毕业设计（论文）-履带式消防机器人设计

1、发射点犯得上 履带式消防机器人设计摘要随着科技的发展，时代的进步，各种化工厂等有易燃易爆物品的工厂和家中电器产品的爆炸式增长，火灾的发生次数也随着易燃易爆物品和电器设备的增加而增长。火灾的危害十分严峻，且消防人员进入火灾现场所承担的风险也不容小觑。在科技愈加发达昌盛的今天，由机器人代替消防员进入火灾现场进行灭火和救援的方式的可行性和必要性也越来越突显出来。防机器人能够将火灾现场的损耗将至最低，没有任何财产比生命更为重要，消防人员的生命能够得到重要的保障。同时消防机器人的执行任务的效率也高于消防人员的执行效率，在一氧化碳高浓度且氧气稀缺的环境下，人员的进入极其危险，高温下人员也无法进入，然而消防机器人却能够在这样的火灾现场安全的完成消防任务，就算损坏，也无人员伤亡，能够将伤亡将至最低。在火灾现场，消防机器人能发挥出自己的最大的优势。由此可看出设计消防机器人的必要性。基于以上原因本文研究设计了一款全方位履带式消防机器人，该机器人采用履带作为行走机构，可全方位移动，使用无刷直流电机提供较大的驱动力，可以在火灾现场进行攀爬与越障。并设由超声波避障模块，能在火灾现场进行避障，且设有蓝牙通讯模块方

2、便对机器人进行远程控制。其上方置有电控消防水炮，进行小范围的灭火行动。内置铅酸蓄电池可移动电源，为消防机器人续航。该设计可为消防人员在火灾现场的救援灭火工作，提供极大的便利。该论文有图34幅，表9个，参考文献35篇。关键词：消防机器人；全方位移动；攀爬和越障分析；超声波避障。全套图纸加扣 3346389411或3012250582IAbstractWith the development of science and technology and the progress of the times, the explosive growth of all kinds of chemical plants and other factories with inflammable and explosive goods and electrical products in the home, the number of fires also increases with the increase of inflammable and explosive goods and electric

3、al equipment. The danger of fire is very serious, and the risk that firefighters take when entering the fire scene cannot be underestimated. In todays increasingly developed and prosperous technology, the feasibility and necessity of using robots to replace firefighters to enter the fire scene for fire fighting and rescue are becoming more and more prominent. Anti-robot can minimize the loss of fire scene. No property is more important than life, and the life of firefighters can be guaranteed. A

4、t the same time, the efficiency of the fire-fighting robot is also higher than that of the fire-fighting personnel. In the environment with high carbon monoxide concentration and scarce oxygen, the entry of personnel is extremely dangerous, and personnel cannot enter under high temperature. However, the fire-fighting robot can safely complete the fire-fighting task in such a fire scene, even if it is damaged, there is no casualties, and the casualties can be minimized. At the scene of the fire,

5、fire fighting robots can give full play to their greatest advantages.From the above, we can see the necessity of designing fire fighting robots. Based on the above reasons, this paper studies and designs an omni-directional crawler-type fire fighting robot, which uses crawler as a walking mechanism, can move in all directions, uses brushless DC motor to provide larger driving force, and can climb and surmount obstacles in the fire scene. An ultrasonic obstacle avoidance module is also arranged,

6、which can avoid obstacles at the fire scene, and an electric control fire monitor is arranged above the module to carry out small-scale fire extinguishing operations. The built-in lead-acid battery can be used as a movable power supply for the fire fighting robot. The design can provide great convenience for firefighters to rescue and extinguish the fire at the scene of the fire. This paper has 31 pictures, 9 tables and 35 references.Key words: Fire Fighting Robot; All-direction Movement; Climbi

7、ng and Obstacle Crossing Analysis; Ultrasonic Obstacle Avoidanc.II目录摘要目录1 绪论11.1课题研究背景以及意义11.2国内外研究现状与趋势31.3本课题主要目标以及主要研究内容61.4本章小结72 全方位履带式消防机器人总体设计82.1全方位履带式消防机器人功能要求82.2全方位履带式消防机器人技术性指标82.3全方位履带式消防机器人系统总体方案设计92.4本章小结(Summary of This Chapter)123 履带式消防机器人机械结构设计133.1底盘行走结构以及箱体设计133.2防爆密封设计153.3动力系统设计163.4消防系统设计293.5本章小结314 履带式消防机器人控制系统设计324.1控制芯片的选型324.2控制芯片的电路设计324.3控制模块的选型与其电路设计344.4驱动模块的选型与驱动模块电路的设计374.5本章小结395 总结与展望40参考文献41翻译部分43经济性分析.59ContentsAbstract Contents. 1 Introduction11.1 Backgroun

8、d and Significanc11.2 Research Status and Development Trend at Home and Abord21.3 The Main Content and Object of Study61.4 Summary of This Chapter72 General Design of All-direction Crawler Fire Fighting Robot82.1 The Function Requirements of All-direction Crawler Fire Fighting Robot82.2 The Technical Parameters of All-direction Crawler Fire Fighting Robot82.3 General Design Scheme of All-direction Crawler Fire Fighting Robot92.4 Summary of This Chapter123 Mechanical Design of All-direction Crawler Fire Fighting Robot133.1 Chassis Walking Structure and System Design133.2 Explosion Protection and Seal design153.3 Dynamic System Design163.4 Fire Extinguisher System Design293.5 Summary of This Chapter314 Control Design of All-direction Crawler Fire Fighting Robot324.1 Selection of Control Chip324.2 Circuit Design of Control Chip324.3 Selection of Control Module and Circuit Design344.4 Selection of Driver Module and Design of Driver Module Circuit374.5 Summary of This Chapter395 Su

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