Transcript FIRE ROBOT
FIRE ROBOT Vasek Brabec Julio Cordón Muñoz ENVIRONMENT REQUIRED MOVEMENTS REQUIRED MOVEMENTS • Notes: – According to the picture, the horizontal movement is carried out by the robot and the two red beams the biggest energy – The vertical movement only has to overcome the weight of the robot REQUIRED MOVEMENTS • Arm: – Up-down memory with heights – Turn POSSIBILITIES OF POWER SYSTEM • Pneumatic • Hydraulics • Electricity: – Electrified beams – Batteries PNEUMATIC • There are a lot cylinders with a wide variety of shapes and sizes, but normally they are manufactured under the next specifications: – – – – Bore: 6-320 mm Stroke: 1-2000 mm Force: 2-50000N Piston speed: 0,02-1m/s • For the two movements of the robot is necessary a stroke between 20-30 meters NO • The height in a cinema can be in the order of 10 meters, too high also for the arm NO HYDRAULICS • This option is totally ruled out because of our specific environment. • When there is a fire, the temperature rises changing the fluid properties, for example the viscosity. It would be necessary to change the pressure of the pistons, etc. NO ELECTRICITY: ELECTRIFIED BEAMS ELECTRICITY: ELECTRIFIED BEAMS • In any situation, it maybe would be the best option. • The fire can be produced by a short circuit or perhaps the flames can destroy the wires cutting off the electricity and making useless the system NO ELECTRICITY: BATTERIES ELECTRICITY: BATTERIES ELECTRICITY: BATTERIES ELECTRICITY: BATTERIES • Preliminary capacity for weight = 100kg • Fg ≈ 1000N • F = ksi · Fg ≈ Fg (in real application ksi <1(rotation coef.)) • Power P = F·v (v=1 m/s) P = 1kW • Energy W = P*t ( t = 120 s) W = 120 kWs ≈ 35Wh • e.g. voltage = 12 V (accumulator in car, motorbike) • we need capacity : 3Ah ELECTRICITY: BATTERIES • (battery in typical car 40 -60Ah, motorbike from 3Ah) • (Li-Ion e.g. in laptops, max. available ~7-8Ah, voltage form 10 -25V) • (accumulator-drill machine -14.4 V, 3Ah NiMH, typical 9 -14V and 1-4Ah) • (Military Li-ion battery 26 V and 14.0 Ah http://www.saftbatteries.com/MarketSegments/Defence/tabid/153/Lang uage/en-US/tabid/353/TypeControl/Produit/ProduitId/97/Default.aspx )