消防爬楼运输机器人研究与设计
Research and Design of Firefighting Climbing Transport Robot
杨德山1
作者信息
- 1. 天津大学 机械工程学院,天津 300072;嘉兴大学 信息科学与工程学院,嘉兴 314001;浙江丞士机器人有限公司,嘉兴 314001
- 折叠
摘要
高层建筑救援器材种类多、重量重,缺少智能化自动化运输装备.根据消防爬楼运输需要,设计了一种以摆臂+履带底盘为主要结构的爬楼运输机器人.首先,分析机器人的整体设计,分别设计了STM32主控单元、传感器模组、通信模组、电机模组等功能模块.其次,设计履带式底盘结构和可动态调整的载物平台.最后,通过实验验证了爬楼机器人的功率、速度等参数.实验结果证明,设计的爬楼机器人最大承载质量为115 kg,满载时平地行驶速度可达 1.91 km·h-1,爬楼速度可达每分钟 32 级台阶,可连续工作 2 h以上,实现高层救援中器材的高效运输.
Abstract
There are many kinds and heavy quality of rescue equipment for high-rise buildings,but there is a lack of intelligent automatic transportation equipment.Addressing the needs for firefighting transportation in high-rise buildings,this paper presents a climbing transportation robot design primarily composed of swing arms and a tracked chassis.Firstly,the robot's overall design was analyzed,leading to the individual design of functional modules including the STM32 main control unit,sensor module,communication module,and motor module.Secondly,a tracked chassis structure and a dynamically adjustable load platform were designed.Finally,the power,speed,and other parameters of the climbing robot were verified through experiments.The experimental results demonstrated that the maximum load capacity of the climbing robot designed in this paper was 115 kg.When fully loaded,it could travel at a speed of 1.91 km·h-1 on flat ground and climb 32 steps per minute.It could work continuously for more than 2 hours and achieved efficient transportation of equipment in high-rise rescue.
关键词
高层救援/爬楼机器人/结构设计/履带底盘Key words
high level rescue/building climbing robot/structural design/track chassis引用本文复制引用
出版年
2024
NETL
NSTL
万方数据