1. Fire fighting Robot

2. Introduction
The main purpose of our robot is to make unmanned vehicle.
The fire-fighting robot should withstand high temperature.
The robot operator use the remote to control and directs robot to fight fire, with the aid of built in camera to dudge any obestacles.

3. The robot is driven by two track droved by two hydraulic motors.
*These tracks allow the vehicle to move in unpaved roads.

4. robot components 1- External body:
Internal frame made of carbon steel.

6. In the commercial robot, the body metal should withstand high temperature.
The metal parts should made from nickel (Ni) “super”-alloys.
it allow the robot to run at temperatures of over 1500°C.

7. A built in tank to provide oil to the hydraulic circuit component.
This tank must be protected against thermal stresses, so it coated with rubber which can isolate the tank up to 400 degree.

8. 2- Water source:
we use an external water source to the nozzle, external pump to provide pressurized water.
In the commercial robot we can use small water tank also a small pump can be applied.
In addition, we can use
foam tank or gases.

9. 3- Two tank tracks:
Allow the vehicle to move in any roads and overcoming any obstacles in the way.
It’s disadvantage the high friction because of the large contact area with ground.

10. 4-Two sprockets:
The sprocket made of artelon to drive the track.
*In commercial use the sprockets must made of metal like the internal body.

11. Ball bearing

12. 5-Nozzle mechanism:
The nozzle should move in all direction to allow the operator to fight the fire in all position.

13. Up and down movement

14. The U joint

15. To move the nozzle lift and right:

16. 6-HD camera: It’s the eye of the robot, which explore the fire area and transmit it wireless to small monitor placed in the remote control.

17. Control box
Remote control

18. 7- Input power: In this robot we use external electric power source to drive the pump.

19. Troubleshooting:
Moving problem:
One of the issues we faced is how to move the robot straight with constant speed.
We overcome this problem by using flow divider valve with allow us to move the two motors in the same speed.

20. 2- flow divider problem:
After a few working hours we notice improbable movement of the two hydraulic motor.
we found that the spool was shifted to the lift side

21. 3- tank: we decide to make a built in tank, In order to decrease the space needed.

22. 4- Contamination :
In the first attempt we use Teflon to seal the joint between hydraulic parts.
How we overcome this problems:
1- We disassembled every part of the hydraulic circuit.
2- We used a new seal method (lock seal).