Design And Simulation Of Crawler Inspection And Extinguishing Machine

Grasslands are an important part of the ecological environment,which is used to reduce soil erosion,improve climate and control environmental pollution,etc.However,the frequent occurrence of grassland fires makes the ecological environment face a serious threat.Fire prevention and fire fighting are particularly important.At present,the initial detection of grassland fire is usually carried out by manual,satellite and UAV.The main way of grassland inspection in China is mainly manual inspection,but the labor intensity is high and the efficiency is low.What’s more,the real-time and accuracy of satellite remote sensing monitoring is not high,and UAV can not complete the detection task of grassland high-altitude visual blind area.Crawler robots with good cross-country and speed capabilities can meet the performance requirements of fire detection in grassland blind areas.According to the working environment and task characteristics of the explosive ordnance disposal robot,the overall function and design index of the robot chassis were determined.On the basis of comparing the advantages and disadvantages of typical walking modes such as wheeled,track and leg,an overall structure scheme of crawler chassis with rear-mounted driving wheels was proposed.The driving conditions and passing ability of the robot were verified.By comparing the advantages and disadvantages of three driving methods: hydraulic drive,gas drive and electric drive,the driving method was determined.From the actual design requirements,the main dimensions of the dry powder ejector were designed,and the 3D model was established.The pneumatic conveying process of the dry powder ejector was numerically simulated by Fluent,and the pressure cloud diagram and velocity cloud diagram of the dry powder injection were obtained.The Euler-Lagrange method was used to simulate the trajectory of the dry powder particles to verify the feasibility of the dry powder injection mechanism and internal flow characteristics was analyzed.The pressure cloud diagram,velocity cloud diagram were obtained and the influence of different structural parameters on the pneumatic conveying injector were discussed.The parametric geometric model of the robot chassis was established,and the forces on the robot chassis were analyzed in detail for typical motion conditions such as straight-line driving,slope walking and obstacle crossing.And the required driving moments of the chassis under different working conditions were obtained to provide data support for the design of the drive system.The virtual prototype model of the robot chassis was established by Recur Dyn software,and dynamics analysis was carried out for the process of straight-line driving,walking on slope,and obstacle crossing,which verifies the correctness of the theoretical analysis results of the walking performance and the validity of driving source selection.