Modularized amphibious search and rescue detection robot

Abstract

The utility model discloses a modularized amphibious search and rescue detection robot, and belongs to the technical field of robots. The robot mainly comprises a deformable spherical main body robot, the bottom in the spherical main body robot is connected with an auxiliary robot split cabin, the auxiliary robot split cabin comprises a cabin upper cover plate, cabin side plates are fixedly connected to the periphery of the cabin upper cover plate, and cabin bottom plates which can ascend and descend and are matched with the cabin side plates are arranged at the bottoms of the cabin side plates; a release cabin is fixedly connected to the bottom of the cabin upper cover plate, an ellipsoidal auxiliary robot is arranged in the release cabin, and a limiting guide plate used for limiting the ellipsoidal auxiliary robot is fixed to the upper end face of the cabin bottom plate. The deformable spherical main body robot is matched with the ground-air amphibious ellipsoidal auxiliary robot, so that search and rescue tasks can be fully performed in different environments, the robot can be suitable for narrow spaces and unstable terrains and can fly over obstacles such as rivers, and the survivability of the robot is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a modular amphibious search and rescue detection robot. Background Art

[0002] Man-made accidents and natural disasters like earthquakes and fires are often sudden and devastating, posing a serious threat to human life and safety. Following a disaster, numerous uncertainties exist at the scene, such as structural collapse and toxic gas leaks, making it extremely difficult and risky for rescue workers to enter the scene. The rapid development of technologies like sensors and artificial intelligence has opened up the possibility of developing highly intelligent fire detection and rescue robots. These robots, with their flexible transformation capabilities, can more easily enter disaster sites for reconnaissance and search and rescue, thereby reducing casualties and protecting public safety.

[0003] Among them, Chinese patent publication number "CN106864616A" discloses a spherical-to-hexapod transformable robot, comprising an external support mechanism, a rotating mechanism, and robot legs. The external support mechanism includes a base plate, a U-shaped frame, a steering gear, and spherical petals. The rotating mechanism includes a steering disc, a transmission mechanism, and a rotating plate. The rotating plate is circumferentially distributed and connected to the transmission mechanism, and the transmission mechanism drives the rotating plate to extend or retract. The robot legs include steering gears, a connecting frame, and feet. The external support mechanism is fixedly connected to the rotating mechanism, and the robot legs are circumferentially distributed and fixedly connected to the rotating plate. The rotating mechanism and the robot legs are used to form a hexapod robot. The rotating mechanism and the external support mechanism are used to form a spherical robot. The robot comprises a spherical petal external support mechanism, a rotating structure that can extend into a petal shape and retract into a disc shape, and a robot leg structure with a steering gear and feet mounted on the rotating mechanism, forming a composite robot that can transform into a spherical robot and a hexapod robot.

[0004] Although the above-mentioned robot has the function of deformation and is relatively flexible in movement, it still has the following defects when applied to search and rescue robots: 1. Since the above-mentioned robot has a fixed body shape, even if it is deformed, it cannot reduce its structure, making it difficult to search and rescue through narrow spaces or sites with high obstacles; 2. The robot's legs cannot provide stable support and strong off-road capabilities, and it cannot walk on complex terrain such as uneven, soft or gravel, nor can it carry relatively heavy equipment and supplies for long distances at the same time; 3. It cannot be used for amphibious purposes on land and in the air, and has great limitations. Utility Model Content

[0005] The technical problem to be solved by the present invention is: to overcome the shortcomings of the existing technology and provide a modular amphibious search and rescue detection robot, which adopts a deformable spherical main body robot and an ellipsoidal auxiliary robot with a land and air amphibious design, so that search and rescue tasks can be fully carried out in different environments. It can be used in narrow spaces and unstable terrains, and can fly over obstacles such as rivers, thereby improving the robot's survivability.

[0006] The modular amphibious search and rescue detection robot includes a deformable spherical main body robot, the inner bottom of the spherical main body robot is connected to a split cabin of an auxiliary robot, the split cabin of the auxiliary robot includes a cabin upper cover plate, the cabin upper cover plate is fixedly connected to cabin side panels on all sides, the bottom of the cabin side panels is provided with a cabin bottom plate that can be raised and lowered and cooperates with the cabin side panels, the bottom of the cabin upper cover plate is fixedly connected to a release cabin, an ellipsoidal auxiliary robot is arranged in the release cabin, and the upper end surface of the cabin bottom plate is fixed with a limiting guide plate for limiting the ellipsoidal auxiliary robot.

[0007] Preferably, a lifting mechanism is provided between the cabin upper cover and the cabin bottom plate, and the lifting mechanism includes a mounting seat, a driving mechanism and a threaded barrel. The mounting seat and the driving mechanism are fixedly connected to the cabin upper cover through a plurality of fixing rods respectively. A worm gear mechanism is fixedly connected to the mounting seat. One end of the threaded barrel is fixedly connected to the cabin upper cover, and the other end of the threaded barrel is fixedly connected to the housing of the worm gear mechanism. A threaded rod is connected to the inner thread of the threaded barrel. The threaded rod passes through the mounting seat and is fixedly connected to the worm gear in the worm gear mechanism. An optical axis is fixed to the bottom of the threaded rod, and the optical axis is rotatably connected to the cabin bottom plate. The worm in the worm gear mechanism is connected to the driving mechanism.

[0008] Preferably, the cabin upper cover plate and the cabin bottom plate are both circular structures.

[0009] Preferably, the ellipsoidal auxiliary robot includes a motor centralized control cabin, both sides of the motor centralized control cabin are rotatably connected to Mecanum wheels, a hollow flight cabin is provided in the middle of the Mecanum wheels, the hollow flight cabin is fixedly connected to the motor centralized control cabin, an aircraft is provided in the hollow flight cabin, and the bottom of the aircraft is connected to the motor centralized control cabin through a support rod.

[0010] Preferably, the motor centralized control cabin includes a support frame, with fixed rings fixedly connected to both sides of the support frame through multiple connecting rods. The Mecanum wheel is rotatably arranged on the fixed ring, an outer ring gear is fixed to the bracket of the Mecanum wheel, and a gear meshing with the outer ring gear is rotatably connected to the side of the support frame close to the Mecanum wheel. A small motor for driving the gear to rotate is fixedly connected to the support frame.

[0011] Preferably, a self-stabilizing flywheel for maintaining the balance of the ellipsoidal auxiliary robot is provided in the motor control cabin. The self-stabilizing flywheel includes a fixed bracket, both ends of which are rotatably connected to the support frame through a rotating shaft. A disc motor is fixedly connected to the fixed bracket, and a flywheel is provided at the output end of the disc motor.

[0012] Preferably, a counterweight is fixedly connected to the side of the support frame opposite to the small motor.

[0013] Preferably, the hollow flight cabin has a semi-ellipsoidal structure.

[0014] Preferably, the spherical main body robot includes a support plate, a rotating mechanism is provided at the bottom of the support plate, and the upper ends of the rotating mechanism and the support plate are respectively connected to multiple external support mechanisms, and the end of each external support mechanism is fixedly connected to an openable and closable spherical valve shell.

[0015] Preferably, the end of the external support mechanism at the bottom is fixedly connected to a rubber sole.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The use of a deformable spherical main robot and an ellipsoidal auxiliary robot with an amphibious design can fully complete search and rescue missions in different environments. The spherical main robot can achieve a variety of changes in form through the coordinated work of the rotation mechanism and the external support mechanism, and can cope with various complex terrains; the ellipsoidal auxiliary robot is mainly suitable for narrow spaces, unstable terrain or damaged buildings that the spherical main robot cannot pass through. In addition, when encountering rivers or ditches, the ellipsoidal auxiliary robot can quickly fly over obstacles through the aircraft and reach areas that are difficult for the spherical main robot to reach, which helps to improve the robot's survivability.

[0018] 2. A rubber sole is added to the bottom of the spherical main body robot. The rubber sole is made of high-strength styrene-butadiene rubber material, which has extremely high anti-slip and movement performance, improving the robot's off-road capability and load-bearing capacity.

[0019] 3. A self-stabilizing flywheel is added to the ellipsoidal auxiliary robot to maintain the stability of the robot. The flywheel is driven by a disc motor to rotate at high speed, making it able to resist external disturbances and maintain its balance during the flight of the ellipsoidal auxiliary robot. Two Mecanum wheels are set on the outside of the ellipsoidal auxiliary robot. On narrow and simple roads, the two Mecanum wheels work together to enable the ellipsoidal auxiliary robot to more easily cross rubble piles, bypass obstacles, and flexibly carry out search and rescue missions in limited spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural diagram of the utility model;

[0021] Figure 2 This is a schematic diagram of the internal structure of the utility model;

[0022] Figure 3 for Figure 1 A partial enlarged view of part A;

[0023] Figure 4 This is a schematic diagram of the external structure of the auxiliary robot's split cabin;

[0024] Figure 5 This is a schematic diagram of the internal structure of the auxiliary robot's split cabin;

[0025] Figure 6 for Figure 5 A partial enlarged view of part B;

[0026] Figure 7 It is a schematic diagram of the structure of the ellipsoidal auxiliary robot;

[0027] Figure 8 for Figure 7 A partial enlarged view of part C in the middle;

[0028] Figure 9 This is a schematic diagram of the structure of the Mecanum wheel;

[0029] Figure 10 This is a schematic diagram of the coordination between the motor centralized control cabin and the aircraft;

[0030] Figure 11 This is a schematic diagram of the internal structure of the motor centralized control cabin;

[0031] Figure 12 Schematic diagram of the structure of the self-stabilizing flywheel;

[0032] Figure 13 Schematic diagram of part of the structure of the motor centralized control cabin Figure 1 ;

[0033] Figure 14 Schematic diagram of part of the structure of the motor centralized control cabin Figure 2 .

[0034] In the figure, 100, spherical robot; 101, retractable spherical shell; 102, support plate; 103, external support mechanism; 104, rubber sole; 105, rotation mechanism; 106, thermal imaging camera; 107, acoustic wave detector; 108, control box 1; 109, intercom;

[0035] 200, auxiliary robot split cabin; 201, cabin upper cover; 202, cabin side panel; 203, cabin bottom plate; 2031, limit guide plate; 204, release cabin; 205, mounting seat; 206, worm gear mechanism; 207, fixing rod; 208, threaded barrel; 209, driving mechanism; 210, threaded rod;

[0036] 300. Ellipsoidal auxiliary robot; 301. Mecanum wheel; 3011. Outer ring gear; 302. Hollow flight cabin; 303. Aircraft; 304. Motor control cabin; 3041. Support rod; 3042. Gear; 3043. Fixing ring; 3044. Support frame; 3045. Small motor; 3046. Buzzer; 3047. Camera; 305. Self-stabilizing flywheel; 3051. Disc motor; 3052. Fixing bracket; 3053. Rotating shaft; 3054. Flywheel; 306. Control box 2; 307. Counterweight. DETAILED DESCRIPTION

[0037] The present invention will be further described below with reference to the accompanying drawings:

[0038] The directional terms used in the detailed description are intended solely to facilitate understanding of the technical solutions described herein by those skilled in the art based on the visual orientation shown in the accompanying drawings. Unless otherwise specified or limited, the terms "dispose," "install," and "connect" are to be interpreted broadly, and those skilled in the art will understand their specific meanings in this utility model based on the specific circumstances.

[0039] like Figures 1 to 14 As shown, a modular amphibious search and rescue detection robot includes a spherical main body robot 100 that can be deformed, such as Figure 2As shown, the spherical robot 100 includes a support plate 102, a rotating mechanism 105 is provided at the bottom of the support plate 102, and a plurality of external support mechanisms 103 are connected to the ends of the rotating mechanism 105 and the upper end of the support plate 102, respectively. The end of each external support mechanism 103 is fixedly connected to a retractable ball-shaped housing 101. The end of the external support mechanism 103 at the bottom is fixedly connected to a rubber sole 104. The rubber sole 104 is made of high-strength styrene-butadiene rubber and has extremely high anti-slip and motion performance. The spherical robot 100 can selectively open the retractable ball-shaped housing 101 below through the servo on the external support mechanism 103, and walk on land through the servo and rubber sole 104. It can also close all the retractable ball-shaped housings 101 to form a spherical structure, allowing it to roll forward. Then, any servo can control the corresponding retractable ball-shaped housing 101 to extend, thereby adjusting the rolling direction and crossing the corresponding obstacle. The structure and working principle of the spherical robot 100 are prior art, see CN106864616A, and will not be described in detail.

[0040] like Figure 3 As shown, when in use, according to the specific requirements of search and rescue and detection, a detection mechanism such as a thermal imaging camera 106, an acoustic wave detector 107, an intercom 109 and a control box 108 can be installed in the support plate 102. The thermal imaging camera 106, the acoustic wave detector 107, and the intercom 109 are respectively connected to the control box 108. The control box 108 and the thermal imaging camera 106, the acoustic wave detector 107, and the intercom 109 are all existing technologies and can be purchased directly from the market. They are modularly arranged on the support plate 102 during installation.

[0041] like Figure 1 and Figure 4 As shown, the bottom of the spherical main body robot 100 is connected to the auxiliary robot split cabin 200, and the auxiliary robot split cabin 200 includes a cabin upper cover 201, which is rotatably connected to the connecting rod of the gear in the rotating mechanism 105, and the cabin upper cover 201 is fixedly connected to the cabin side panels 202 on all sides. The bottom of the cabin side panels 202 is provided with a cabin bottom panel 203 that can be raised and lowered and cooperates with the cabin side panels 202. The cabin upper cover 201 and the cabin bottom panel 203 are preferably circular structures, which can better cooperate with the spherical main body robot 100, so that the auxiliary robot split cabin 200 does not affect the extension and retraction of the external support mechanism 103.

[0042] like Figure 5As shown, the bottom of the cabin upper cover 201 is fixedly connected to a release cabin 204, and an independently operable ellipsoidal subsidiary robot 300 is provided in the release cabin 204. The upper end surface of the cabin bottom plate 203 is fixed with a limiting guide plate 2031 for limiting the ellipsoidal subsidiary robot 300. The limiting guide plate 2031 is provided with a groove, and the bottom of the ellipsoidal subsidiary robot 300 is set in the groove, which plays a limiting role. The limiting guide plate 2031 is provided with slopes all around, and the slopes have a guiding function, which can help the ellipsoidal subsidiary robot 300 to quickly leave the groove.

[0043] like Figure 5 and Figure 6 As shown, a lifting mechanism is provided between the cabin upper cover 201 and the cabin bottom plate 203, and the lifting mechanism includes a mounting seat 205, a driving mechanism 209 and a threaded cylinder 208. The mounting seat 205 and the driving mechanism 209 are fixedly connected to the upper end of the cabin upper cover 201 through four fixing rods 207 respectively. A worm gear mechanism 206 is fixedly connected to the mounting seat 205. One end of the threaded cylinder 208 is fixedly connected to the cabin upper cover 201, and the other end of the threaded cylinder 208 is fixedly connected to the housing of the worm gear mechanism 206. A threaded rod 210 is connected to the inner thread of the threaded cylinder 208. The threaded rod 210 passes through the mounting seat 205 and the worm gear in the worm gear mechanism 206, and is fixedly connected to the worm gear. An optical axis is fixed to the bottom of the threaded rod 210, and the optical axis is rotatably connected to the cabin bottom plate 203 through a bearing. The worm in the worm gear mechanism 206 is connected to the driving mechanism 209, and the driving mechanism 209 is connected to the control box 108. The drive mechanism 209 is activated, which drives the worm, which in turn drives the worm wheel and the threaded rod 210. The threaded rod 210 engages with the threaded barrel 208, thereby raising and lowering the cabin floor 203. When the ellipsoidal auxiliary robot 300 needs to be released, the drive mechanism 209 lowers the cabin floor 203, allowing the ellipsoidal auxiliary robot 300 to move out of the recess.

[0044] like Figure 7 As shown, the ellipsoidal auxiliary robot 300 includes a motor control cabin 304 located in the middle, and Mecanum wheels 301 are rotatably connected to both sides of the motor control cabin 304. A hollow flight cabin 302 is provided in the middle of the Mecanum wheel 301. The hollow flight cabin 302 has a semi-ellipsoidal structure and is fixedly connected to the motor control cabin 304. An aircraft 303 is provided in the hollow flight cabin 302. The aircraft 303 is a prior art aircraft, such as Figure 8 As shown, the bottom of the aircraft 303 is connected to the motor control cabin 304 through a support rod 3041.

[0045] like Figure 11As shown, the motor centralized control cabin 304 includes a support frame 3044, the outer periphery of the support frame 3044 is a circular structure, and both sides of the support frame 3044 are fixedly connected to a fixing ring 3043 through multiple connecting rods, and the Mecanum wheels 301 on both sides are rotatably set on the corresponding fixing ring 3043, as shown in FIG. Figure 9 As shown, an outer ring gear 3011 is fixed to the bracket of the Mecanum wheel 301. A gear 3042, meshing with the outer ring gear 3011, is rotatably connected to a support frame 3044 on the side of the Mecanum wheel 301. A small motor 3045 is fixedly connected to the support frame 3044 to drive the gear 3042. Activating the small motor 3045 rotates the Mecanum wheel 301, thereby driving the ellipsoidal auxiliary robot 300 to move. By controlling the differential speed of the small motors 3045 on both sides, the ellipsoidal auxiliary robot 300 can be steered.

[0046] The motor control cabin 304 is provided with a self-stabilizing flywheel 305 for maintaining the balance of the ellipsoidal auxiliary robot 300. Figure 12 As shown, the self-stabilizing flywheel 305 includes a fixed bracket 3052, each of which is rotatably connected to a support frame 3044 via a rotating shaft 3053. A disc motor 3051 is fixedly connected to the fixed bracket 3052, and a flywheel 3054 is provided at the output end of the disc motor 3051. Activating the disc motor 3051 drives the flywheel 3054 to rotate at high speed. This, combined with the rotational connection between the fixed bracket 3052 and the support frame 3044, enables the ellipsoidal auxiliary robot 300 to stabilize itself, operating on the same principle as a gyroscope.

[0047] like Figure 13 and Figure 14 As shown, in order to balance the internal force of the entire ellipsoidal auxiliary robot 300, a counterweight 307 is fixedly connected to the side of the support frame 3044 opposite to the small motor 3045, so that the structural force of the ellipsoidal auxiliary robot 300 is more balanced; when in use, a buzzer 3046 and a camera 3047 with night vision and thermal imaging functions can be installed on the support frame 3044 to assist in search and rescue and detection work, and the support frame 3044 is fixedly connected to the control box 2 306 through the bracket, and the aircraft 303, the small motor 3045, the buzzer 3046 and the camera 3047 are all connected to the control box 2 306.

[0048] The operating principle of this utility model is as follows: During search and rescue operations, a spherical robot 100 is released at a designated location. The spherical robot 100, with its retractable spherical housing 101, can roll forward in a specific environment. Each retractable spherical housing 101 is controlled by a corresponding external support mechanism 103. Thus, the spherical robot 100 can achieve a variety of changes in form to cope with various complex terrains. While the spherical robot 100 is walking or rolling, its internal sensing devices, such as the acoustic wave detector 107, thermal imaging camera 106, and intercom 109, monitor the detected environment and transmit valid data to a data terminal via control box 108.

[0049] When the spherical main robot 100 encounters a narrow space or a difficult-to-climb area, and is unable to continue moving forward, the ellipsoidal auxiliary robot 300 can be released through the auxiliary robot split cabin 200. The control personnel can activate the drive mechanism 209 through remote control. The drive mechanism 209 controls the cabin floor 203 to descend through the worm gear mechanism 206, thereby driving the ellipsoidal auxiliary robot 300 to separate from the spherical main robot 100. At this time, activating the aircraft 303 in the hollow flight cabin 302 and the disc motor 3051 on the self-stabilizing flywheel 305 can enable the ellipsoidal auxiliary robot 300 to fly, realizing amphibious use on land and in the air. The self-stabilizing flywheel 305 is used to maintain the stability of the robot. The disc motor 3051 drives the flywheel 3054 to rotate at high speed, allowing the self-stabilizing flywheel 305 to resist external disturbances and enable the ellipsoidal auxiliary robot 300 to maintain balance in place.

[0050] On narrow, simple roads, the aircraft 303 can be left unactivated, and the two Mecanum wheels 301 can be used for coordinated movement. These wheels allow the ellipsoidal auxiliary robot 300 to more easily navigate through rubble, circumvent obstacles, and flexibly conduct search and rescue missions within confined spaces. During the search and rescue process, the pre-installed detection mechanisms within the motor control cabin 304, such as night vision and thermal imaging cameras, a high-definition camera, a multi-function firefighting light, and a high- and low-frequency combination buzzer, can collect data on the surrounding environment, enabling all-weather operations, improving data search accuracy, reducing search and rescue risks, and increasing search and rescue efficiency.

[0051] It should be noted that the present invention does not protect the detection mechanisms within the spherical main robot 100 and the ellipsoidal auxiliary robot 300. The detection mechanisms can be flexibly adjusted according to actual work needs.

[0052] Finally, although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A modular amphibious search and rescue detection robot, comprising a deformable spherical main body robot (100), characterized in that: The bottom of the spherical main body robot (100) is connected to an auxiliary robot split cabin (200), the auxiliary robot split cabin (200) comprises a cabin upper cover (201), the cabin upper cover (201) is fixedly connected to cabin side panels (202) on all sides, the cabin side panels (202) are provided with a cabin bottom panel (203) capable of lifting and matching the cabin side panels (202) at the bottom, the cabin upper cover (201) is fixedly connected to a release cabin (204) at the bottom, the release cabin (204) is provided with an ellipsoidal auxiliary robot (300), and the upper end surface of the cabin bottom panel (203) is fixed with a limiting guide plate (2031) for limiting the position of the ellipsoidal auxiliary robot (300).

2. The modular amphibious search and rescue detection robot according to claim 1, characterized in that: A lifting mechanism is provided between the cabin upper cover plate (201) and the cabin bottom plate (203), the lifting mechanism comprising a mounting seat (205), a driving mechanism (209) and a threaded barrel (208), the mounting seat (205) and the driving mechanism (209) being fixedly connected to the cabin upper cover plate (201) via a plurality of fixing rods (207), a worm gear mechanism (206) being fixedly connected to the mounting seat (205), and one end of the threaded barrel (208) being fixedly connected to the cabin upper cover plate (201). The threaded cylinder (208) is fixedly connected to the housing of the worm gear mechanism (206). The threaded cylinder (208) is internally threaded with a threaded rod (210). The threaded rod (210) passes through the mounting seat (205) and is fixedly connected to the worm gear in the worm gear mechanism (206). An optical axis is fixed to the bottom of the threaded rod (210). The optical axis is rotationally connected to the cabin bottom plate (203). The worm in the worm gear mechanism (206) is connected to the driving mechanism (209).

3. The modular amphibious search and rescue detection robot according to claim 2, characterized in that: The cabin upper cover plate (201) and the cabin bottom plate (203) are both circular structures.

4. The modular amphibious search and rescue detection robot according to claim 1, characterized in that: The ellipsoidal auxiliary robot (300) includes a motor centralized control cabin (304), two sides of the motor centralized control cabin (304) are rotatably connected to Mecanum wheels (301), a hollow flight cabin (302) is provided in the middle of the Mecanum wheels (301), the hollow flight cabin (302) is fixedly connected to the motor centralized control cabin (304), an aircraft (303) is provided in the hollow flight cabin (302), and the bottom of the aircraft (303) is connected to the motor centralized control cabin (304) via a support rod (3041).

5. The modular amphibious search and rescue detection robot according to claim 4, characterized in that: The motor centralized control cabin (304) comprises a support frame (3044), wherein both sides of the support frame (3044) are fixedly connected to fixed rings (3043) via a plurality of connecting rods, a Mecanum wheel (301) is rotatably arranged on the fixed rings (3043), an outer gear ring (3011) is fixed to a bracket of the Mecanum wheel (301), a gear (3042) meshing with the outer gear ring (3011) is rotatably connected to the side of the support frame (3044) close to the Mecanum wheel (301), and a small motor (3045) for driving the gear (3042) to rotate is fixedly connected to the support frame (3044).

6. The modular amphibious search and rescue detection robot according to claim 5, characterized in that: A self-stabilizing flywheel (305) for maintaining the balance of the ellipsoidal auxiliary robot (300) is provided in the motor centralized control cabin (304). The self-stabilizing flywheel (305) includes a fixed bracket (3052). Both ends of the fixed bracket (3052) are rotatably connected to the support bracket (3044) via a rotating shaft (3053). A disc motor (3051) is fixedly connected to the fixed bracket (3052). A flywheel (3054) is provided at the output end of the disc motor (3051).

7. The modular amphibious search and rescue detection robot according to claim 6, characterized in that: A counterweight (307) is fixedly connected to the side of the support frame (3044) opposite to the small motor (3045).

8. The modular amphibious search and rescue detection robot according to claim 4, characterized in that: The hollow flight cabin (302) has a semi-ellipsoidal structure.

9. A modular amphibious search and rescue detection robot according to any one of claims 1 to 8, characterized in that: The spherical robot (100) comprises a support plate (102), a rotating mechanism (105) being provided at the bottom of the support plate (102), a plurality of external support mechanisms (103) being connected to the upper ends of the rotating mechanism (105) and the support plate (102), respectively, and a retractable spherical valve housing (101) being fixedly connected to the end of each external support mechanism (103).

10. The modular amphibious search and rescue detection robot according to claim 9, characterized in that: The end of the external support mechanism (103) located at the bottom is fixedly connected to a rubber sole (104).

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