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全自动 仓库 灭火 机器人 设计

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全自动仓库灭火机器人设计,全自动,仓库,灭火,机器人,设计

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Advanced Robotics, Vol. 16, No. 6, pp. 557560 (2002)VSP and Robotics Society of Japan 2002.Also available online - Technical noteA vertically moving robot able to grip handrailsfor ? re-? ghtingHISANORI AMANONational Research Institute of Fire and Disaster, 3-14-1 Nakahara, Mitaka, Tokyo 181-8633, Japan,amanofri.go.jpKeywords: Fire-? ghting robotics; disaster response robotics; rescue robotics; urban search and rescue.1. INTRODUCTIONThere are many high-rise condominiums and ladder tracks are used against high-risebuilding ? re. However, their height is much higher than the reachable height of theladders. Onthe other hand, there have been some studies of robots moving verticallyon walls by means of suckers. However, their climbing speed and reliability wasnot suf? cient for use in an actual ? re-? ghting operation. Therefore, I propose avertically moving robot that utilizes balcony handrails as a step. I have developeda full-size trial robot with a hybrid control system that consists of non-linearfeedback and sequential methods. Finally, I concluded that the vertically movingrobot is useful for ? re-? ghting against high-rise condominiums from the results ofexperiments. Thus, I introduce the outline of the robot and explain the performanceof the robot.2. OUTLINE OF THE ROBOTA photograph of the robot is shown in Fig. 1. The dimensions are 4.0 m in height,0.5 m in width and 0.4 m in depth approximately. The mass is about 38.5 kg. Therobot consists of two grippers and three serial links. The three links are connectedwith rotating joints; the two grippers are installed through rotating joints on eachend of the connected links.Grippers 1 and 2 are the same, although they are installed in reverse for theconnected links. Links 1 and 3 are the same except for the installed electricaldevices. The computer and its interface systems are mounted to link 1, the motordrive circuits are installed to link 3. Links 1 and 3 are installed to the link 2symmetrically.The robot works on an electrical power of direct current 48 V and the power issupplied from outside. The power supply lines are connected to the center of link 2.Direct current motors are used as actuators. Their rated power is 150 W.558H. AmanoFigure 1. Photograph of vertically moving robot.In order to control the robot, I use a hybrid controller consisting of a joint spacecontroller and a sequential controller. The joint space controller is designed basedon the non-linear feedback method. The desired trajectories were planed for thejoint space controller.3. ROBOT MOTIONIn this section, I explain the robot motion brie? y. A side view of the robot motionis shown in Fig. 2. The shape of the robot is shown roughly each straightline represents each link and gripper of the robot, and the joints of the robot arerepresented by circles. The motion is divided into the following ?ve parts.Step 1. The robot releases the lower ? oor handrail. Gripper 2 is lifted vertically.Step 2. The robot swings Gripper 2 to outside of the balcony.Step 3. Gripper 2 is lifted up. Gripper 2 and Link 3 go though the inside of Link 2.Each link and Gripper 2 keeps some space between the handrails to avoidcollision with the obstacles sticking out from the balcony.Step 4. Gripper 2 is lifted up also.The upper ? oor interval is not clear at thebeginning of the motion. Then the robot temporarily lifts Gripper 2 as highas possible.Step 5. Gripper 2 is let down vertically and gets caught passively the handrail ofthe upper ? oor.The robot has gone up one ? oor, comparing the ? nal state and initial state ofthe motion. The robot climbs ? oors one after another by repeating this motion.A vertically moving robot able to grip handrails559Figure 2. Outline of robot motion.However the robot is upside down, and thus it is needed to switch joint 1 to joint 4,joint 2 to joint 3, joint 3 to joint 2 and joint 4 to joint 1 for climbing next ? oor up.4. PERFORMANCEI performed experiments at several ? oor intervals from 2.50 to 3.20 m at intervalsof 0.10 m. The robot was able to climb ? oors whose interval is up to 3.10 m.The required time depends on the ? oor interval. I discuss the required time toclimb one ? oor, dividing the motion at the end of Step 3 shown in Fig. 2.The required time of the ? rst part depends on the lower ? oor interval. Althoughthe second part depends on both the lower and upper ? oor interval strictly, I regardit as depending only on the second part. The assumption agrees well with theexperimental results. The required time of the ? rst part is shown in Table 1 andthe second part is shown in Table 2. It is shown only the results of every 0.20 m inthe tables to make the tables simples. The time for switching controllers is includedin the second part.For example, it takes 18.8 s in the case when the lower ? oor interval is 3.10 mand the upper ? oor interval is 2.50 m. The climbing speed is 0.149 m/s in thiscase. I considered that the robot climbs the mean value of the lower and upper ? oorinterval, i.e. the robot climbs 2.8 m in this case.560H. AmanoTable 1.Time required for ? rst partLower ? oor interval (m)2.502.702.903.10Time (s)6.236.496.787.13Table 2.Time required for second partLower ? oor interval (m)2.502.702.903.10Time (s)11.67 11.16 10.59 9.90The maximum speed is 0.182 m/s on the condition that both lower and upper? oor intervals are 3.10 m. The slowest case is that both ? oor intervals are 2.50 mand the speed is 0.140 m/s. I calculated the mean value of the climbing speed. It is0.161 m/s.5. CONCLUSIONSThe author concludes that the vertically moving robot designed is useful for ? re-? ghting against high-rise condominiums. It becomes clear that this robot can climbup buildings within a reasonable time. Furthermore, this robot can climb buildingswhose ? oor interval varies from 2.50 to 3.10 m.The robot is just a full-size trial model and there exists some technical problemswith water resistance, durability, and reliability to deploy the robot in ? re stationsand use it in actual ? re-? ghting