履带式遥控灭火机器人的设计及爬坡理论分析

Design of Crawler Remote-Control Fire-fighting Robot and Climbing Theoretical Analysis

在发生森林火灾时,通常有毒性气体的散发,给消防人员的人身安全带来了严重的威胁,同时复杂的林区地形也极大地阻碍了救援设备的进入。设计一种履带式多功能遥控灭火机器人,通过换载相应的灭火装备实现在不同火灾环境中灭火、救援、侦查等功能作业。该研究确定了履带式灭火机器人相关性能参数,对履带式灭火机器人的行驶机构进行了创新设计,并通过设计一种两自由度搭载装置,实现对灭火装备的控制;同时分析了几种灭火设备的搭载模式和环境适应性,保证了灭火机器人能够在多种环境下灵活作业;对履带式机器人底盘进行爬坡运动分析,验证了其运动的可行性,为以后的研究提供了理论依据。

In a forest when the explosion accidents happen such as fire,there usually distribute toxic gas,which poses a serious threat for firefighters＇ safety.Complex forest terrain also hindered the entry of rescue equipment.A kind of multi-function crawler remote-control fire-fighting robot was designed to implement fire extinguishing,rescue and investigation in different environment by changing the corresponding fire extinguishing equipment.The relevant performance parameters were determined,the innovative design was conducted to the chassis of the caterpillar extinguishing robot,and through the design of a device with two degrees of freedom to control the system of firefighting equipment; At the same time,several carrying fire extinguishing equipment models and environmental conditions were analyzed,ensuring the fire-fighting robot can flexibly operate in a variety of environments; Climbing theoretical analysis was carried out on the crawler robot chassis,so as to verify the feasibility of its movement,provide theoretical basis for later research.