隧道灭火机器人的结构设计及射流轨迹分析

Analysis on Structural Design and Jet Trajectory of Tunnel Fire Extinguishing Robot

针对隧道内复杂的火灾环境,设计了一种隧道内悬挂式轨道灭火机器人。该机器人的喷头部分由两个步进电机驱动,采用双重旋转方式进行火点定位。其中,喷头在水平方向的旋转采用二级齿轮减速机构,在垂直方向的旋转采用三级齿轮减速机构。基于牛顿第二定律建立了射流轨迹微分方程,运用龙格库塔算法对微分方程进行仿真求解,并模拟分析了不同俯仰角、工作压力及风速风向对射流轨迹的影响。结果表明,建立的水体射流轨迹微分方程符合实际情况,可以为实际灭火工作提供理论依据。

Aiming at the complex fire environment in the tunnel,a suspended track fire extinguishing robot in the tunnel is designed.The nozzle part of the robot is driven by two stepper motors and the fire point is positioned by means of double rotation.The horizontal rotation of the nozzle adopts a two-stage gear reduction mechanism,and the vertical rotation adopts a three-stage gear reduction mechanism.Based on Newton’s second law,the differential equation of jet trajectory is established.The differential equation is simulated and solved by Runge-Kutta algorithm.The influence of different pitch angles,working pressure and wind speed and direction on jet trajectory is simulated and analyzed.The results show that the established differential equation of water jet trajectory accords with the actual situation and can provide theoretical basis for the actual fire extinguishing work.