【正文】 與兩輪主要是用來(lái)進(jìn)行直立穩(wěn)定移動(dòng)控制問(wèn)題的基礎(chǔ)研究，而不是著眼于機(jī)器人移動(dòng)機(jī)構(gòu)的實(shí)用化問(wèn)題。為了克服上述所提到的該機(jī)構(gòu)的缺點(diǎn)，可以在后萬(wàn)向輪中安裝一應(yīng)急電機(jī)，同時(shí)在輪軸中安裝一超越離合器，機(jī)器人正常時(shí)應(yīng)急電機(jī)不工作，超越離合器處于超越狀態(tài)，當(dāng)遇到左右兩個(gè)驅(qū)動(dòng)輪被架空時(shí)，超越離合器處于嚙合狀態(tài)，應(yīng)急電機(jī)工作。B． 選擇電機(jī)的容量根據(jù)同類(lèi)產(chǎn)品估計(jì)機(jī)器的重量為 30Kg ，g 取 ，則 G=30=294N。 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。選擇超越離合器時(shí)應(yīng)該以計(jì)算出的車(chē)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(chē)軸的直徑。 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。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。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。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。還有那些肉眼看不見(jiàn)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(guò)適當(dāng)?shù)那鍧嵑拖咎幚矶鴱目照{(diào)系統(tǒng)中消除。％的效率用完高效空氣,。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。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 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(yǔ)是密不可分。3. 在