safety. The active power-assisted exoskeleton robot that can work in high-temperature environments drives its enabling mechanism through electrical energy to provide greater assistance to the movement process of the firefighters' lower limbs. After wearing this equipment, the firefighters' lower limbs can obtain powerful assistance, which can not only reduce the physical exertion caused by long-term combat in the fire environment, but also increase their rescue speed through the exoskeleton robot.

[0003] Existing wearable exoskeleton robots for firefighting and rescue typically consist of a waist support plate, right and left leg components, a firefighting equipment adapter, and an identification module. These robots can assist firefighters in carrying equipment, climbing stairs, and overcoming obstacles. The firefighting equipment adapter on its back is compatible with the interfaces of firefighting equipment, allowing it to carry heavy firefighting gear.

[0004] When the exoskeleton robot is used in a fire scene, the motor driver heats up rapidly, causing the motor's output, acting as an enabling mechanism, to decrease significantly until overheat protection shuts off. In a fire scene, a non-functioning exoskeleton robot can be fatal to firefighters, and its structure can become a burden and a drag. Furthermore, the exoskeleton robot's waist straps have a rigid structure, preventing firefighters from wearing the necessary waist equipment, such as a waist rope and demolition axe. Even if the waist equipment is donned first and then the exoskeleton robot, there is significant interference between the rigid waist straps and the equipment, causing discomfort to the firefighter's waist. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a fire rescue exoskeleton robot.

[0006] The fire rescue exoskeleton robot provided by the present invention adopts the following technical solutions:

[0007] A fire rescue exoskeleton robot, comprising a back assembly, two drivers, a heat dissipation assembly, a leg rod assembly and a joint assembly; wherein the back assembly comprises a back frame, a back shell and a battery pack; the back frame is used to connect to the back of a human body; the back shell is arranged on the side of the back frame away from the back of the human body; the side of the back shell facing the back frame is a mounting surface; a battery compartment is formed between the back shell and the back frame; the battery pack is arranged in the battery compartment; the two drivers are both arranged on the mounting surface and are powered by the battery pack; the heat dissipation assembly comprises a cooling box, a heat pipe group and two driver heat dissipation plates; the cooling box is arranged on the side of the back frame away from the back of the human body, and contains a cold storage medium; the two driver heat dissipation plates are both arranged on the mounting surface, respectively connected to one of the drivers away from the back frame one side of the back frame; the heat pipe group includes a plurality of heat pipes; one end of each heat pipe is connected to the cooling box, and the other end is connected to any one of the driver heat sinks; and each of the driver heat sinks is connected to at least one of the heat pipes; the joint assembly includes two joint motors and two waist bars; one end of the two waist bars is respectively connected to the left and right sides of the bottom of the back frame, and the other end extends along the waist curve of the human body to the position corresponding to the hip joint of the human body; the two joint motors are respectively arranged on the ends of the two waist bars away from the back frame; the two joint motors are respectively electrically and communicatively connected to one of the drivers; the leg rod assembly includes two leg rods; the leg rods are used to connect the legs of the human body; the two leg rods are respectively connected to one of the joint motors and can move under the drive of the joint motors.

[0008] Optionally, the back frame extends from top to bottom along the curve of the human back.

[0009] Optionally, the cooling box, the driver and the battery pack are arranged in sequence from top to bottom.

[0010] Optionally, two ribs are arranged at intervals on the side of the backpack away from the human back; a cooling box groove is formed between the two ribs; an upper opening is formed between the upper ends of the two ribs; the cooling box can be inserted into the cooling box groove from top to bottom from the upper opening; a closing component for closing the upper opening is provided at the upper opening; in the direction away from the human back, the heights of the two ribs are higher than the height of the cooling box.

[0011] Optionally, the closing assembly includes a first cooling box cover and a second cooling box cover; the first cooling box cover is hinged to the upper end of one of the ribs; the second cooling box cover is hinged to the upper end of the other rib; the hinge axes of the first cooling box cover and the second cooling box cover are both perpendicular to the mounting surface; the first cooling box cover and the second cooling box cover can be rotated to the upper opening of the cooling box slot to close the upper opening of the cooling box slot; the first cooling box cover and the second cooling box cover can be locked by a locking member.

[0012] Optionally, the leg rod assembly also includes two thigh pressure plates; the two thigh pressure plates are respectively hinged to the lower end of one leg rod; each thigh pressure plate is provided with a leg binding component; the leg binding component is used to connect the thigh pressure plate to the human leg.

[0013] Optionally, the back assembly further includes a back binding component; the back binding component is provided on the back frame and is used to connect the back frame to the back of a human body.

[0014] Optionally, the fire rescue exoskeleton robot also includes a main control board; the main control board is communicatively connected to both of the drivers; the back assembly also includes a main control board sealing box; the main control board sealing box is arranged on the mounting surface; the main control board is arranged in the main control board sealing box; the main control board sealing box is filled with electronic potting glue.

[0015] Optionally, a waterproof aviation plug is provided on the side of the back shell away from the back frame; the waterproof aviation plug is electrically connected to the battery pack through the main control board for charging the battery pack; the waterproof aviation plug is communicatively connected to the main control board for debugging the main control board.

[0016] Optionally, thermal grease is applied on the contact surface between the driver and the driver heat sink, and on the contact surface between the cooling box and the heat pipe.

[0017] As described above, the fire rescue exoskeleton robot of the present invention has at least the following beneficial effects:

[0018] The fire rescue exoskeleton robot of the present invention uses a heat dissipation assembly to cool its two actuators. Heat dissipated by the actuators during operation and heat absorbed from the environment are transferred to the cold end of the heat pipes via heat pipes. A cooling box containing a cold storage medium is then placed at the cold end of the heat pipes. This cycle limits the actuator temperature to within its operating range, allowing the robot to operate continuously in high-temperature environments. This prevents the exoskeleton robot from failing in fires and enhances its reliability.

[0019] 2. The fire rescue exoskeleton robot of this invention flattens the back assembly by reconfiguring the components on its back frame, significantly reducing its thickness. Combined with an ergonomically designed back frame and a back shell compatible with air-breathing equipment, the exoskeleton robot is better suited for carrying air-breathing equipment. Furthermore, by optimizing the layout of the leg and joint assemblies, ample space is reserved for waist equipment such as a waist rope and demolition axe, preventing interference with waist equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the fire rescue exoskeleton robot.

[0021] Figure 2 It is a schematic diagram of the specific structure of the back shell.

[0022] Figure 3 It is a schematic diagram of the specific structure of the back frame on the side away from the back of the human body.

[0023] Figure 4 It is a schematic diagram of the cooling box slot structure.

[0024] Figure 5 yes Figure 3 Enlarged view of part A in the middle.

[0025] Figure 6 This is a schematic diagram of the battery compartment structure.

[0026] Figure 7 It is a schematic diagram of the battery pack shape and structure.

[0027] Figure 8 It is a schematic diagram of the structure of the leg rod, thigh pressure plate and leg binding components.

[0028] Reference numerals: 1, back frame; 11, mounting surface; 12, upper part; 13, lower part; 14, middle part; 15, back binding member; 16, mounting slot; 2, back shell; 21, battery compartment; 211, upper compartment opening; 212, lower compartment opening; 213, battery compartment cover; 3, battery pack; 31, XT60 female connector; 4, driver; 5, main control board sealing box; 51, main control board; 6, waterproof aviation plug; 7, cold Cooling box; 71. Heat pipe; 72. Driver heat sink; 73. Copper plate; 8. Rib; 81. Cooling box slot; 811. Upper opening; 812. Lower opening; 813. Heat exchange side opening; 82. Cooling box slot cover; 83. First cooling box cover; 84. Second cooling box cover; 841. Connecting part; 9. Joint motor; 91. Waist bar; 92. Leg bar; 93. Thigh pressure plate; 94. Leg binding parts. DETAILED DESCRIPTION

[0029] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following examples and the features in the examples can be combined with each other unless they conflict. It should also be understood that the terms used in the examples of the present invention are for the purpose of describing specific embodiments, not for the purpose of limiting the scope of protection of the present invention. The test methods for which specific conditions are not specified in the following examples are generally carried out under conventional conditions or under the conditions recommended by the manufacturers.

[0030] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantial technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0031] The present invention discloses a fire rescue exoskeleton robot, comprising a back assembly, two drivers 4, a heat dissipation assembly, a leg rod 92 assembly and a joint assembly.

[0032] Please refer to Figure 1-Figure 3The back assembly includes a back frame 1, a back shell 2, a battery pack 3 and a back binding component 15. The back frame 1 is used to connect to the back of the human body. In order to make the back frame 1 fit better with the back of the human body, based on ergonomics, the back frame 1 extends from top to bottom along the curve of the human back. The upper part 12 of the back frame 1, that is, the end of the back frame 1 close to the shoulder of the human body, is polygonal in shape, which can increase the contact area between the back frame 1 and the back of the human body and improve the comfort of the back frame 1 when worn. The lower part 13 of the back frame 1, that is, the end of the back frame 1 close to the waist of the human body, is rectangular in shape, and the length direction is parallel to the width direction of the back of the human body. The middle part 14 between the upper part 12 and the lower part 13 of the back frame 1 is long and straight, and the width direction is parallel to the width direction of the back of the human body, and the width is smaller than the width of the upper part 12 and the lower part 13 of the back frame 1, so as to reduce the overall weight of the back frame 1. The back binding component 15 can be a shoulder strap. The first end of the shoulder strap is connected to the side of the upper part 12 of the back frame 1 close to the back of the human body, and the other end is connected to the side of the lower part 13 of the back frame 1 close to the back of the human body. There are two shoulder straps, which are arranged at intervals on the left and right sides of the back frame 1 close to the back of the human body.

[0033] In a preferred embodiment of the present invention, the lower portion 13 of the back frame 1 extends along the shape of the human waist to form a ring, so that the back frame 1 can embrace the human waist, thereby improving the comfort and stability of the exoskeleton robot during use.

[0034] Please refer to Figure 2 、 Figure 6 The back shell 2 is disposed on the side of the back frame 1 away from the back of the human body. The side of the back shell 2 facing the back frame 1 is the mounting surface. A battery compartment 21 is formed between the back shell 2 and the back frame 1. The battery pack 3 is disposed in the battery compartment 21.

[0035] Specifically, the back shell 2 is arranged on the lower part 13 of the back frame 1, and the two can be connected by bolts. The shape of the back shell 2 is adapted to the shape of the lower part 13 of the back frame 1. The two edges of the back shell 2 in the width direction of the human back are bent toward the mounting surface 11, so that when the back shell 2 is buckled on the side of the back frame 1 away from the human back, a battery compartment 21 for installing the battery pack 3 is formed between the back shell 2 and the back frame 1, and the battery compartment 21 has an upper compartment opening 211 and a lower compartment opening 212. Among them, the lower compartment opening 212 is a channel for the battery pack 3 to be loaded into the battery compartment 21 or taken out of the battery compartment 21. The upper compartment opening 211 is a channel for connecting the battery pack 3 to other components. The shape of the battery pack 3 is as follows Figure 7The illustrated, irregularly shaped battery pack 3 matches the shape of the battery compartment 21, facilitating the overall flattening of the back assembly. The connection gap between the back shell 2 and the back frame 1 is coated with waterproof adhesive. The back assembly also includes a battery compartment cover 213. The battery compartment cover 213 is positioned at the lower opening 212 of the battery compartment 21 and is detachably connected to the mounting surface 11 of the back frame 1 via bolts or other means. It seals the lower opening 212 of the battery compartment 21.

[0036] In a preferred embodiment of the present invention, the contour curve of the back shell 2 away from the back frame 1 is adapted to the shape of the air breathing device used in firefighting and rescue, so that the air breathing device can fit on the back shell 2, making the exoskeleton robot more stable when carrying the air breathing device.

[0037] Please continue to refer to Figure 1-Figure 3 Both drivers 4 are mounted on the mounting surface 11 and powered by the battery pack 3. Both drivers 4 are used to drive the joint assembly. The two drivers 4 can be driven independently or under the control of the main control board 51. When the main control board 51 controls the two drivers 4, their operation can be coordinated, which helps improve the fluidity and stability of the exoskeleton robot's movements.

[0038] Therefore, in a preferred embodiment of the present invention, the fire rescue exoskeleton robot further includes a main control board 51. Main control board 51 is communicatively connected to both drivers 4. The back assembly further includes a main control board potting box 5. Main control board 51 is disposed within the main control board potting box 5. The main control board potting box 5 is filled with electronic potting compound.

[0039] For details, please refer to Figure 2 , the two drivers 4 are located between the middle part 14 of the back frame 1 and the back shell 2, and are spaced apart along the extension direction of the back frame 1. The part of the back frame 1 on the side away from the back of the human body corresponding to the installation of the two drivers 4 is recessed toward the back of the human body to form a mounting groove 16, so as to accommodate a part of the thickness direction of the two drivers 4, or to accommodate the two drivers 4 completely, which is conducive to the flattening of the back assembly. The main control board sealing box 5 is located between a driver 4 and the battery pack 3 near the lower part 13 of the back frame 1, and is connected to the mounting surface 11 of the back shell 2 by bolts. The electronic potting glue filled in the main control board sealing box 5 can be epoxy resin, polyurethane, or other suitable materials. By filling the electronic potting glue, the protection level of the main control board sealing box 5 is not lower than IP54.

[0040] More specifically, the power cord of the main control board 51 is connected to the XT60 female connector 31 on the battery pack 3 via a waterproof XT60 plug, ensuring a minimum IP54 protection level between the main control board 51 and the battery pack 3. To replace the battery pack 3, remove the battery compartment cover 213, pull out the battery pack 3, unplug all power cords with XT60 plugs, replace the battery pack 3, and insert the new battery pack 3 into the battery compartment 21.

[0041] A waterproof aviation plug 6 is provided on the side of the back shell 2 away from the back frame 1. The waterproof aviation plug 6 is electrically connected to the battery pack 3 through the main control board 51 for charging the battery pack 3. The main control board 51 can control the charging process of the battery pack 3. The waterproof aviation plug 6 is communicated with the main control board 51 and is used to debug the main control board 51. The waterproof aviation plug 6 can be connected to the back shell 2 through its own nut. In addition, the waterproof aviation plug 6 is provided with a rubber ring, so that its own protection level is not lower than IP54. The waterproof aviation plug 6 is a relatively mature existing technology, and in actual use, it can be selected according to the actual needs of the exoskeleton robot.

[0042] Please refer to Figure 1 The heat dissipation assembly includes a cooling box 7, a heat pipe assembly, and two driver heat sinks 72. The cooling box 7 is located on the side of the back frame 1 facing away from the human body's back and contains a cold storage medium. The cold storage medium can be water or other suitable specialized coolant. In this embodiment, the cold storage medium is water. The two driver heat sinks 72 are each located on the mounting surface 11 of the back shell 2, each abutting the side of a driver 4 facing away from the back frame 1. The heat pipe assembly includes a plurality of heat pipes 71. Each heat pipe 71 has one end connected to the cooling box 7 and the other end connected to any one of the driver heat sinks 72. Furthermore, each driver heat sink 72 is connected to at least one heat pipe 71. In this embodiment, there are two heat pipes 71, one end of each heat pipe 71 abutting the two drivers 4, and the other end of each heat pipe 71 abutting the side of the cooling box 7 facing away from the mounting surface 11. Thermally conductive silicone grease is applied to the contact surfaces between the drivers 4 and the driver heat sinks 72, as well as the contact surfaces between the cooling box 7 and the heat pipes 71, to enhance the heat dissipation efficiency of the heat pipes 71.

[0043] Please refer to Figure 5 In a preferred embodiment of the present invention, a copper plate 73 is welded to one end of each of the two heat pipes 71 that exchange heat with the cooling box 7. The copper plate 73 on the heat pipes 71 allows for heat transfer between the heat pipes 71 and the cooling box 7. Welding the copper plate 73 increases the heat exchange area between the heat pipes 71 and the cooling box 7, improving the heat exchange efficiency between the two. To further enhance the heat exchange efficiency between the heat pipes 71 and the cooling box 7, a thermal pad can be installed on the contact surface between the cooling box 7 and the copper plate 73.

[0044] Please refer to Figure 4 、 Figure 5Two ribs 8 are spaced apart on the side of the back frame 1 facing away from the back of the person. A cooling box slot 81 is formed between the two ribs 8. An upper opening 811 is formed between the upper ends of the two ribs. The cooling box can be inserted into the cooling box slot 81 from top to bottom through the upper opening 811. A sealing assembly is provided at the upper opening 811 for closing the upper opening 811. In the direction facing away from the back of the person, the height of the two ribs 8 is higher than the height of the cooling box 7.

[0045] The ribs 8 are rectangular sheets, their length aligned with the extension direction of the back frame 1, and extend from the mounting surface 11 away from the back of the human body. The ribs 8 can be welded to the back frame 1 or integrally formed. Both ribs 8 are located above the two drivers 4. Because the cooling box slot 81 is formed by the back frame 1 and the two ribs 8, the upper and lower sides of the cooling box slot 81, as well as the side near the back shell 2, are open, forming an upper opening 811, a lower opening 812, and a heat exchange side opening 813, respectively. When the cooling box 7 is installed in the cooling box slot 81, under the action of gravity, the lower side of the cooling box 7 passes through the lower opening 812 of the cooling box slot 81 and abuts the upper side of the driver 4 near the upper portion 12 of the back frame 1. Alternatively, the upper edge of the back shell 2 can be bent toward the back frame 1, allowing the lower side of the cooling box 7 to abut against the back shell 2. The upper side of the cooling box 7 is flush with the upper opening 811 of the cooling box slot 81. Because the heat pipe 71 is typically made of copper, aluminum, or other materials and is easily damaged when exposed, the heat exchange-side opening 813 of the cooling box slot 81 is sealed by a cooling box slot cover 82. The cooling box slot cover 82 is bolted to the two ribs 8. The cooling box slot cover 82 protects the portion of the heat pipe 71 located within the cooling box slot 81, preventing damage to the portion of the heat pipe 71 located within the cooling box slot 81 due to collisions, which could affect the heat dissipation performance of the heat dissipation assembly.

[0046] The closure assembly includes a first cooling box cover 83 and a second cooling box cover 84. The first cooling box cover 83 is hinged to the upper end of one of the ribs 8. The second cooling box cover 82 is hinged to the upper end of the other rib 8. The hinge axes of the first and second cooling box covers 83, 84 are perpendicular to the mounting surface 11. The first and second cooling box covers 83, 84 can be rotated to the upper opening 811 of the cooling box slot 81, thereby sealing the upper opening 811 of the cooling box slot 81. The first and second cooling box covers 83, 84 can be locked together using a locking member.

[0047] Specifically, the positions of the first cooling box cover plate 83 and the second cooling box cover plate 84 can be exchanged. Figure 5In this embodiment, the first cooling box cover 83 is hingedly connected to the rib 8 near the left side of the human back, and the second cooling box cover 84 is hingedly connected to the rib 8 near the right side of the human back. The first cooling box cover 83 and the second cooling box cover 84 are both rectangular plates. The end of the second cooling box cover 84, away from the rib 8 on which it is located, is bent to form a connecting portion 841. The first cooling box cover 83 and the second cooling box cover 84 can both be rotated and placed on the cooling box 7, and the connecting portion 841 can be placed on the first cooling box cover 83. Furthermore, the first cooling box cover 83 and the second cooling box cover 84 can close the upper opening 811 of the cooling box slot 81. Moreover, the connecting portion 841 and the first cooling box cover 83 can be fixed together using bolts as locking members, so that the first cooling box cover 83 and the second cooling box cover 84 can both close the upper opening 811 of the cooling box slot 81 and prevent the cooling box 7 from loosening.

[0048] In this embodiment, the cooling box 7, main control board sealing box 5, driver 4, and battery pack 3 are arranged on the back frame 1 from top to bottom along the curve of the human back. Other suitable layouts of the cooling box 7, main control board sealing box 5, driver 4, and battery pack 3 can also be used. However, the layout provided in this embodiment facilitates the flattening of the back components, saving space and facilitating the installation of air-conditioning equipment.

[0049] Please refer to Figure 1 、 Figure 8 The joint assembly includes two joint motors 9 and two waist rods 91. One end of the two waist rods 91 is respectively connected to the left and right sides of the bottom of the back frame 1, and the other end extends along the waist curve of the human body to the position corresponding to the human hip joint. The two joint motors 9 are respectively arranged on the end of the two waist rods 91 away from the back frame 1. The two joint motors 9 are respectively electrically connected to a driver 4. The leg rod 92 assembly includes two leg rods 92. The leg rod 92 is used to connect the legs of the human body. The two leg rods 92 are respectively connected to a joint motor 9 and can move under the drive of the joint motor 9.

[0050] Specifically, both joint motors 9 are integrated, meaning their housings house both the motor and reducer. A control button can also be provided on the joint motors 9. By turning the control button, the operating mode of the joint motors 9 can be switched and the output of the joint motors 9 adjusted. By using integrated motors, the space occupied by the joint motors 9 can be reduced, leaving ample space for the device to be worn around the user's waist.

[0051] The two leg rods 92 correspond to the two waist rods 91 one by one. The upper end of each leg rod 92 is hinged to the lower end of the corresponding waist rod 91. The leg rod 92 extends to the back of the leg along the curve of the human leg. The leg rod 92 assembly also includes two thigh pressure plates 93. The two thigh pressure plates 93 are respectively hinged to the lower end of a leg rod 92. The thigh pressure plates 93 can be hinged to the leg rod 92 through a hinge pin, and the hinge axis is parallel to the axis of the leg rotating around the hip joint when the leg is raised.

[0052] To facilitate the connection between the thigh compression plate 93 and the human leg, each thigh compression plate 93 is provided with a leg binding member 94. The leg binding member 94 is used to connect the thigh compression plate 93 to the human leg. The leg binding member 94 can be a strap that wraps around the human leg to achieve the connection between the thigh compression plate 93 and the human leg.

[0053] In a preferred embodiment of the present invention, the leg rods 92 and the back frame 1 are both made of carbon fiber material to reduce the overall weight of the exoskeleton robot and reduce the burden of the exoskeleton robot on the human body.

[0054] The operating principle of the fire rescue exoskeleton robot of the present invention is as follows: before wearing the exoskeleton robot, place the pre-frozen cooling box 7 into the cooling box slot 81, and fix the cooling box 7 by the first cooling box cover 83 and the second cooling box cover 84. After the cooling box 7 is installed, wear the exoskeleton robot: the user carries the exoskeleton robot on his back through the back binding parts 15 and fixes it to the upper body. Then fix the exoskeleton robot to the user's legs through two leg binding parts 94. Finally, the user carries the air breathing device and fixes the air breathing device on the back frame 1. Turn on the power of the exoskeleton robot through the control button on the joint motor 9 and adjust the working mode of the joint motor 9 and the output of the joint motor 9 to start using it.

[0055] Compared to existing technologies, the fire rescue exoskeleton robot of the present invention uses a heat dissipation assembly to cool the two actuators 4. Heat dissipated by the actuators 4 during operation and heat absorbed from the environment are transferred to the cold end of the heat pipe 71 via a heat pipe 71. A cooling box 7 is then installed at the cold end of the heat pipe 71. This cold end contains a cold storage medium, which absorbs the heat transferred from the heat pipe 71. This cycle limits the temperature of the actuators 4 to within their operating range, allowing the robot to operate continuously in high-temperature environments. This prevents the exoskeleton robot from failing in a fire scene and enhances its reliability.

[0056] Furthermore, the fire rescue exoskeleton robot of the present invention flattens the back assembly by reconfiguring the components on the back frame 1, significantly reducing its thickness. Combined with the ergonomically designed back frame 1 and the back shell 2 compatible with air-breathing equipment, the exoskeleton robot is better suited for carrying air-breathing equipment. Furthermore, by optimizing the layout of the leg rods 92 and joint components, ample space is reserved for waist equipment such as waist ropes and demolition axes, preventing interference with waist equipment.

[0057] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A fire rescue exoskeleton robot, characterized in that: It includes a back assembly, two drivers (4), a heat dissipation assembly, a leg rod (92) assembly and a joint assembly; wherein, The back assembly comprises a back frame (1), a back shell (2) and a battery pack (3); the back frame (1) is used to connect to the back of a human body; the back shell (2) is arranged on the side of the back frame (1) away from the back of the human body; the side of the back shell (2) facing the back frame (1) is a mounting surface (11); a battery compartment (21) is formed between the back shell (2) and the back frame (1); the battery pack (3) is arranged in the battery compartment (21); The two drivers (4) are both arranged on the mounting surface (11) and are both powered by the battery pack (3); The heat dissipation assembly comprises a cooling box (7), a heat pipe group and two driver heat dissipation plates (72); the cooling box (7) is arranged on the side of the back frame (1) away from the back of the human body, and contains a cold storage medium; the two driver heat dissipation plates (72) are both arranged on the mounting surface (11), and are respectively attached to the side of one of the drivers (4) away from the back frame (1); the heat pipe group comprises a plurality of heat pipes (71); one end of each heat pipe (71) is connected to the cooling box (7), and the other end is connected to any one of the driver heat dissipation plates (72); and each of the driver heat dissipation plates (72) is connected to at least one of the heat pipes (71); The joint assembly comprises two joint motors (9) and two waist bars (91); one end of the two waist bars (91) is respectively connected to the left and right sides of the bottom of the back frame (1), and the other end extends along the waist curve of the human body to a position corresponding to the human hip joint; the two joint motors (9) are respectively arranged on one end of the two waist bars (91) away from the back frame (1); the two joint motors (9) are respectively electrically connected and communicatively connected to one of the drivers (4); The leg rod (92) assembly comprises two leg rods (92); the leg rods (92) are used to connect to the legs of a human body; the two leg rods (92) are respectively connected to one of the joint motors (9) and can move under the drive of the joint motor (9).

2. The fire rescue exoskeleton robot according to claim 1, characterized in that: The back frame (1) extends from top to bottom along the curve of the human back.

3. The fire rescue exoskeleton robot according to claim 1, characterized in that: The cooling box (7), the driver (4) and the battery pack (3) are arranged in sequence from top to bottom.

4. The fire rescue exoskeleton robot according to claim 1, characterized in that: Two ribs (8) are arranged at intervals on the side of the back frame (1) away from the back of the human body; A cooling box groove (81) is formed between two ribs (8); an upper opening (811) is formed between the upper ends of the two ribs; the cooling box can be inserted into the cooling box groove (81) from top to bottom through the upper opening (811); a closing component for closing the upper opening (811) is provided at the upper opening (811); In the direction away from the back of the human body, the heights of the two ribs (8) are both higher than the height of the cooling box (7).

5. The fire rescue exoskeleton robot according to claim 4, characterized in that: The closure assembly comprises a first cooling box cover plate (83) and a second cooling box cover plate (84); the first cooling box cover plate (83) is hinged to the upper end of one of the rib plates (8); the second cooling box cover plate (84) is hinged to the upper end of the other rib plate (8); The hinge axes of the first cooling box cover plate (83) and the second cooling box cover plate (84) are both perpendicular to the mounting surface (11); The first cooling box cover plate (83) and the second cooling box cover plate (84) can be rotated to the upper opening (811) of the cooling box slot (81) to close the upper opening (811) of the cooling box slot (81); The first cooling box cover plate (83) and the second cooling box cover plate (84) can be locked by a locking member.

6. The fire rescue exoskeleton robot according to claim 1, characterized in that: The leg rod (92) assembly also includes two thigh pressing plates (93); The two thigh pressing plates (93) are respectively hinged to the lower end of one leg rod (92); Each thigh pressing plate (93) is provided with a leg binding component (94); the leg binding component (94) is used to connect the thigh pressing plate (93) to the human leg.

7. The fire rescue exoskeleton robot according to claim 6, characterized in that: The back assembly further comprises a back binding component (15); The back binding component (15) is arranged on the back frame (1) and is used to connect the back frame (1) to the back of a human body.

8. The fire rescue exoskeleton robot according to claim 1, characterized in that: The fire rescue exoskeleton robot further includes a main control board (51); the main control board (51) is communicatively connected to both of the drivers (4); The back assembly further comprises a main control board sealing box (5); the main control board sealing box (5) is arranged on the mounting surface (11); the main control board (51) is arranged in the main control board sealing box (5); and the main control board sealing box (5) is filled with electronic potting glue.

9. The fire rescue exoskeleton robot according to claim 8, characterized in that: A waterproof aviation plug (6) is provided on the side of the back shell (2) away from the back frame (1); The waterproof aviation plug (6) is electrically connected to the battery pack (3) via the main control board (51) and is used to charge the battery pack (3); the waterproof aviation plug (6) is communicatively connected to the main control board (51) and is used to debug the main control board (51).

10. The fire rescue exoskeleton robot according to claim 7, characterized in that: The contact surface between the driver (4) and the driver heat sink (72), as well as the contact surface between the cooling box (7) and the heat pipe (71) are coated with thermal grease.

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