Self-circulation heat dissipation fire scene reconnaissance robot

Abstract

The utility model discloses a fire scene reconnaissance robot with a self-circulation heat dissipation function. The fire scene reconnaissance robot comprises a rack, a deformable wheel leg device and a self-circulation heat dissipation system. The deformable wheel leg device comprises a deformable wheel and a driving system; the deformation wheel can be deformed into a circular wheel structure and a wheel leg structure; the driving system is used for driving the deformation wheel to integrally rotate or change forms; the self-circulation heat dissipation system comprises a compressor, a condenser, an evaporator, a refrigerant and a thermostatic expansion valve; the refrigerant is used for circularly flowing in a closed circulating pipeline formed by connecting the compressor, the condenser and the evaporator through pipelines; and the thermostatic expansion valve is arranged in a pipeline between the condenser and the evaporator. According to the robot, the advantages of a wheel type structure advancing mechanism and a leg type structure advancing mechanism are combined, a proper advancing mode can be selected according to specific application scenes and task requirements, meanwhile, in fire scene investigation, effective heat dissipation can be conducted on the robot, and it is guaranteed that all parts of the robot can work normally in a fire scene.

Description

Technical Field

[0001] The utility model belongs to the field of reconnaissance robots, and in particular relates to a fire scene reconnaissance robot with self-circulation heat dissipation. Background Art

[0002] Fire detection robots are robots specially used for fire scene detection. They can detect in the fire scene, provide real-time fire scene pictures and information, help firefighters better understand the fire scene, and thus carry out fire fighting and rescue work more effectively. Fire detection robots are usually composed of a robot body, sensors and remote control terminals. The robot body is the core part of the robot, responsible for performing various tasks, such as movement, detection, shooting, etc. At present, the walking mechanism of the robot body usually adopts a wheeled structure or a legged structure. Fire detection robots with wheeled travel mechanisms usually have the advantages of fast speed, smooth movement, and simple control. They can move efficiently on flat terrain and are suitable for some relatively simple detection tasks. In addition, wheeled robots have light weight, simple mechanisms, and are relatively convenient to drive and control. However, wheeled robots have low off-road passing ability and relatively weak adaptability to complex terrain and environment. When moving on irregular ground, such as stairs, steps and other obstacles, wheeled robots may encounter difficulties and are prone to rollover. In contrast, legged detection robots have stronger terrain adaptability and stability. They can adapt to various complex terrains and environments, such as rugged terrain, stairs, steps, etc., and can maintain balance on uneven terrain. In addition, legged robots have more degrees of freedom, more flexible movements, and can move and operate in narrow spaces.

[0003] On the other hand, heat dissipation and cooling are crucial for firefighting agencies in a fire environment. Fires generate a lot of heat, which causes the fire temperature to rise, weakens the building structure, and may cause a larger fire. Reconnaissance agencies need to maintain their own temperature within a certain range to protect internal circuits and various parts, ensure the stability and continuity of work in a fire environment, and enable them to conduct reconnaissance and assist in various rescue work more effectively. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a fire scene reconnaissance robot with self-circulating heat dissipation, which combines the advantages of a wheeled structure and a legged structure travel mechanism, and can select a suitable travel mode according to specific application scenarios and task requirements. At the same time, during fire scene reconnaissance, it can effectively dissipate heat itself to ensure that all components of the robot can work normally at the fire scene.

[0005] In order to achieve the above technical purpose, the technical solution adopted by the utility model is as follows:

[0006] The utility model of a fire scene reconnaissance robot with self-circulation heat dissipation comprises a frame, a deformable wheel-leg device and a self-circulation heat dissipation system;

[0007] The deformable wheel-leg device comprises a deformable wheel and a driving system; the deformable wheel can be deformed into a circular wheel structure and a wheel-leg structure; the driving system is used to drive the deformable wheel to rotate as a whole or change its shape;

[0008] The self-circulating heat dissipation system comprises a compressor, a condenser, an evaporator, a refrigerant and a thermal expansion valve; the refrigerant is used to circulate in a closed circulation pipeline formed by connecting the compressor, the condenser and the evaporator through pipelines; the thermal expansion valve is arranged in the pipeline between the condenser and the evaporator;

[0009] Further, the deformable wheel comprises an inner end cover, an outer end cover, a central gear and a planetary wheel leg; the central gear and the planetary wheel leg are both hinged between the inner end cover and the outer end cover; the planetary wheel leg comprises an incomplete gear and an arc-shaped plate integrally formed with the incomplete gear; a plurality of the planetary wheel legs are distributed around the axis of the central gear, the incomplete gear of each planetary wheel leg is meshed with the central gear, and the arc-shaped plates of each of the planetary wheel legs can together form a circular wheel structure;

[0010] Furthermore, the drive system includes a drive motor, a central transmission shaft, a sleeve and an electromagnetic clutch; one end of the central transmission shaft is connected to the drive motor shaft, the other end is connected to the central gear, and the middle part is connected to the active end of the electromagnetic clutch; the sleeve is externally mounted on the central transmission shaft, one end of the sleeve is connected to the driven end of the electromagnetic clutch, and the other end is connected to the inner end cover;

[0011] Furthermore, the thickness of the arc-shaped plate of the planetary gear leg gradually decreases from the end connected with the incomplete gear to the outer end;

[0012] Furthermore, the planetary wheel legs in the deformable wheel are distributed in four; the inner end cover and the outer end cover are in a "cross" structure;

[0013] Furthermore, a high temperature resistant camera is provided on the top of the rack;

[0014] Furthermore, a laser radar is provided on the top of the frame.

[0015] The beneficial effects of the utility model are:

[0016] 1. The fire scene reconnaissance robot of the utility model can adjust the posture of each planetary wheel leg in the deformable wheel through the drive system according to the specific application scenario and task requirements, so that the planetary wheel legs are combined into a circular wheel structure or a leg-type structure; when the robot is traveling on a flat road, a wheel-type traveling structure is adopted to increase the traveling speed, and when the robot needs to overcome obstacles, a leg-type traveling structure is adopted to improve the passability.

[0017] 2. The fire scene detection robot of the present invention utilizes a refrigeration cycle pipeline composed of a compressor, a condenser, and an evaporator to circulate a refrigerant to provide cooling capacity for the interior of the robot, thereby ensuring the normal operation of various components within the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described below with reference to the accompanying drawings and examples.

[0019] Figure 1 This is a schematic diagram of the internal structure of the robot of the present utility model;

[0020] Figure 2 The schematic diagram of the robot structure of the utility model is shown in FIG. Figure I ;

[0021] Figure 3 It is a distribution diagram of the deformable wheel-leg device of the utility model;

[0022] Figure 4 It is a structural schematic diagram of the deformable wheel-leg device of the utility model;

[0023] Figure 5 It is a cross-sectional view of the deformable wheel-leg device of the utility model;

[0024] Figure 6 It is a structural schematic diagram of the self-circulating heat dissipation system of the utility model.

[0025] Figure markings: 1-frame, 2-deformable wheel leg device, 2-1-bearing seat, 2-2-drive motor, 2-3-electromagnetic clutch holder, 2-4-motor support, 2-5-planetary wheel leg, 2-6-outer end cover, 2-7-center gear, 2-8-sleeve, 2-9-electromagnetic clutch active end, 2-10-electromagnetic clutch driven end, 2-11-center transmission shaft, 2-12-inner end cover, 3-self-circulating cooling system, 3-1-condenser, 3-2-compressor, 3-3-evaporator, 3-4-thermal expansion valve, 3-5-copper tube, 4-housing, 5-high temperature resistant camera, 6-laser radar. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below in conjunction with embodiments.

[0027] Embodiment 1

[0028] like Figure 1 , 2 As shown, the fire scene reconnaissance robot with self-circulation heat dissipation in this embodiment includes a frame 1, a deformable wheel-leg device 2 and a self-circulation heat dissipation system.

[0029] The frame 1 is a box structure with an upper opening, the drive system of the deformable wheel-leg device 2 and the self-circulating cooling system 3 are installed inside the frame 1, and the upper part of the frame 1 is closed by a shell 4. A high-temperature resistant camera 5 and a laser radar 6 are arranged on the top of the shell 4.

[0030] like Figure 3 As shown, the deformable wheel-leg device 2 includes a deformable wheel and a driving system; the deformable wheel can be deformed into a circular wheel structure and a wheel-leg structure; the driving system is used to drive the deformable wheel to rotate as a whole or change its shape.

[0031] like Figure 4 , 5 As shown, the deformable wheel includes an inner end cover 2-12, an outer end cover 2-6, a central gear 2-7 and four planetary wheel legs 2-5; the inner end cover 2-12 and the outer end cover 2-6 are of a "cross" structure, the central gear 2-7 is hinged at the central axis position between the inner end cover 2-12 and the outer end cover 2-6, and the four planetary wheel legs 2-5 are respectively hinged at the four ends of the inner end cover 2-12 and the outer end cover 2-6 of the "cross" structure, and the four planetary wheel legs 2-5 are evenly distributed around the axis of the central gear 2-7; the planetary wheel legs 2-5 include an incomplete gear and an arc-shaped plate integrally formed with the incomplete gear, and the central angle corresponding to the arc-shaped plate is 90°, so the arc-shaped plates of each of the planetary wheel legs 2-5 can jointly form a circular wheel structure. The thickness of the arc-shaped plate of the planetary wheel leg 2-5 gradually decreases from the end connected with the incomplete gear to the outer end, so that an equal strength structure can be formed, which is convenient for reducing the overall weight of the deformable wheel.

[0032] like Figure 5As shown, the driving system includes a driving motor 2-2, a central transmission shaft 2-11, a sleeve 2-8 and an electromagnetic clutch; one end of the central transmission shaft 2-11 is connected to the rotating shaft of the driving motor 2-2, the other end is connected to the central gear 2-7, and the middle part is connected to the active end 2-9 of the electromagnetic clutch; a bearing seat 2-1 is provided on the side wall of the frame 1, in which a bearing for supporting the rotation of the sleeve 2-8 is installed; the sleeve 2-8 is sleeved on the central transmission shaft 2-11, one end of which is connected to the driven end 2-10 of the electromagnetic clutch, and the other end is connected to the inner end cover 2-12, and the electromagnetic clutch is composed of an electromagnetic clutch The fixer 2-3 is installed in the frame 1; the drive motor 2-2 is installed on the motor support 2-4; when the robot needs to move, the electromagnetic clutch is in an engaged state, the drive motor 2-2 drives the central transmission shaft 2-11 to rotate, the central transmission shaft 2-11 drives the central gear 2-7 and the electromagnetic clutch active end 2-9 to rotate synchronously, the electromagnetic clutch active end 2-9 and the electromagnetic clutch driven end 2-10 are synchronously driven, the electromagnetic clutch driven end 2-10 drives the inner end cover 2-12 and the central gear 2-7 through the sleeve 2-8 to transmit synchronously, and at this time the wheel leg maintains its original shape and rotates as a whole. When the robot needs to switch the deformation wheel shape, the electromagnetic clutch switches to the disconnected state, and the electromagnetic clutch driven end 2-10 does not rotate with the electromagnetic clutch active end 2-9. At this time, the power output by the drive motor 2-2 drives the center gear 2-7 to rotate through the center transmission shaft 2-11, and the inner end cover 2-12 connected to the sleeve 2-8 does not rotate with the center gear 2-7. The center gear 2-7 will drive the four planetary wheel legs 2-5 to rotate relative to the inner and outer end covers 2-6, thereby switching the deformation wheel between the circular wheel structure and the leg structure.

[0033] like Figure 6 As shown, the self-circulating heat dissipation system 3 includes a compressor 3-2, a condenser 3-1, an evaporator 3-3, a refrigerant and a thermal expansion valve 3-4; the refrigerant is used to circulate in a closed circulation pipeline formed by connecting the compressor 3-2, the condenser 3-1 and the evaporator 3-3 through a copper tube 3-5; the thermal expansion valve 3-4 is arranged in the pipeline between the condenser 3-1 and the evaporator 3-3; during refrigeration, the compressor 3-2 sucks in the gaseous refrigerant and compresses it quickly, the internal energy of the refrigerant increases, and then the refrigerant comes to the condenser 3-1, and the condenser 3-1 discharges the excess heat to the outside of the shell 4. At the same time, the refrigerant condenses from gas to liquid during the heat dissipation process and becomes a saturated liquid refrigerant at the outlet of the condenser 3-1. After that, the refrigerant flows into the thermal expansion valve 3-4, and flows out a low-temperature and low-pressure gas-liquid mixed refrigerant. Then, the refrigerant enters the evaporator 3-3, and the refrigerant absorbs the heat in the wind blown out by the evaporator 3-3 (from the robot shell), and finally boils and evaporates into a saturated gas, forming a low-temperature and low-pressure saturated gas. Finally, it enters the compressor 3-2, thus completing a phase change cycle.

[0034] like Figure 2 The high temperature resistant camera 5 on the top of the shell 4 is used to collect fire environment information, and the laser radar 6 can detect obstacle information in the fire scene.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A fire scene reconnaissance robot with self-circulating heat dissipation, characterized in that: It includes a frame, a deformable wheel-leg device and a self-circulating cooling system; The deformable wheel-leg device comprises a deformable wheel and a driving system; the deformable wheel can be deformed into a circular wheel structure and a wheel-leg structure; the driving system is used to drive the deformable wheel to rotate as a whole or change its shape; The self-circulating heat dissipation system includes a compressor, a condenser, an evaporator, a refrigerant and a thermal expansion valve; the refrigerant is used to circulate in a closed circulation pipeline formed by connecting the compressor, condenser and evaporator through pipes; the thermal expansion valve is arranged in the pipeline between the condenser and the evaporator.

2. The fire scene reconnaissance robot with self-circulating heat dissipation according to claim 1 is characterized in that: The deformable wheel includes an inner end cover, an outer end cover, a center gear and a planetary wheel leg; the center gear and the planetary wheel leg are both hinged between the inner end cover and the outer end cover; the planetary wheel leg includes an incomplete gear and an arc-shaped plate integrally formed with the incomplete gear; a plurality of planetary wheel legs are distributed around the axis of the center gear, the incomplete gear of each planetary wheel leg is meshed with the center gear, and the arc-shaped plates of each planetary wheel leg can together form a circular wheel structure.

3. The fire scene reconnaissance robot with self-circulating heat dissipation according to claim 2 is characterized in that: The drive system includes a drive motor, a central transmission shaft, a sleeve and an electromagnetic clutch; one end of the central transmission shaft is connected to the drive motor shaft, the other end is connected to the central gear, and the middle is connected to the active end of the electromagnetic clutch; the sleeve is externally mounted on the central transmission shaft, one end of the sleeve is connected to the driven end of the electromagnetic clutch, and the other end is connected to the inner end cover.

4. The fire scene reconnaissance robot with self-circulating heat dissipation according to claim 2 is characterized in that: The thickness of the arc-shaped plate of the planetary gear leg gradually decreases from the end connected with the incomplete gear to the outer end.

5. The fire scene reconnaissance robot with self-circulating heat dissipation according to claim 2 is characterized in that: There are four planetary wheel legs in the deformable wheel; the inner end cover and the outer end cover are in a "cross" structure.

6. The fire scene reconnaissance robot with self-circulating heat dissipation according to claim 1 is characterized in that: A high temperature resistant camera is arranged on the top of the frame.

7. The fire scene reconnaissance robot with self-circulating heat dissipation according to claim 1 is characterized in that: A laser radar is arranged on the top of the frame.

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