消防机器人履带底盘设计与仿真  

Design and Simulation of Tracked Chassis for Firefighting Robot

作　　者：姚一 鞠全勇[2] 宋凯 吕章锟 YAO Yi;JU Quanyong;SONG Kai;LYU Zhangkun(Yancheng Institute of Technology,Yancheng 224002,China;Jinling Institute of Technology,Nanjing 211169 China)

机构地区：[1]盐城工学院,江苏盐城224002 [2]金陵科技学院,江苏南京211169

出　　处：《机械制造与自动化》2025年第1期128-130,152,共4页Machine Building & Automation

基　　金：国家自然科学基金资助项目(52171261);2020年江苏高校“青蓝工程”资助项目。

摘　　要：设计一款用于复杂环境的消防机器人履带式底盘结构,确定履带及轮系结构尺寸及相关参数。车体采用独立悬挂和装甲车前脸设计,提高了整体的悬挂性能和稳定性,解决了消防机器人越障和涉水阻力的问题。在底盘上加装可升降云台,方便对不同高度中有害气体监测,提高消防官兵进入火场的安全性。在Recurdyn/Track LM模块下,对设计的消防机器人进行平面、爬坡和越障仿真分析,得到机器人的速度、质心和位移曲线,验证了设计的合理性。The tracked chassis structure for a firefighting robot suitable for complex environments is designed,and the size and related parameters of the track and wheel system is determined.The vehicle adopts independent suspension and armored front design,which improves the overall suspension performance and stability and solves the problem of obstacles and water resistance for firefighting robots.A lift-able turret is installed on the chassis to facilitate monitoring harmful gases at different heights and improve the safety of firefighters entering the fire scene.With the Recurdyn/Track LM module,the designed firefighting robot is analyzed through simulation for flat terrain climbing and obstacle crossing,obtaining the robot's speed,center of mass and displacement curve,which verifies the rationality of the design.

关 键 词：消防机器人 履带底盘 结构设计 RECURDYN 仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]