Mechanical Body And Electronic Control System Design Of Turbo Smoke Exhaust Fire-fighting Robot

Turbine smoke exhausting fire-fighting robot is a new type of long-range control fire-fighting robot,aiming at fast fire-fighting and emergency rescue.The robot based on small crawler moving chassis,which can carry lifting type fan water cannon,pushing shovel and winch mechanism,wireless condition monitoring system and ultrasonic autonomous obstacle avoidance system.It not only replaced the fire fighters into the tunnel,underground construction facilities,oil depot,chemical plants and other dangerous places,but also can real-time spy on the scene of fire,carry out effective fire-fighting and rescue work,reduce unnecessary loss of personnel and property.First of all,this paper introduces the background of the turbine smoke exhausting fire-fighting robot’s topic selection,the research status and development situation of fire-fighting robot in our country and overseas,by the way,expounds the technical shortcomings of relevant fire robot in the development currently.In the second place,according to the analysis of actual operation requirements of turbine smoke exhausting fire-fighting robot and determining the robot’s parameters and functions,then the mechanical body and electronic control system of the firefighting robot are designed respectively.The mechanical ontology is mainly based on Solid Works to build a three-dimensional model,focusing on the structural stress analysis of the lifting mechanism and shoveling mechanism.In order to extend the coverage of fire-fighting,a design scheme of Y-type four-bar parallel linkage lifting mechanism was put forward.To improve the reliability and service life of shovels,the shovels are reinforced with reinforcing bars.The finite element analysis verifies that the structure meets the design requirements.The design of electronic control system is the import parts of this paper.It determines the implementation of mechanical structure action and robot control stability,which mainly includes hardware and software design.Hardware design to determine the C201 controller as the control center of the electronic control system and complete the selection of other hardware components and hardware module circuit design.The software design adopts PLC language and takes CODESYS as the development platform.The software program includes the main program of the robot,system warning procedure,communication program,each actuator control subroutine,the automatic obstacle avoidance program,the oil cylinder control program,the fan mechanism control program,etc.At last,the prototype test of the turbine smoke exhaust fire-fighting robot was carried out,and the PID control optimization of the electronic control system was carried out by using Simulink simulation software,and the mechanical model building and simulation were completed for the driving system and lifting mechanism of the fire robot.The experimental and simulation results show the mechanical body and electric control system of turbine smoke exhaust fire-fighting robots achieve the design requirements.