鏈夾式大蔥移栽機的設(shè)計【說明書+CAD+SOLIDWORKS】

鏈夾式大蔥移栽機的設(shè)計【說明書+CAD+SOLIDWORKS】,說明書+CAD+SOLIDWORKS,鏈夾式大蔥移栽機的設(shè)計【說明書+CAD+SOLIDWORKS】,鏈夾式,大蔥,移栽,設(shè)計,說明書,仿單,cad,solidworks AdvancedRobotics,Vol.16,No.6,p.55356(2002) VSPandRoboticsSocietyofJapan2002.Alsoavailableonline- Technicalnote FirerobotsdevelopedbytheTokyoFireDepartmentKAZUYOSHIMIYAZAWA TokyoFireDepartment,Otemach1-3-5Chiyoda-ku,Tokyo100-8119,JapanKeywords:Firebullet5ghtingrobotics;disasterresponserobotics;rescuerobotics;bullet5eldrobotics;deployed robotics.1.INTRODUCTIONFIREROBOTSFORTHESAFETYOFCITIZENSRemarkablechangesincitystructuresandthesocialenvironmentcontinueto diversifydisastersinthe21stcentury.Todaysdisastersarehighlyformidableforbullet5rebullet5ghterstohandleandbullet5rerobotsareinwiderusethaninthepast.Firerobotstaketheplaceofbullet5rebullet5ghtersforefbullet5cientbullet5regroundoperationsincircumstanceswherebullet5rebullet5ghtersbullet5nddifbullet5cultyintheiractivitiesbecauseof explosions,toxicleakage,heat/thicksmokehazards,etc.Asanoverallsupportforemergencyresponse,theTokyoFireDepartmentdevelopsthelatesthigh-technologyrobotsthatcopewithmajorurbandisasters. 2.OVERVIEW2.1.Unmannedmonitornozzlevehicle(Rainbow5)(Fig.1)Thisrobotdealswithpetrochemicalcomplexbullet5res,aircraftcrashbullet5res,oil/fatbullet5res causedbyoverturnedtanktracks,seriousbullet5reswithintenseradiantheat,explosionhazardbullet5res,etc.Table1. Modelsofbullet5rerobotsModel Pieces Usage Unmannedmonitornozzle 4 Firebullet5ghtinglarge-scalebullet5resvehicle(Rainbow5) majoroilbullet5resRemote-control1 tunnelbullet5resbullet5rebullet5ghtingvehicle (JetFighter)Firebullet5ghtingrobot 1 bullet5re-resistive(prototype) buildingbullet5resRescuerobot 1 Rescuehazardousmaterial/ (Robocue) toxicgasdisastersUnderwaterrobot 6 searchandrescue(WaterSearch) inwaterReconnaissancerobot 1 Factbullet5nding thicksmoke/toxicgasdisasters (FireSearch) 554 K.MiyazawaTherobotisequippedwithanobstacleremovertogetridoffallenobjects,hazardousmaterialsdrums,etc.Atwo-nozzlesystemisappliedtotherobot.Water andfoamaredischargedat5000and3000l/min,respectively.2.2.Remote-controlbullet5rebullet5ghtingvehicle(JetFighter)(Fig.2) Thisrobothandlesurbandisastersliketunnelbullet5res(e.g.telephonecabletunnelbullet5res)andundergroundshoppingbullet5res.Therobotispropelledbytheforceofhigh-pressurewaterdischargeandamotor. 2.3.Firebullet5ghtingrobot(prototype)(Fig.3)Thisremote-controlbullet5rebullet5ghtingrobotbullet5ghtsbullet5resinbullet5re-resistantbuildingsorundergroundmallswhichareinaccessibletobullet5rebullet5ghtersduetobullet6ames,thicksmoke orheat.Therobotiscomprisedofabody,apressurizer,ageneratorforapressurizerandacontrolboard.Therobotdischargeswaterat200l/min.Ahead-mountdisplaypresentsthree-dimensionalimagesfortheeffectiveoperationoftherobot. 2.4.Rescuerobot(Robocue)(Fig.4)Thisrescuesandretrievesavictimwithapairofhi-techmanipulators.Itmovesonengine-drivenrubbercrawlers. Asenseofgrippingforceissignaledbacktoanoperatorforbetteroperability. Figure1.Unmannedmonitornozzlevehicle(Rainbow5). Figure2.Remote-controlbullet5rebullet5ghtingve-hicle(JetFighter). Figure3.Firebullet5ghtingrobot(prototype). Figure4.Rescuerobot(Robocue). FirerobotsdevelopedbytheTokyoFireDepartment 555 Figure5.Underwaterrobot(WaterSearch). Figure6.Reconnaissancerobot(FireSearch).2.5.Underwaterrobot(WaterSearch)(Fig.5) Thisremote-controlrobotisusedfortheefbullet5cientsearchandrescueofvictimsinwaterwhenbullet5rebullet5ghtersdivingisdifbullet5cultbecauseofweatherconditionsorthedepthofthewater.Usingthreepropellersforhorizontalandverticalmovements,itcandivetoadepthof110m. Itsultrasonicdetector(sonar)bullet5ndsobstaclesinpollutedwater.2.6.Reconnaissancerobot(FireSearch)(Fig.6) Incaseofdifbullet5cultyofbullet5rebullet5ghtersentrytoadisasterscenewiththicksmokeortoxicgases,thisremote-controlrobotrespondsforfactbullet5nding.Itentersdisaster-hitspotsforgasdensitymeasurement,photographyinthicksmoke,situationassessmentwithamonitorcamera,etc. 3.CHALLENGESFORFIREROBOTSAlthoughthelatesttechnologyisemployedinourbullet5rerobots,theirfunctionsareneveronsatisfactorylevels.Someoftheproblemsareasdetailedbelow. 3.1.HeatresistanceFirerobotsneedtohaveheatresistancefortheircontrolsystem,whichmustbeprotectedfromheatdamage. Althoughawater-coolingsystemisapparentlythemostpractical,itislesseffectiveinpractice.Itisindispensabletodevelopanepochalcoolingsystem.3.2.Mobility Itisrequiredthatbullet5rerobotsmoveupanddownstairs.Thereareseveralmeanstoadoptforthegreatermobilityofrobots,liketheemploymentofcrawlersorspecialwheels.Manyofourrobotsareequippedwithcrawlers.However,thisdrivingmechanismhasmanylimitationsonspeedandload.Itis necessary,therefore,todevelopmoreadvanceddrivingsystems. 556 K.Miyazawa3.3.Powersources Aspowersourcesforbullet5rerobots,severalmeanssuchasinternalcombustionengines,batteries,externalpowersuppliesarepossible.Althoughthereisnoperfectmeans,thebatterysystemisapromisingpowersource.Waterpressureisapowersourcethatcannotbeignored. 3.4.SignaltransmissionsystemTherearetwosignaltransmissionsystemsradioandwire.Currentlywireismorereliablethanradio.However,technicaldevelopmentsofrobotsindicateradio systemsastheissuetobeconsideredinthefuture.3.5.Autonomy Ourbullet5naltargetisthedevelopmentofautonomousbullet5rerobotsthatcandecidebythemselveswhatactionstotakebyassessingsurroundingsituations.Togivebullet5rerobotsthecapabilityofautonomy,wehavetointroducemechanicalbrainsintoourrobots. 4.CONCLUSIONSTheTokyoFireDepartmenthas14piecesofsixmodelsofbullet5rerobots.Wewouldliketoupgradebullet5rebullet5ghtingrobotspracticallyandwearethinkingof developinghigh-performancehaz-matresponserobots.Inthefuture,wewouldliketodevelopmulti-purpose,autonomousbullet5rerobotswiththesamemobilityandjudgmentasbullet5rebullet5ghters.