【正文】 he 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 equipment has the attributes noted above in the inspection section and can be fitted with spinning brushes, directional air nozzles and air whips, sample collection devices, and spraying attachments for spraying sanitizing solutions or various coatings. Robots are invaluable in difficult to access areas. They may preempt a situation in which access through a plaster ceiling is considered or the use of scaffolding or lifts. Electric and pneumatic tools are operated by their respective power sources, electricity and pressed air. Both categories include spinning brushes that remove debris from the surface of the duct. The debris is then drawn into a negative air collector or it is hand vacuumed. One bination cleaning device has an electrically power brush at the end of the HEPAfiltered vacuum hose. As the debris is loosened, it is simultaneously vacuumed. Pneumatic tools include blowguns, directional air skippers and air whips which agitate, loosen and push (with pressed air) the debris toward the negative air collector which is pulling the debris into it. (This is called the push pull technique.) Spraying devices are used to apply sanitizers and coatings. Airless sprayers are monly used for this purpose. A technician can physically spray the solution from a service access or a spray cart or robot can be used for spraying. CCTV and video recorders can be attached to the spray cart to view remote spraying or the spray attachments can be connected directly to a robot.中文譯文風(fēng)管清洗的基本原則什么是風(fēng)管清洗？ 在許多情況下，“風(fēng)管清洗”和“室內(nèi)空氣污染” 這兩個(gè)術(shù)語是密不可分。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)。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(duì)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。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)。％的效率用完高效空氣,。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。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。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。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。視覺對(duì)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(duì)于作業(yè)位置的距離等)。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(jiǎn)單，自動(dòng)化程度高，具有較強(qiáng)的應(yīng)用性。模塊化設(shè)計(jì)是機(jī)構(gòu)設(shè)計(jì)的發(fā)展趨勢(shì)，具有便于安裝和維修更換零部件的優(yōu)點(diǎn)。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。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。 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。 啟動(dòng)輔助元件和回路的選擇設(shè)計(jì)為實(shí)現(xiàn)汽缸的來回動(dòng)作，氣動(dòng)回路中必須有換向閥，這里的換向閥應(yīng)為兩位三通換向閥，查閱手冊(cè)，選擇無錫市華通氣動(dòng)制造有限公司生產(chǎn)的PC系列二位四通直動(dòng)式電磁閥，其技術(shù)規(guī)格如下表34：型號(hào)工作介質(zhì)工作壓力/MPa額定流量/ 最高換向頻率/Hz允許泄漏量/工作壓力/VPC241/2潔凈壓縮空氣10110表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(chǎng)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。選擇超越離合器時(shí)應(yīng)該以計(jì)算出的車輪的扭矩Tw作為主要指標(biāo)，同時(shí)還應(yīng)該考慮蝸輪直徑和車軸的直徑。由于，?。灰蜉d荷平穩(wěn)， ?。粍t載荷系數(shù) =。 齒根彎曲疲勞強(qiáng)度設(shè)計(jì)公式如下： 確定式中各項(xiàng)數(shù)值。水平行走時(shí)平均分配傳動(dòng)比，即：則垂直行走時(shí)的傳動(dòng)比，其中，分別為齒輪7，8和齒輪9