可变形履带式自动巡检消防机器人设计与性能分析

Design and Performance Analysis of Deformable Tracked Automatic Inspection Firefighting Robot

工厂、变电站等监管力度不到位、消防设施缺乏,导致火灾的频繁发生。针对此问题,研究设计了一种自动巡检消防移动机器人。首先根据机器人主要技术指标及实际工作环境提出总体设计方案,确定各系统组成;根据使用场合设计独特的履带机构和传动机构;对机器人在平面和斜面上加速运动进行受力分析并计算驱动功率;通过对比各类驱动系统的优缺点选用电机驱动方式,确定电机、减速器和驱动器型号;分析机器人的复杂运动过程,如爬楼梯运动、爬坡运动等。经试验证明,自动巡检消防移动机器人结构设计合理,满足设计要求,对我国社会发展具有重要意义。

Factories,substations,forests and other regulatory efforts are not in place,the lack of fire facilities and the lack of special personnel to identify potential safety hazards,leading to the frequent occurrence of fires.Aiming at this kind of problem,this paper designs an automatic mobile robot for fire inspection. Firstly,according to the main technical indicators and the actual working environment of the robot,the overall design scheme is put forward to determine the composition of each system. According to the use of the occasion to design a unique track mechanism and transmission mechanism. The force analysis and driving power of the robot accelerating on plane and inclined plane are carried out. By comparing the advantages and disadvantages of various drive systems to choose motor drive mode,determine the motor,reducer and driver model,analyze the complex motion process of robot,such as linear motion,steering motion,stair climbing motion,slope climbing motion,etc. According to the firefighting task requirements of the robot,the design of firefighting arm,firefighting system and visual system is proved by the test that the structure design of automatic patrol firefighting mobile robot is reasonable and meets the design requirements,which is of great significance to the social development of our country.