Air-ground amphibious fire rescue spherical robot

Abstract

The utility model provides an air-ground amphibious fire rescue spherical robot. The air-ground amphibious fire rescue spherical robot comprises a spherical shell and an unmanned aerial vehicle located in the middle of the spherical shell. The unmanned aerial vehicle comprises a power system and a fixing support. The spherical shell wraps the fixed bracket therein; the fixed bracket is used for supporting the power system in the middle; the power system comprises two propellers which are coaxial and opposite in rotation direction, and the two propellers are fixed in the middle of the fixing support. The spherical unmanned aerial vehicle has the advantages that the spherical robot and the spherical unmanned aerial vehicle are combined, ground movement of the spherical robot is taken as a main part, the defects of poor cruising ability of the unmanned aerial vehicle and poor obstacle crossing ability of the robot are overcome, the advantages of high response speed and strong obstacle crossing ability of the unmanned aerial vehicle are played, the advantages of the unmanned aerial vehicle and the robot are complementary, the advantages of the two are complementary, and the practical value is higher.

Description

Technical Field

[0001] The utility model belongs to the field of robots, in particular to a land and air amphibious firefighting and rescue spherical robot. Background Art

[0002] With the continuous increase of urban buildings and population density, the risk of fire is gradually increasing. In modern cities, the increase of large buildings, shopping malls, industrial areas and residential areas has made fire an important challenge in daily safety management. Therefore, various types of fire-fighting techniques and tools have been widely used, including the widespread use of dry powder fire extinguishers. As an efficient fire-fighting tool, dry powder fire extinguishers are widely used in dealing with fires. However, although they can quickly extinguish flames, they often produce a lot of dust when used in large spaces. Once used on a large scale, this dust will spread throughout the space, bringing difficulties and challenges to the subsequent fire monitoring and handling work.

[0003] Traditional firefighting drones are generally multi-rotor drones, and their propellers will inevitably stir up more dust when working, further increasing the difficulty of monitoring. In contrast, firefighting monitoring robots are less affected by environmental factors, but are easily restricted by complex terrain, have many inconveniences in movement, and have low work efficiency.

[0004] This requires a new type of robot that can complete multiple tasks, run on the ground, fly in the air, and achieve smooth transition between land and air. Summary of the invention

[0005] In view of this, the utility model aims to provide a land and air amphibious firefighting and rescue spherical robot.

[0006] In order to achieve the above object, the technical solution of the utility model is implemented as follows:

[0007] A land and air amphibious firefighting and rescue spherical robot, comprising a spherical shell (2) and a drone located in the middle of the spherical shell (2);

[0008] The drone comprises a power system (1) and a fixed bracket (3); the spherical shell (2) encloses the fixed bracket (3); the fixed bracket (3) supports the power system (1) in the middle; the power system (1) comprises two coaxial propellers rotating in opposite directions, and the two propellers are fixed in the middle of the fixed bracket (3);

[0009] The spherical shell (2) is composed of a plurality of shell components, each of which comprises a rolling mechanism in the middle and protective plates (21) located on both sides of the rolling mechanism. The rolling mechanism comprises a support plate (22) and a rotating plate (23). The support plate (22) and the rotating plate (23) are movably connected to each other. The support plate (22) is connected to the protective plates (21) on both sides. The spherical shell (2) also comprises a retractable push rod (24). One end of the push rod (24) is connected to the support plate (22), and the other end of the push rod is connected to the rotating plate (22).

[0010] Furthermore, the fixing bracket (3) comprises two upper and lower annular fixing frames (31), the two annular fixing frames (31) are connected via a plurality of supporting columns (32), and the two propellers are respectively fixed in the middle of the two annular fixing frames (31);

[0011] The propellers are mounted on corresponding motors, one motor corresponds to one annular fixing frame (31), and the motor seat of each motor is fixed to the center of the corresponding annular fixing frame (31) through a plurality of radially distributed connecting rods;

[0012] The two propellers are placed inwardly and oppositely.

[0013] Furthermore, the drone also includes a steering system (4), and the steering system (4) is installed at the bottom of the lower annular fixing frame;

[0014] The steering system (4) comprises two steering gears (41) and two vector steering surfaces (42) respectively corresponding to the two steering gears. A notch is provided in the middle of the vector steering surface (42). The two vector steering surfaces (42) are staggered and vertically installed.

[0015] Furthermore, a steering rod (43) is fixed on the top of the vector control surface (42), and the steering rod (43) is connected to a steering engine (41) fixed on an annular fixing frame.

[0016] Furthermore, four evenly distributed support frames (44) with pin holes are arranged at the bottom of the annular fixing frame below, and two opposing support frames (44) form a group. Each group of support frames (44) supports a steering rod (43), and one end of the steering rod (43) passes through the pin hole of a support frame (44) and is connected to the corresponding steering gear (41). The other end of the steering rod extends into the pin hole of another corresponding support frame (44) and can rotate in the pin hole.

[0017] Furthermore, the steering engine (41) drives the vector control surface (42) to rotate by manipulating the steering wheel (45) to complete the steering movement.

[0018] Furthermore, the support plate (22) is provided with a cylinder, a hydraulic cylinder or a linear motor, and the push rod (24) is connected to the cylinder, the hydraulic cylinder or the linear motor so as to be retractable; or the push rod (24) is the output portion of the cylinder, the hydraulic cylinder or the linear motor.

[0019] Furthermore, the air cylinder or hydraulic cylinder or linear motor is mounted on the support plate (22) via a base.

[0020] Furthermore, each of the support plates (22) is provided with a steering servo, which is mounted on an adjacent fixed bracket (3), and the support plate (22) is controlled by the steering servo to steer.

[0021] Furthermore, the spherical shell (2) is formed by splicing together a plurality of shell components, each of which is fixed on the fixing bracket (3), and a plurality of shell components form a sphere with a central hole.

[0022] The advantages and positive effects of the utility model are:

[0023] 1. This scheme combines a spherical robot with a spherical UAV, focusing on the ground movement of the spherical robot, making up for the shortcomings of the UAV's poor endurance and the robot's poor obstacle-crossing ability, and giving full play to the advantages of the UAV's fast response speed and strong obstacle-crossing ability. The two complement each other's advantages, learn from each other's strengths and make up for each other's weaknesses, and have higher practical value.

[0024] 2. This solution uses a steering gear group to coordinate and rotate the entire spherical shell to complete turning and attitude conversion, which not only achieves the stability of land rolling and turning, but also ensures the rapidity and flexibility of attitude conversion.

[0025] 3. This solution uses the shell of the spherical drone as the power group for ground motion, which not only protects the onboard equipment, but also reduces the impact of redundant mechanical structures on the weight of the whole machine. The spherical shell enables the robot to have 360-degree omnidirectional motion and a wide viewing angle, and it is more flexible and maneuverable. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0027] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0028] Figure 2It is a schematic diagram of the structure of the utility model after removing the spherical shell;

[0029] Figure 3 This is a schematic diagram of the structure of the utility model from an oblique downward perspective after the spherical shell is removed;

[0030] Figure 4 It is a schematic diagram of the spherical shell in the utility model;

[0031] Figure 5 It is a schematic diagram of a single-piece housing assembly in the utility model;

[0032] Figure 6 It is a schematic diagram of the utility model in a rolling state.

[0033] In the figure:

[0034] 1. Power system 2. Spherical shell 3. Fixed bracket 4. Steering system

[0035] 11. Motor 21, protection plate 22, support plate 23, rotating plate

[0036] 24, push rod 31, annular fixing frame 32, support 41, steering gear

[0037] 42. Vector rudder 43. Steering rod 44. Support frame 45. Steering disc DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. In the absence of conflict, the embodiments in the utility model and the features in the embodiments can be combined with each other.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the utility model is described in detail with reference to the schematic diagram. When describing the embodiments of the utility model, for the sake of convenience, the cross-sectional diagrams showing the structure of the device components will not be partially enlarged according to the general proportion, and the schematic diagrams are only examples, which should not limit the scope of protection of the utility model. In addition, in actual production, the three-dimensional dimensions of length, width and height should be included.

[0041] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0043] like Figures 1 to 6 As shown, the utility model includes a spherical shell 2 and a drone located in the middle of the spherical shell 2;

[0044] The drone includes a power system 1 and a fixed bracket 3; the spherical shell 2 wraps the fixed bracket 3 therein; the fixed bracket 3 supports the power system 1 in the middle; the power system 1 includes two coaxial propellers placed inwardly opposite to each other and rotating in opposite directions, and the two propellers are fixed in the middle of the fixed bracket 3; the fixed bracket 3 includes two upper and lower annular fixing frames 31, the two annular fixing frames 31 are connected by a plurality of pillars 32, and the two propellers are respectively fixed in the middle of the two annular fixing frames 31; the propellers are installed on corresponding motors, one motor corresponds to one annular fixing frame 31, and the motor seat of each motor is fixed to the center of the corresponding annular fixing frame 31 through a plurality of radially distributed connecting rods;

[0045] The UAV also includes a steering system 4, which is installed at the bottom of the annular fixing frame below; the steering system 4 includes two servos 41 and two vector control surfaces 42 corresponding to the two servos respectively, the middle of the vector control surfaces 42 has a notch, and the two vector control surfaces 42 are staggered and vertically installed.

[0046] The bottom of the annular fixing frame located at the bottom is provided with four evenly distributed support frames 44 with pin holes, and two opposing support frames 44 form a group, and each group of support frames 44 supports a steering rod 43, one end of the steering rod 43 passes through the pin hole of one support frame 44 and is connected to the corresponding steering gear 41, and the other end of the steering rod extends into the pin hole of another corresponding support frame 44 and can rotate in the pin hole. The steering gear 41 drives the vector rudder surface 42 to rotate by operating the steering wheel 45 to complete the steering movement.

[0047] The spherical shell 2 is composed of 6 shell components, each of which includes a rolling mechanism in the middle and protective plates 21 located on both sides of the rolling mechanism. The rolling mechanism includes a support plate 22 and a rotating plate 23, which are movably connected by hinges, and also includes a retractable push rod 24, one end of which is connected to the support plate 22, and the other end of which is connected to the rotating plate 22. The support plate 22 is provided with a cylinder, a hydraulic cylinder or a linear motor through a base, and the push rod 24 is connected to the cylinder, the hydraulic cylinder or the linear motor, and can be retracted. The push rod 24 on each shell component is retracted in turn to drive the respective rotating plates 22 to open and close, and finally realize the rolling movement of the spherical shell.

[0048] Each of the support plates 22 is also provided with a steering servo, which is mounted on an adjacent fixed bracket 3. The support plates 22 are controlled by the steering servo to steer. Since the support plates 22 are connected and fixed to the protection plates 21 on both sides, the steering of the entire spherical shell is controlled. The steering servo group is used to coordinate and rotate the entire spherical shell to complete the turning and attitude conversion, which not only achieves the stability of land rolling and turning, but also ensures the rapidity and flexibility of attitude conversion.

[0049] The spherical shell 2 is formed by splicing 6 shell components, each of which is fixed on the fixing bracket 3, and the 6 shell components form a sphere with a central hole.

[0050] The various parts of the 6-piece shell assembly are connected by plane transitions, which achieves stability and rapid response when the ball rolls, turns and changes its posture. The protection plates 21 on both sides are provided with reinforcing ribs, and the protection plates 21 on both sides can also be supported by copper columns to enhance the stability and strength of the thin-walled structure.

[0051] The spherical shell enables the robot to have 360-degree omnidirectional movement capabilities and a wide observation angle, making it more flexible and maneuverable.

[0052] The flight controller and the electronic control core board are mounted on the upper and lower annular fixing frames 31, and the battery is installed on the motor seat and connected to the corresponding motor and steering gear respectively. It also includes an electronic speed regulator, a GPS system, a communication system, and an image acquisition system. The MPU sensor is used to adjust the PID parameters for self-stabilization control of the robot's rolling.

[0053] The control system of the flight controller adopts ardupilot open source firmware, and Qstablize parameter adjustment is selected to obtain self-stabilizing control after mode switching. The control system is connected to two motors and two servos respectively.

[0054] The robot's forward and backward rolling motion is achieved through six push rods, and six steering servos control the deflection of the six-petal spherical shell, realizing the robot's turning and attitude conversion motion on land. The coaxial double-propeller drive mode is adopted, and two vector control surfaces are used. The downwash airflow generated by the coaxial double propeller is used to push the spoiler to turn, and the left and right yaw motion is achieved through the differential rotation of the upper and lower motors. The spherical shell of the spherical drone is used for rolling, which not only protects the airborne equipment, but also saves space and reduces the weight of the whole machine; the PID parameters are adjusted by the MPU sensor to control the robot's rolling self-stabilization. The coaxial double-propeller drive realizes the dual-mode amphibious motion of land and air in a smaller volume. After quickly reaching the target location through the air, close-range precise reconnaissance is carried out through the rolling posture, avoiding the influence of dust raised by the rotor on the observation results, and more realistically reflecting the on-site situation.

[0055] The design of the spherical shell of this scheme makes the mechanical structure as simple as possible. At the same time, the upper and lower reserved air inlets of the spherical shell not only do not interfere with the aerodynamic effect of the UAV, but also accelerate the corresponding efficiency of the control surface that uses the downwash airflow to the greatest extent, reducing the weight of the whole machine. After quickly reaching the target location through the air, close-range and precise reconnaissance is carried out through a rolling attitude, avoiding the influence of dust raised by the rotor on the observation results, and quickly flying away from the scene after the mission is completed, reflecting the situation on the scene more realistically.

[0056] This solution combines a spherical robot with a spherical UAV, focusing on the ground movement of the spherical robot, making up for the shortcomings of the UAV's poor endurance and the robot's poor obstacle-crossing ability, and giving full play to the advantages of the UAV's fast response speed and strong obstacle-crossing ability. The two complement each other's advantages, learn from each other's strengths and make up for each other's weaknesses, and have higher practical value.

[0057] The steering gear group is used to coordinate and rotate the entire spherical shell to complete turning and attitude conversion, which not only achieves the stability of land rolling and turning, but also ensures the rapidity and flexibility of attitude conversion.

[0058] The spherical shell of the drone serves as the power unit for ground motion, which not only protects the onboard equipment, but also reduces the impact of redundant mechanical structures on the weight of the entire machine. The spherical shell enables the robot to have 360-degree omnidirectional motion and a wide viewing angle, making it more flexible and maneuverable.

[0059] This structure is mainly used for ground rolling reconnaissance, with a long endurance. After quickly reaching the target location through the air, it conducts close-range precise reconnaissance through rolling posture, avoiding the influence of dust raised by the rotor on the observation results, and more realistically reflects the on-site situation. When encountering ground obstacles that cannot be overcome by rolling, the obstacle can be overcome through the flight mode. The spherical shell is maximized. On the premise of simplifying the mechanical structure, the spherical shell can not only protect the airborne equipment, but also realize the land rolling function.

[0060] The above is a detailed description of the embodiments of the utility model, but the contents are only preferred embodiments of the utility model and cannot be considered to limit the scope of implementation of the utility model. All equivalent changes and improvements made within the scope of application of the utility model should still fall within the scope of the patent coverage of the utility model.

Claims

1. A spherical amphibious firefighting and rescue robot, characterized in that: It comprises a spherical shell (2) and a drone located in the middle of the spherical shell (2); The drone comprises a power system (1) and a fixed bracket (3); the spherical shell (2) encloses the fixed bracket (3); the fixed bracket (3) supports the power system (1) in the middle; the power system (1) comprises two coaxial propellers rotating in opposite directions, and the two propellers are fixed in the middle of the fixed bracket (3); The spherical shell (2) is composed of a plurality of shell components, each of which comprises a rolling mechanism in the middle and protective plates (21) located on both sides of the rolling mechanism. The rolling mechanism comprises a support plate (22) and a rotating plate (23). The support plate (22) and the rotating plate (23) are movably connected to each other. The support plate (22) is connected to the protective plates (21) on both sides. The spherical shell (2) also comprises a retractable push rod (24). One end of the push rod (24) is connected to the support plate (22), and the other end of the push rod is connected to the rotating plate (23).

2. The amphibious firefighting and rescue spherical robot according to claim 1 is characterized by: The fixing bracket (3) comprises two upper and lower annular fixing frames (31), the two annular fixing frames (31) are connected via a plurality of supporting columns (32), and the two propellers are respectively fixed in the middle of the two annular fixing frames (31); The propellers are mounted on corresponding motors, one motor corresponds to one annular fixing frame (31), and the motor seat of each motor is fixed to the center of the corresponding annular fixing frame (31) through a plurality of radially distributed connecting rods; The two propellers are placed inwardly and oppositely.

3. The amphibious firefighting and rescue spherical robot according to claim 1, characterized in that: The drone also includes a steering system (4), which is mounted on the bottom of the lower annular fixing frame; The steering system (4) comprises two steering gears (41) and two vector steering surfaces (42) respectively corresponding to the two steering gears. A notch is provided in the middle of the vector steering surface (42). The two vector steering surfaces (42) are staggered and vertically installed.

4. The amphibious firefighting and rescue spherical robot according to claim 3 is characterized by: A steering rod (43) is fixed on the top of the vector control surface (42), and the steering rod (43) is connected to a steering engine (41) fixed on an annular fixing frame.

5. The amphibious firefighting and rescue spherical robot according to claim 4 is characterized in that: The bottom of the annular fixing frame below is provided with four evenly distributed support frames (44) with pin holes, two opposing support frames (44) form a group, each group of support frames (44) supports a steering rod (43), one end of the steering rod (43) passes through the pin hole of a support frame (44) and is connected to the corresponding steering gear (41), and the other end of the steering rod extends into the pin hole of another corresponding support frame (44) and can rotate in the pin hole.

6. The amphibious firefighting and rescue spherical robot according to claim 5, characterized in that: The steering engine (41) drives the vector control surface (42) to rotate by manipulating the steering wheel (45) to complete the steering movement.

7. The amphibious firefighting and rescue spherical robot according to claim 1, characterized in that: The support plate (22) is provided with a cylinder, a hydraulic cylinder or a linear motor, and the push rod (24) is connected to the cylinder, the hydraulic cylinder or the linear motor so as to be retractable; or the push rod (24) is the output part of the cylinder, the hydraulic cylinder or the linear motor.

8. The amphibious firefighting and rescue spherical robot according to claim 7, characterized in that: The air cylinder or hydraulic cylinder or linear motor is mounted on the support plate (22) via a base.

9. The amphibious firefighting and rescue spherical robot according to claim 1, characterized in that: A steering servo is also provided on each of the support plates (22), and the steering servo is mounted on an adjacent fixed bracket (3). The support plate (22) is controlled by the steering servo to steer.

10. The amphibious firefighting and rescue spherical robot according to claim 1, characterized in that: The spherical shell (2) is formed by splicing a plurality of shell components, each of which is fixed on the fixing bracket (3), and a plurality of shell components form a sphere with a central hole.

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