悬吊式高空消防机器人的设计及姿态控制原理  

Design of Suspended High Altitude Fire Fighting Robot and Attitude Control Principle

作　　者：史强[1,2] 李露[2] 邱自学[1] 

机构地区：[1]南通大学机械工程学院,南通226019 [2]中国科学院合肥物质科学研究院常州先进制造技术研究所,常州213164

出　　处：《机械设计与制造》2012年第12期162-164,共3页Machinery Design & Manufacture

基　　金：常州市国际科技合作计划项目(CZ20110006)

摘　　要：根据高层建筑火灾的特殊性和灾难性,对已有高空消防机器人进行了调研,综述其优缺点。并提出了一种直升机悬吊式的高空消防机器人的新设想,介绍了该机器人的整体设计、控制系统设计和姿态控制原理。利用CFD软件flowsimulation对机器人上使用的风机进行了空气动力学仿真分析,针对不同风管的长度、不同转速以及不同的叶间间隙分析其出口风压的变化,将仿真分析的结果应用于优化机器人的姿态控制,对今后研制此类消防机器人有一定的指导意义。According to the particularity and catastrophic feature of high building fire disaster,a sur- vey of the current research on high altitude fire fighting robot was reviewed,and their advantages and dis- advantages were summarized.A new idea of high altitude fire fighting robot which was suspended under a helicopter was put forward,and the design of the robot and the attitude control principle was introduced. The aerodynamics simulation and analysis of the fans on the robot was finished by using CFD software flowsimulation,analyzing the changing of wind pressure caused by different length of pipe ,different speed of the fan,different interval between the edge of the fan and the pipe ,and the results of the simulation and analysis were applied to optimize the attitude control of the robot,which has some signifwance on develop- ing such kind of fire fighting robots in the future.

关 键 词：消防机器人 姿态控制 CFD仿真分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]