KR102046049B1 - Auto cooling system for disaster response system and disaster response system having the same) - Google Patents

Abstract

The present invention provides an automatic cooling system for a disaster response robot. The automatic cooling system for disaster response robots includes: a base part disposed in an internal space of a robot device body part including a plurality of electronic devices; A coolant supply unit installed at the base unit to supply and recover a predetermined amount of coolant; And a cooling unit installed at the base unit and cooling the temperature of the internal space to a predetermined cooling temperature while receiving and recovering the cooling water according to the driving of the cooling water supply unit. The present invention also provides a disaster response robot having the above automatic cooling system.

Description

AUTO COOLING SYSTEM FOR DISASTER RESPONSE SYSTEM AND DISASTER RESPONSE SYSTEM HAVING THE SAME

The present invention relates to an automatic cooling system for a disaster response robot and a disaster response robot having the same. More specifically, when the temperature of a narrow space inside the robot rises above a certain level, the cooling temperature is automatically cooled to a predetermined cooling temperature. The present invention relates to an automatic cooling system for a disaster response robot and a disaster response robot having the same.

In general, it is important to save lives and improve disaster situations in disaster situations.

Therefore, conventionally, robots having various functions have been developed to cope with various disaster situations. This is an advantage of being able to enter a space that is safe and incapable of human input as a human being does not directly intervene and suppress the disaster situation and situation in the corresponding area.

On the other hand, when a fire occurs during a disaster situation, a high temperature environment of a predetermined temperature or more is formed in the fire occurrence region.

In this case, a robot for extinguishing the fire is introduced into the fire zone, and an electronic device including various sensors is mounted inside the robot.

In addition, such an electronic device has a problem of malfunction or failure when exposed to a high temperature environment. Therefore, when the internal space of the robot is exposed to a high temperature environment, it is important that the electronic device is normally operated by cooling to a temperature below a certain level.

That is, an internal cooling system for heat and heat dissipation of electronic devices, such as sensors included in robots and mechanical devices in harsh external environments, particularly in extremely high temperature environments, is one of the most essential components for developing a robot for disaster recovery.

In general, an electric system such as a Peltier element is used to cool the rising temperature inside the sensor device. However, such a system has the advantages of small size and light weight, but the cost is high and the power consumption is increased by a certain amount. There is a problem of low efficiency.

In addition, there is a method using an air cooling system using gas and outside air and a water cooling system using cooling water. However, this is difficult to apply such a system because the space of the disaster recovery robot is limited in size. .

NASA has recently developed a RoboSimian with seven cameras and one LiDAR system as a rescue robot for disaster response (https://www.universetoday.com/117229/nasas-robosimian-and-surrogate-robots/). In particular, the LiDAR used in the robot has an external housing that is exposed to the outside and can withstand high temperatures.

In this way, the robot used for disaster response is provided with each zone electronic sensor, and its sensors can be normally responded only when the robot operates without failure in a disaster situation, that is, especially in a high temperature environment.

However, when various sensors installed inside the robot used for disaster response as described above are exposed to a high temperature environment, there is a problem that a normal disaster response cannot be made due to a failure.

Prior literatures related to the present invention include Republic of Korea Patent No. 10-1530843 (Registration Date: 2015. 06. 17.).

An object of the present invention, when the internal space of the robot equipped with a plurality of electronic devices in a very high temperature disaster environment is raised to a certain temperature or more, automatic disaster response robot that can be immediately cooled to a predetermined cooling temperature The present invention provides a cooling system and a disaster response robot having the same.

It is another object of the present invention to provide heat dissipation by repeatedly supplying and recovering stored coolant to a cooling tube, thereby providing an automatic cooling system for a disaster response robot and a disaster response robot having the same. Is in.

It is still another object of the present invention to provide an automatic cooling system for a disaster response robot and a disaster response robot having the same by arranging a cooling system modularly in an internal space of the disaster response robot, thereby facilitating replacement during maintenance. have.

In order to achieve the above object, the present invention provides an automatic cooling system for a disaster response robot.

The automatic cooling system for disaster response robots includes: a base part disposed in an internal space of a robot device body part including a plurality of electronic devices; A coolant supply unit installed at the base unit to supply and recover a predetermined amount of coolant; And a cooling unit installed at the base unit and cooling the temperature of the internal space to a predetermined cooling temperature while receiving and recovering the cooling water according to the driving of the cooling water supply unit.

The cooling water supply unit is connected to the cooling unit, a storage unit for storing the cooling water in a predetermined amount, the piston unit and the piston so that the cooling water stored in the storage unit is supplied to or recovered from the cooling unit; It is preferable to include the motor part which drives a part.

The piston part is disposed inside the storage part, is arranged to be movable forward and backward to pump the cooling water, a piston having a central hole formed therein, and one end connected to the center of the piston rod, and the other end is one side of the storage part. It is penetrated through, and is formed in a hollow shape, having a piston rod for moving the piston forward and backward by the driving of the motor portion, fixed to one end of the piston rod, and has a predetermined length penetrating the central hole of the piston It is preferable to have a valve member.

It is preferable that a valve protrusion for opening and closing the opening formed at the other end of the storage part is formed at the other end of the valve member.

In the valve member, a fixing protrusion is formed at a position at a predetermined interval from the valve protrusion, and the fixing protrusion is preferably arranged to span an area around the center hole at the front side of the piston.

The motor unit includes a lead screw, a pair of gear members geared to each other, and a rotating motor.

One of the pair of gear members is gear-connected to the rotary shaft of the rotary motor to receive a rotational force in accordance with the rotation of the rotary shaft, one end of the lead screw is in the center of the other of the pair of gear members The screw is fastened, and the other end of the lead screw is preferably screwed into the hollow of the piston rod.

A through hole through which the piston rod penetrates is formed at one end of the reservoir, an extension tube is formed at the other end of the reservoir, an opening is formed in the extension tube, and the valve member is formed in the hole of the extension tube. Is penetrated and the valve protrusion is preferably disposed.

The outer diameter of the valve protrusion is substantially the same as the inner diameter of the hole of the extension pipe, and the valve protrusion opens and closes the hole in accordance with the horizontal movement of the valve member, and the outer diameter of the valve member is formed smaller than the inner diameter of the hole. Preferably, a flow path is formed between the valve member and the hole.

The cooling unit is installed in the base unit, the temperature sensor for measuring the temperature of the internal space, and one end is connected to the storage unit, the coolant flows to be supplied from the storage unit or to be recovered to the storage unit A cooling tube for cooling the temperature of the internal space, a pressure compensator connected to the other end of the cooling tube, compensating for a pressure difference generated when the cooling water flows, and receiving the temperature measured by the temperature sensor, It is preferable to include a controller which drives the motor unit to achieve a cooling temperature, and supplies the cooling water from the storage unit to the cooling tube or recovers it from the cooling tube.

The pressure compensator has a space formed therein, the cylinder tube having one end connected to the other end of the cooling tube, a head cover installed at the other end of the cylinder tube, and disposed to be reciprocated in the cylinder tube. It is preferable to have a compensation piston, and an elastic spring for elastically supporting the compensation piston and the head cover in the cylinder tube.

It is preferable that the said cooling tube is formed in a zigzag shape on the said base part.

Inside the cooling tube, it is preferable to accommodate a cooling induction material that is cooled to a predetermined temperature upon physical contact with the cooling water.

The cooling induction material is urea, and the urea is preferably contained in an amount set inside the cooling tube in a powder shape.

In particular, the cooling induction material is preferably a cooling rod formed of urea.

The cooling rod may be disposed along an inner center of the cooling tube, and support ends supported on an inner circumference of the cooling tube may be formed at a plurality of outer circumferences of the cooling rod.

In addition, the cooling rods are provided in plural, and the plurality of cooling rods are preferably arranged to be spaced apart from each other inside the cooling tube.

The cooling induction material is urea (Urea), the urea may be formed of a coating layer having a thickness set on the inner circumference of the cooling tube.

In the coating layer, it is preferable that a plurality of grooves are formed to expose the inner circumference of the cooling tube.

In the coating layer, it is preferable that embosses are formed to increase the contact area with the cooling water.

According to the above-described solutions, the present invention, when the internal space of the robot equipped with a plurality of electronic devices in a very high temperature disaster environment rises to a certain temperature or more, it is possible to immediately cool it to a predetermined cooling temperature Has

In addition, the present invention, by repeatedly supplying and retrieving the stored cooling water to the cooling tube to achieve heat dissipation, thereby having an effect that can be arranged in a narrow space of the robot.

In addition, the present invention has the effect that the cooling system can be modularly arranged in the internal space of the disaster-responsive robot to facilitate replacement during maintenance.

1 is a perspective view showing an automatic cooling system according to the present invention.
2 is a plan view showing an automatic cooling system according to the present invention.
3A is a cross-sectional view showing an automatic cooling system according to the present invention.
Figure 3b is a cross-sectional view showing the configuration of the cooling water supply unit according to the present invention.
3C is a cross-sectional view showing a pressure compensator according to the present invention.
Figure 4 is a block diagram showing the configuration of an automatic cooling system according to the present invention.
5 is a cross-sectional view showing a state before the cooling water is supplied to the cooling tube according to the present invention.
6 is a cross-sectional view showing a state in which the coolant is supplied to the cooling tube according to the present invention.
7 is a cross-sectional view showing a state in which the coolant is recovered according to the present invention.
8 is a view showing another example of the cooling induction material according to the present invention.
9 is a view showing another example of the cooling induction material according to the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention.

As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention.

In order to clearly describe the present invention, parts irrelevant to the description are omitted, and like reference numerals designate like elements throughout the specification.

Hereinafter, any configuration is provided or disposed on the "top (or bottom)" of the substrate or "top (or bottom)" of the substrate, that any configuration is provided or disposed in contact with the top (or bottom) of the substrate Means that.

In addition, it is not limited to not including another structure between the said base material and any structure provided or arrange | positioned on (or under) the base material.

Hereinafter, with reference to the accompanying drawings will be described an automatic cooling system for a disaster response robot of the present invention.

The disaster response robot according to the present invention is preferably an unmanned robot used in a high or very high temperature disaster environment. The internal space of the robot includes electronic components such as sensors for driving the robot or sensing various environments.

Thus, the automatic cooling system of the present invention can automatically cool the temperature of the internal space to achieve a predetermined cooling temperature when the temperature of the internal space of the robot is raised to achieve the abnormal temperature.

In addition, the internal space as described above is formed in the robot according to the present invention, the internal space forms a narrow space below a certain level.

The cooling system according to the present invention is characterized in that the self-supported arrangement and operation in a narrow space formed in the interior of the robot as described above.

Next, the configuration of the automatic cooling system according to the present invention will be described.

1 is a perspective view showing an automatic cooling system according to the present invention, Figure 2 is a plan view showing an automatic cooling system according to the present invention, Figure 3a is a cross-sectional view showing an automatic cooling system according to the present invention, Figure 3b the present invention Figure 3 is a cross-sectional view showing the configuration of the cooling water supply unit, Figure 3c is a cross-sectional view showing a pressure compensation unit according to the present invention, Figure 4 is a block diagram showing the configuration of an automatic cooling system according to the present invention.

1 and 2, the automatic cooling apparatus according to the present invention includes a base portion 1 on a plate, a cooling water supply unit 2, and a cooling unit 3.

Each said structure is demonstrated.

Base part (1)

Base portion 1 according to the present invention may be coated with a layer of a non-combustible material on its outer surface, or may be formed of a non-combustible material having a certain strength. The base part 1 may be arranged and fixed in a narrow space inside the robot.

Cooling water supply (2)

3A to 4, the cooling water supply unit 2 according to the present invention is installed on the base unit 1.

The cooling water supply unit 2 serves to supply and recover a predetermined amount of cooling water.

The cooling water supply unit 2 is connected to the cooling unit 3, the storage unit 100 and the cooling water stored in the set amount, and the cooling water stored in the storage unit 100 is supplied to the cooling unit or the It consists of the piston part 200 which collect | recovers from the cooling part 3, and the motor part 300 which drives the said piston part 200.

Here, the storage unit 100 has a through hole 110 at one end thereof, and an extension tube 120 extending at a predetermined length at the other end thereof. The extension pipe 120 has a hole 121 is connected to the interior of the storage unit 100.

A predetermined amount of coolant may be stored in the storage unit 100.

In addition, the piston part 200 includes a piston 210, a piston rod 220, and a valve member 230.

The piston 210 may be disposed inside the storage unit 100 and may horizontally reciprocate horizontally to pump the coolant to the extension pipe 120. Here, a central hole 211 through which the piston 210 is penetrated is formed.

The piston rod 220 has a predetermined length and is formed to form a hollow 221.

One end of the piston rod 220 passes through the through hole 110 of the storage unit 100 and is fixedly coupled to a central portion of one surface of the piston 210.

The other end of the piston rod 220 is connected to the motor unit 300, it can be moved back and forth to implement the pumping operation of the piston 210 by the driving of the motor unit 300.

The valve member 230 has a predetermined length and is fixed to one end of the piston rod 220. Preferably, the valve member 230 has an end thereof inserted into and coupled to the hollow 221 from one end of the piston rod 220.

Here, the valve member 230 may pass through the central hole 211 of the piston 210, and an end thereof may be located in the hole 121 of the extension tube 120 of the storage part 100.

In addition, the other end of the valve member 230, a valve protrusion 232 for opening and closing the hole 121 of the extension pipe 120 may be formed.

In particular, the outer diameter of the valve member 230 is formed smaller than the inner diameter of the hole 121 of the extension pipe 120. Therefore, a flow path through which the coolant flows may be formed between the valve member 232 and the hole 121 of the extension pipe 120.

In addition, the valve member 230 is provided with a fixing protrusion 231 at a position at a predetermined interval from the valve protrusion 232. The fixing protrusion 231 is disposed on the other surface side of the piston 210 to cover an area around the central hole 211.

Next, the configuration of the motor unit 300 for advancing the piston rod 220 forward and backward will be described.

The motor unit 300 according to the present invention includes a lead screw 310, a pair of gear members 320 geared to each other, and a rotation motor 330.

Any one of the pair of gear members 320 (hereinafter, referred to as a first gear) is gear-connected to the rotary shaft 331 of the rotary motor 330, and the rotational force according to the rotation of the rotary shaft 331 It is arranged to receive.

One end of the lead screw 310 may be screwed to the center of the other one of the pair of gear members 320 (hereinafter, referred to as a second gear).

Here, the other end of the lead screw 310 may be screwed into the hollow of the piston rod 220.

Therefore, when the second gear is rotated, the lead screw 310 may also be rotated forward or backward. The forward or backward may be determined according to the rotation direction of the second gear. The lead screw 310 to be rotated is a structure capable of advancing or reversing the piston rod 220 in which the hollow 221 is screwed.

Cooling section (3)

Cooling unit 3 according to the present invention is installed in the base unit 1, the temperature sensor 400 for measuring the temperature of the internal space of the robot, one end is connected to the storage unit 100, the storage unit ( 100 is connected to the cooling tube 500 for cooling the temperature of the internal space and the other end of the cooling tube 500 as the cooling water flows to be supplied from or returned to the storage unit 100. The pressure compensator 600 for compensating for the pressure difference generated at the time and the temperature measured from the temperature sensor 400, and driving the motor unit 300 to achieve a predetermined cooling temperature, thereby storing the 100. The controller 700 is configured to supply the cooling water to the cooling tube 500 or recover the cooling water from the cooling tube 500.

Here, the pressure compensator 600 has a space formed therein, one end of the cylinder tube 610 is connected to the other end of the cooling tube 500, the head is installed on the other end of the cylinder tube 610 A cover 620, a compensation piston 630 disposed to reciprocate in the cylinder tube 610, the compensation piston 630, and the head cover inside the cylinder tube 610. It has an elastic spring 640 that elastically supports 620.

The cooling tube 500 is formed in a zigzag shape on the base portion 1.

In addition, the cooling induction material 510 is accommodated in the cooling tube 500 to be cooled to a predetermined temperature upon physical contact with the cooling water.

Here, the cooling induction material 510 is urea (Urea), the urea may be accommodated in the amount set in the cooling tube 500 in a powder shape.

Next, the operation of the automatic cooling system according to the present invention through the above configuration.

5 is a cross-sectional view showing a state before the coolant is supplied to the cooling tube according to the present invention, Figure 6 is a cross-sectional view showing a state in which the cooling water is supplied to the cooling tube according to the present invention, Figure 7 is a coolant according to the present invention Is a cross-sectional view showing a recovered state.

Referring to FIG. 5, the temperature sensor 400 measures the temperature of the internal space of the robot and transmits it to the controller 700.

The controller 700 determines whether the measured temperature rises above a predetermined reference temperature.

The controller 700 may not supply the cooling water to the cooling tube 500 when the measured temperature is equal to or less than a predetermined reference temperature.

In this case, as shown in FIG. 5, the piston 210 is at a left home position, and the coolant may be stored in a predetermined amount inside the storage unit 100.

Meanwhile, when the temperature measured by the temperature sensor 400 is equal to or higher than the reference temperature, the controller may cool the controller so that the temperature of the internal space of the robot achieves a preset cooling temperature.

First, the controller 700 drives the rotation motor 330 to rotate the rotation shaft 331. The first gear receives the rotational force from the rotation shaft 331 and transmits it to the second gear.

The second gear is rotated along the forward direction through the received rotational force.

At the same time, the lead screw 310 which is screwed to the center of the second gear may also be advanced while being rotated along the forward direction.

In addition, the piston rod screwed to the outer circumference of the lead screw 310 may also be moved forward while rotating at the same time.

At this time, while moving forward in the storage unit 100 of the piston 210 connected to the other end of the piston rod 220, the cooling water stored in the storage unit 100 in the hole 121 of the extension pipe 120 It can be pumped to be supplied to the outside through.

Here, the valve member 230 penetrating the central hole 211 of the piston 210 is moved through the extension pipe 120, the valve protrusion 232 formed at the other end of the valve member 230 is an extension pipe 120 ) Hole 121 is opened.

Therefore, the coolant may flow through the flow path between the valve member 230 and the hole 121 of the extension pipe 120 to be supplied to the cooling tube 500. At this time, the fixing protrusion 231 of the valve member 230 that is caught around the central hole 211 of the piston 210 may move along with the advancement of the piston 210 and may span the inlet region of the extension pipe 120. .

As such, the cooling water discharged from the extension tube 120 may be supplied into the cooling tube 500 connected to the extension tube 120, and may flow along the flow path of the cooling tube 500.

Here, the cooling water flowing in the cooling tube 500 may be chemically reacted with the powdery cooling induction material 510 accommodated in the amount set therein to be cooled to a predetermined temperature or less. The cooling induction material 510 may use a powdery urea.

Therefore, the urea and the cooling water distributed evenly in the cooling tube 500 are mixed, thereby causing a chemical reaction, thereby inducing an endothermic reaction.

Therefore, while the cooling water is cooled and flowed to a predetermined temperature than before being supplied, the cooling water may cool the temperature of the internal space of the robot exposed to the cooling tube 500 through the cooling tube 500.

At this time, the residual air generated while the coolant is supplied into the cooling tube 500 is moved to the inside of the cylinder tube 610. Accordingly, the pressure compensator 600 installed at the other end of the cooling tube 500 is The increase in pressure in the cooling tube 500 can be prevented.

In this case, the compensation piston 630 disposed inside the cylinder tube 610 may be moved by being pushed by the air flowing in the elastically supported state by the elastic spring 640. Here, the elastic spring 640 is in a compressed state.

Subsequently, as shown in FIG. 6, the motor unit 300 configures the rotary motor 330 such that the lead screw 310 rotates in the reverse direction.

Accordingly, the lead screw 310 is reversed while being reversed, and at the same time, the piston rod 220 screwed with the lead screw 320 is also reversed.

In addition, the piston 210 connected to the end of the piston rod 220 may be gradually returned to its original position to return. At the same time, the valve member 230 is also retracted with the fixing protrusion 231 caught around the central hole 211 of the piston 210. In addition, the valve protrusion 232 formed at the other end of the valve member 230 may be disposed in the hole 121 of the extension pipe 120 to move to seal the hole 121.

In this process, the cooling water supplied to the inside of the cooling tube 500 is reversed by the movement of the piston 210 to return to the original position, so that the inner circumference of the hole 121 of the extension pipe 120 and the valve member 230 It may flow to be stored back into the storage unit 100 through the flow path formed between.

In addition, the pressure compensator 600 installed at the other end of the cooling tube 500 also allows the air introduced into the cylinder tube 610 to be discharged back into the cooling tube 500. Therefore, the compensation piston 630 may be gradually returned to the original position by the elastic force of the elastic spring 640.

Therefore, the coolant may be recovered into the storage unit 100 through the above process, as shown in FIG. 7.

As described above, the present invention implements an operation of supplying and recovering the cooling water to the cooling tube 500 according to the reciprocation of the piston 210, and also performs a chemical reaction with the urea contained in the cooling tube 500. By inducing heat absorption, the temperature of the internal space of the robot can be cooled.

In particular, the controller 700 according to the present invention may repeat the above-described cooling water supply and recovery process with a predetermined number of times such that the temperature measured from the temperature sensor 400 reaches a preset cooling temperature.

According to the above configuration and operation, the present invention, if the internal space of the robot equipped with a plurality of electronic devices in a very high temperature disaster environment can be raised to a predetermined temperature or more, it can be immediately cooled to a predetermined cooling temperature have.

In addition, the present invention, by repeatedly supplying and retrieving the stored cooling water to the cooling tube to achieve heat dissipation, it can be arranged in a narrow space of the robot.

In addition, the present invention, by providing a modular cooling system in the internal space of the disaster response robot, it is possible to facilitate replacement during maintenance.

Next, other examples of the cooling induction material according to the present invention will be described.

8 is a view showing another example of the cooling induction material according to the present invention.

Referring to FIG. 8, the cooling induction material according to the present invention may be a cooling rod 511 formed of urea.

The cooling rod 511 is disposed along the inner center of the cooling tube 500.

At the outer circumferential positions of the cooling rod 511, support ends 511a supported on the inner circumference of the cooling tube 500 are formed. Therefore, the cooling rod 511 may be stably supported in the cooling tube 500 through the support ends 511a.

In addition, the cooling rod 511 may be provided in plurality.

The plurality of cooling rods 511 are provided at a predetermined interval within the cooling tube 500.

Thus, the supplied cooling water is in contact with the cooling rods 511 to form a chemical reaction can easily occur endothermic reaction.

9 is a view showing another example of the cooling induction material according to the present invention.

Referring to Figure 9, the cooling induction material according to the present invention is urea (Urea), the urea, may be formed of a coating layer 512 having a thickness set on the inner circumference of the cooling tube.

Here, a plurality of grooves 512a exposing the inner circumference of the cooling tube 500 may be formed in the coating layer 512. Thus, the coating layer 512 induces a chemical reaction with the cooling water, it is possible to cool the cooling water to a predetermined temperature or less through this.

The cooled coolant may transmit the cooled temperature to the cooling tube 500 through the grooves 512a to efficiently cool the internal space of the robot, which is outside of the cooling tube 500.

In addition, embosses (not shown) may be formed in the coating layer 512 to increase the contact area with the cooling water.

This increases the area of contact with the cooling water, thereby increasing the area of the chemical reaction. Such emboss (not shown) may be formed on the outer surface of the cooling rod described above.

As mentioned above, although the specific Example regarding the automatic cooling system for disaster-response robots of this invention was described, it is clear that various implementation variations are possible without departing from the scope of the present invention.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims below and equivalents thereof.

That is, the foregoing embodiments are to be understood in all respects as illustrative and not restrictive, the scope of the invention being indicated by the following claims rather than the detailed description, and the meaning and scope of the claims and their equivalents. All changes or modifications derived from the concept should be construed as being included in the scope of the present invention.

1: base part
2: cooling water supply
3: cooling part
100: storage
110: through hole
120: extension tube
121: hall
200: piston part
210: piston
211: concourse
220: piston rod
221: hollow
230: valve member
231: fixing protrusion
232: valve projection
300: motor unit
310: lead screw
320: gear member
330: Rotating Motor
400: temperature sensor
500: cooling tube
510: cooling induction material
511: cooling rod
512: coating layer
600: pressure compensation unit
610: Cylinder Tube
620: Head Cover
630: Compensation Piston
640: Elastic Spring
700: controller

Claims (12)

A base part disposed in an interior space of a robot device main body part including a plurality of electronic devices;
A coolant supply unit installed at the base unit to supply and recover a predetermined amount of coolant; And,
And a cooling unit installed at the base unit and cooling the temperature of the internal space to a predetermined cooling temperature while receiving and recovering the cooling water according to the driving of the cooling water supply unit.
The cooling water supply unit,
A storage unit connected to the cooling unit and storing the cooling water in a predetermined amount;
A piston part to supply the cooling water stored in the storage part to the cooling part or to recover the cooling water from the cooling part;
It includes a motor unit for driving the piston unit,
The piston part,
A piston disposed inside the storage unit and disposed to move forward and backward to pump the cooling water, and having a central hole formed therein;
A piston rod having one end connected to a central portion of one side of the piston, the other end penetrating through one side of the storage unit, formed in a hollow shape, and moving the piston forward and backward by driving the motor unit;
A valve member fixed to one end of the piston rod and having a set length penetrating the central hole of the piston;
The other end of the valve member, the valve projection for opening and closing the opening formed in the other end of the storage unit is formed, the automatic cooling system for a disaster response robot.
delete delete The method of claim 1,
In the valve member,
In a position at a predetermined interval with the valve protrusion, a fixing protrusion is formed,
The fixing projection,
On the front side of the piston, the automatic cooling system for a disaster response robot, characterized in that it is arranged to span the area around the central hole.
The method of claim 4, wherein
The motor unit,
A lead screw, a pair of gear members geared to each other, and a rotating motor,
Any one of the pair of gear members is gear-connected to the rotary shaft of the rotary motor to receive a rotational force in accordance with the rotation of the rotary shaft,
One end of the lead screw is screwed to the center of the other of the pair of gear members,
The other end of the lead screw is screwed into the hollow of the piston rod, the automatic response system for disaster response robot, characterized in that the screw.
The method of claim 4, wherein
At one end of the storage portion, a through hole through which the piston rod is formed is formed,
The other end of the storage portion is formed with an extension tube,
The opening is formed in the extension tube,
In the hole of the extension pipe, the valve member penetrates, the valve protrusion is disposed,
The outer diameter of the valve protrusion is substantially the same as the inner diameter of the hole of the extension pipe,
The valve protrusion opens and closes the hole in accordance with the horizontal movement of the valve member,
The outer diameter of the valve member excluding the valve protrusion is smaller than the inner diameter of the hole, and a flow path is formed between the valve member and the hole.
The method of claim 6,
The cooling unit,
A temperature sensor installed at the base part and measuring a temperature of the internal space;
A cooling tube having one end connected to the storage unit and cooling the temperature of the internal space as the cooling water flows to be supplied from or to the storage unit;
A pressure compensator connected to the other end of the cooling tube and compensating for a pressure difference generated when the cooling water flows;
And a controller for receiving the temperature measured by the temperature sensor, driving the motor unit to achieve a predetermined cooling temperature, and supplying the cooling water from the storage unit to the cooling tube or recovering the cooling tube from the cooling tube. Automatic cooling system for disaster response robots
The method of claim 7, wherein
The pressure compensator,
A space is formed therein, and a cylinder tube having one end connected to the other end of the cooling tube;
A head cover installed at the other end of the cylinder tube,
A compensation piston disposed to reciprocate in the cylinder tube;
And a compensation spring and an elastic spring for elastically supporting the head cover in the cylinder tube.
The method of claim 7, wherein
The cooling tube,
An automatic cooling system for a disaster response robot, characterized in that it is formed in a zigzag shape on the base portion.
The method of claim 7, wherein
Inside the cooling tube,
Automatic cooling system for disaster response robot, characterized in that the cooling induction material is cooled to a certain temperature when the physical contact with the cooling water.
The method of claim 10,
The cooling induction material,
It is urea (Urea), The urea is a powder-shaped automatic cooling system for disaster response robot, characterized in that accommodated in the amount set inside the cooling tube.
The disaster response robot of Claim 1 and 4 including the automatic cooling system for disaster response robots of any one of Claims 1-11.

Images