| Prototype Design of Fire-fighting Robot for High-voltage Room is a cooperation project of Shenyang Institute of Automation Chinese Academy of Sciences.It is applied to the breaking and fire-fighting for power distribution cabinets.The prototype adopts the wheeled mobile robot platform,which can carry mechanical arm,breaking device and fire-fighting device,and replace the manual entry into the high-voltage room to complete the work of breaking and fire-fighting for power distribution cabinets.Thus,the efficiency of fire-fighting in the high-voltage room is improved,and the accidental injury of the personnel is reduced,which provides a reliable guarantee for the safe operation of the transformer substation.Firstly,the paper summarizes the research background and significance,the development course,the development trend,the classification and the main technical characteristics of the fire-fighting robot,and expounds the key problems that need to be solved in the practical application of the fire-fighting robot.Secondly,based on the analysis of functional requirements and performance requirements,the main technical indexes and overall design scheme of the fire-fighting robot for high-voltage room are put forward.Under the above-mentioned preconditions,the system of the fire-fighting robot for high-voltage room is divided into two parts: the mechanical system and the control system,and they are separately elaborated.The mechanical system design includes the design of the mobile platform,driving system,mechanical arm system and fire extinguishing system for the fire-fighting robot.The selection and calculation of main components including motor,reducer and mechanical arm is emphasized,and based on the actual working conditions,the mechanical analysis of the fire-fighting robot for high-voltage room was carried out.The control system design mainly includes hardware module design,software module design and control base station system design,etc.By coordinating control base station,hardware and software module,the control system with reliability and real-time function can be realized.Finally,the experiment that based on the functional requirements and various technical indicators of the prototype of the fire-fighting robot for high-voltage room is carried out,and the experimental results verify that the prototype of the fire-fighting robot for high-voltage room satisfies all the technical indicators and functional requirements. |
