Analysis And Design Of Small-sized Fire Extinguishing Robot

The robot technique, as one of the greatest inventions in mankind of20centuries, since the beginning of60’s years, during more than50years development has already obtained the substantial progress. From1980’s, the national economy has grown quickly and smoothly and all types of industries have a good development. But the fires in different field take place frequently and the death and the injury are also caused by fires. At the same time, it has many disadvantages when firemen put out the fires. It is very urgent and necessary for us to design and research one type of robots which can enter the dangerous environment, collect the information of the field and transmit the information to the firemen out of the dangerous field.In this thesis, we introduced a new type of fire extinguishing Robot. In the introduction, the background and significance, the domestic and foreign research situation, the types of the fire-robots and features of the technology in this field are induced. In the design of mechanics part, it mainly comprises the robot body and the mobile platform structure design, the selection of mechanical arm mechanism, the selection of the drive mode, we especially introduce the torque and the power’s calculation of the motor and speed reducer, the selection of the motor and the speed reducer. The hardware part introduce the minimum of DSP module, input and output module, signal collection module, drive module and serial communication module circuit design in detail. The software part is discussed respectively according to the software control of the machine, the working principle of the software system, wireless communication process and walking control, information collection, PTZ control, auxiliary control module. In order to improve the reliability of software, the article also puts forward the method of how to increases anti-interference performance of the software-software trap and watchdog module.This research can be applied to public security, the armed police and troops and other fire departments. It provides technical reference to the military robot research and production. It has higher use value and academic value.