Design And Kinematic Simulation Study Of Crawler Walking Device For Fire-fighting Robot

In pace with China’s fast development of urbanization and modernization, the level of industrialization has been improved rapidly. Since the number of various large-scale petrochemical enterprises is on increase, the amount of inflammable, explosive and toxic chemicals have increased dramatically. Furthermore, the problems existed in the management and equipments lead to the growing of potential disasters, such as leakage of chemical oils, fuel gas or toxic gas. Once an accident occurs, rescuers cannot enter the scene without effective rescue equipments and methods, and if they act rushly, it will bring sacrifice of some innocent persons and pay a heavy price. Hence, it is significant to build a robot, which can replace firemen to work in the dangerous environment and can solve the problems of lack of security for people’s lives and data deficiency.This thesis explores the structure and function of the Crawler-type Fire-fighting Robot through comprehensive analysis of dangerous accidents. Based on the premise of the technical specification of the machine and the overall design project, the fire-fighting Robert is divided into four system components of Walking System, Perform System, protection system and control system. Design theory of mechanical structure is calculated in detail from various aspects of chassis structure, Robotic arms, fire-extinction device, power transmission and seal for anti-explosion. And a two-speed transmission applied to small sized robot is also designed. Obstacle-surmounting limit data is figured out by analyzing the passing performance in typical geomorphologic structure. SolidWorks is applied to 3-D modeling of the fire-fighting robot. ANSYS is employed to check and analyze key components, and to optimize the design of the components of stress concentrations. Finally, simulation of the moving characteristic of fire-fighting robot in the places with different obstacles is analyzed by using ADAMS software.The robot in this study can replace the fire and rescue personnel to work in the dangerous environment and use mechanical arms to put out a fire, cool down, open and close valve and collect sample. The robot owns the characteristics of flexible mobility, functional diversity and safe reliability.