【正文】 34另外，在氣缸的使用中，安裝的氣源進(jìn)口必須設(shè)置有氣源調(diào)節(jié)裝置，過濾器減壓閥油霧器，在市場中吧這三種裝置做成一個(gè)組合件，即三聯(lián)件，它在氣動(dòng)系統(tǒng)中起著過濾、調(diào)壓及油霧的作用。在進(jìn)行機(jī)構(gòu)的具體設(shè)計(jì)時(shí)，考慮到具體的結(jié)構(gòu)定位問題，把IV軸和VI軸做成是同一根軸，對于其是否滿足強(qiáng)度要求可以通過下面對軸的強(qiáng)度校核來說明。 軸承的壽命計(jì)算這里計(jì)算輸出軸上的角接觸球軸承的壽命。的角接觸球軸承，其動(dòng)載荷系數(shù)按深溝球軸承取) 因?yàn)?故應(yīng)以計(jì)算軸承的壽命： 4機(jī)器人轉(zhuǎn)彎時(shí)的管道通過性分析機(jī)器人在直線方管中能通過的最小管道尺寸：438mm(寬)294mm(高)而確定機(jī)器人的彎道通過性是十分重要的，因?yàn)楣艿罊C(jī)器人在管道彎道行走時(shí)，如管道環(huán)境和機(jī)器人尺寸不適應(yīng)，可能會(huì)產(chǎn)生卡住現(xiàn)象，造成機(jī)器人在管道內(nèi)進(jìn)退兩難。以圖中O點(diǎn)為原點(diǎn)，建立圖示坐標(biāo)系，設(shè)機(jī)器人的一邊始終沿著管道外側(cè)運(yùn)動(dòng)，即B點(diǎn)始終在x軸上，C點(diǎn)始終在Y軸上，保證最大限度地利用管道空間。故該問題可根據(jù)具體的管道和機(jī)器人尺寸計(jì)算相應(yīng)的mmax，如果機(jī)器人尺寸小于mmax則可以通過彎角，反之則不能。同樣假設(shè)機(jī)器人機(jī)體沿管道最外沿運(yùn)動(dòng)，從而充分利用管道空間。計(jì)算完成后應(yīng)該在算得的數(shù)據(jù)上加安全系數(shù)，以排除管道內(nèi)其它位置因素的影響，確保機(jī)器人可以順利通過矩形管道的彎角。模塊化設(shè)計(jì)是機(jī)構(gòu)設(shè)計(jì)的發(fā)展趨勢，具有便于安裝和維修更換零部件的優(yōu)點(diǎn)。支承軸固定不動(dòng)，只承受彎矩作用。本文設(shè)計(jì)的中央空調(diào)管道清潔機(jī)器人系統(tǒng)結(jié)構(gòu)簡單，自動(dòng)化程度高，具有較強(qiáng)的應(yīng)用性。對管道內(nèi)部這類非結(jié)構(gòu)化環(huán)境，現(xiàn)有的管內(nèi)作業(yè)機(jī)器人中的傳感器或無法正常發(fā)揮作用，或過多地依賴人的介 入，已經(jīng)不能滿足其發(fā)展的需要。視覺對管內(nèi)機(jī)器人具有重要意義，利用視覺可以： （1）確定作業(yè)位置； （2）識(shí)別管內(nèi)環(huán)境(是否拐彎, 是否有枝杈等)； （3）識(shí)別機(jī)器人的姿態(tài)(是否有轉(zhuǎn)體, 相對于作業(yè)位置的距離等)。但這有賴于先進(jìn)的傳感器技術(shù)，特別是管內(nèi)環(huán)境識(shí)別技術(shù)作保證。電力的供給現(xiàn) 在一般采用高能干電池、蓄電池和管外供電(線纜) 的方式。s suggestion that an air duct cleaning service provider follow NADCA standards.Equipment and Technological AdvancementDuct cleaning equipment has evolved on the principal of 39。s hightechnology ponents using photosensitive element CCD camera performance in all aspects are good, with the imaging with high sensitivity, antivibration, small size, and so on. Distance sensor infrared distance sensor, installed in front of the robot39。雖然大多數(shù)的室內(nèi)空氣質(zhì)量問題可以追溯到空氣輸送的物理系統(tǒng)之外，但是很大一部分室內(nèi)空氣質(zhì)量問題至少在空氣輸送系統(tǒng)條件這部分可以追查，而這問題的癥結(jié)直指空氣傳輸工具即是通風(fēng)管道本身。還有那些肉眼看不見的微生物污染如面包霉菌，霉菌和土壤真菌等，這些也可以通過適當(dāng)?shù)那鍧嵑拖咎幚矶鴱目照{(diào)系統(tǒng)中消除。 清潔的空氣輸送系統(tǒng)的好處包括減輕了居民的室內(nèi)空氣污染，給居住者帶來健康和舒適的良好環(huán)境，并可能通過有效的控制機(jī)械部件使其更有效和持久的運(yùn)轉(zhuǎn)，從而減少能源成本。沉積下來的污垢在適當(dāng)?shù)臏囟群瓦m度下滋生微生物，并且成為富集各類污染物的載體。 NADCA自其成立以來，其成員制定的行業(yè)標(biāo)準(zhǔn)，以及民航系統(tǒng)的清洗專家（先進(jìn)的結(jié)構(gòu)陶瓷）的認(rèn)證方案，其中包括繼續(xù)教育和培訓(xùn)計(jì)劃。％的效率用完高效空氣,。CCD是應(yīng)用在攝影、攝像方面的高端技術(shù)元件，采用CCD感光元件的攝像頭在各方面 的性能表現(xiàn)都不錯(cuò)，具有成像靈敏度高、抗震動(dòng)、體積小等優(yōu)點(diǎn)。清洗過程通常涉及連接大型高效空氣過濾真空的空氣輸送系統(tǒng)，或系統(tǒng)的一個(gè)部分，以創(chuàng)建一個(gè)負(fù)壓力并將污染物除去，因此沒有污染物可以進(jìn)入空氣輸送系統(tǒng)。 設(shè)備和技術(shù)進(jìn)步 風(fēng)管清洗設(shè)備已演變對主要來源去除的原則，即去除空氣輸送系統(tǒng)的可見污染物。為保證風(fēng)管清洗后能均勻而徹底的消毒，還需用帶攝像頭的噴霧機(jī)器人，對風(fēng)管進(jìn)行消毒，目的是使消毒均勻且不遺漏，從而確保消毒的徹底性。通風(fēng)管道是整個(gè)空調(diào)通風(fēng)系統(tǒng)的主干，新風(fēng)及混合后的空調(diào)風(fēng)通過風(fēng)管傳送到各個(gè)工作生活空間，且由于安裝工程的問題風(fēng)管也可能會(huì)存在各種各樣的施工垃圾。然而，活動(dòng)的微生物生長存在應(yīng)該引起關(guān)注，因?yàn)樗赡軙?huì)影響室內(nèi)空氣質(zhì)量，造成一些人的健康風(fēng)險(xiǎn)。 暖通空調(diào)或通風(fēng)管清潔的目標(biāo)是從整個(gè)空氣運(yùn)輸系統(tǒng)消除這些可見污染物如灰塵，碎片和水分，從而使空氣在潔凈的表面?zhèn)鬟f。s technological advancement within the last 10 years, one simply has to examine the vast extent of equipment that is now available and used during air duct cleaning.Inspection DevicesInspection devices are used to inspect the inside of the AHU and/or ductwork for debris, contamination, and serviceability. The optical bore scope is one such device that is used for direct viewing. The bores cope is placed through an existing opening, such as a vent opening, or a service opening is created and the scope is placed into the area to be inspected. Scopes normally have at least a 115 watt light source, a standard 40 degree field of view and can accept a 35mm camera or a digital camera for documentation purposes. Fiber optic scopes and video scopes operate on the same principal as the optical bore scope. In addition to the above, they can be pushed into the ductwork and can actually be manipulated around obstacles and maneuvered to specific sections of the ductwork. A closed circuit television (CCTV) camera system is used to remotely direct the head of the system and a video recorder, with voice, can also be attached for documentation purposes. Remote controlled robotic equipment can be driven through the ductwork and has all of the advantages as the previously stated inspection equipment. Robotic equipment es in all shapes and sizes and looks similar to toy army tanks with their treaded wheels. Robots can have two cameras, one forward, for entry in to the ductwork, and one reverse, for exiting. Robots can also be used for cleaning, spraying and sampling operations.Vacuum Collection DevicesThere are basically two types of vacuum collection devices: Highefficiency Particle Air (HEPA) filtered (which filter the air via HEPA filters, where the air enters an occupied space) and NonHEPAfiltered (which filter the air into unoccupied spaces, normally outside the building). HEPAfiltered vacuums are very efficient vacuums in fact, HEPA filters are used in clean rooms and hospital operating rooms. They filter % of particles which are microns (about one onehundredth of a pencil dot) and larger. Large HEPAfiltered vacuums, monly called negative air collectors or negative air machines, are used to place the portion of the system under a negative pressure. This ensures that any dust or debris in the system is drawn into the vacuum and not allowed to enter the occupied space. Negative air collectors have a staged filter system with the final stage being the HEPA filter. Portable HEPAfiltered vacuums, which look and operate similar to shopvases, are used to hand vacuum or direct contact vacuum, the AHU and/or the ductwork. There are also HEPAfiltered wet vacuums for removing and containing contaminated water monly found in drain pans and in ductwork that has been flooded. NonHEPAfiltered vacuums are monly used to create a negative pressure and move materials. Their static pressure capabilities are extremely high because they are not very well filtered and, therefore, are placed outside of occupied spaces, normally outside the building. The basic concept of their use in the cleaning process is the same as described above and they can be used to vacuum bulk materials such as blownin insulation. A Central air condition duct clean robot is a mechanical system, which can walk automatically inside a pipe. It works in central air condition pipes under the control of an operator with a remote device. Base on the results which have been made in this area so far, the author made a prehensive study on some theoretical and practical problems for a special type pipe robot.Continued Essential TechnologyRemote controlled robotic equi