【正文】 空調(diào)管道機(jī)器人應(yīng)具備的功能有清掃管道灰塵、噴灑消毒藥水、攜帶CCD攝像機(jī)和傳感器單元等，且機(jī)器人一般都會(huì)帶有傳感器，以此來控制在管道中的運(yùn)動(dòng)。真空收集系統(tǒng)是管道清洗中心部件。 在1989年，一群清潔承辦商和通風(fēng)設(shè)備制造商組成了國家風(fēng)管清洗協(xié)會(huì)（NADCA）。隨著使用年限的增加，風(fēng)管內(nèi)也會(huì)沉積大量的灰塵。因此，加強(qiáng)中央空調(diào)通風(fēng)管道的清洗，消除病毒的污染源，必須要求從事中央空調(diào)清洗的專業(yè)隊(duì)伍技術(shù)先進(jìn)，設(shè)備精良，這使管道清掃機(jī)器人步入了歷史舞臺(tái)。現(xiàn)代建筑為滿足舒適性和工藝性兩方面越來越高的要求，普遍引入了空調(diào)系統(tǒng)，但是隨著各種合成建材的使用、現(xiàn) 代辦公設(shè)備如計(jì)算機(jī)等的普及、建筑密閉性的提高、運(yùn)行管理水平的 局限以及為了節(jié)能或降低造價(jià)而盡可能減小新風(fēng)量等原因，使室內(nèi)產(chǎn)生的有害氣體和生物污染物得不到合理稀釋和置換。事實(shí)上，風(fēng)管清洗已演變?yōu)閷κ覂?nèi)空氣污染的日益關(guān)注的響應(yīng)。s functions should have clean pipe dust, spray disinfectant, carrying CCD cameras and sensor modules, etc., and usually with the robot sensors, in order to control the movement in the pipeline. CCD is used in photography, camera39。外文資料Basic principle of duct cleaningWhat is Air Duct Cleaning?In many cases, the two terms air duct cleaning and indoor air pollution are inextricably connected. In fact, air duct cleaning has evolved in response to the increasing concerns over indoor air pollution. Although most indoor air quality problems can be traced to problems outside the physical air conveyance system, a significant portion of indoor air quality issues can be traced, at least in part, to conditions within the air conveyance system itself. Most indoor air quality (IAQ) problems are a bination of many factors, the physical condition of the heating, ventilation, and air conditioning (HVAC) system being one of them. The goal of HVAC or air duct cleaning is to remove visible contaminants such as dust, debris and moisture from the entire air conveyance system so that the air passes over clean surfaces. Modern architecture and technology to meet the fort of both increasing demands, the general introduction of the air conditioning system, but with the use of various synthetic materials, modern office equipment such as puters and so popular, the improvement of airtight construction, operation management limitations and in order to reduce the cost and energysaving or other reasons to minimize outdoor air, indoor harmful gas and biological pollutants are not diluted and reasonable replacement. Microbial contaminants such as bread molds, mildews and soil fungi, which can be invisible to the naked eye, can also be removed from the HVAC system with the proper cleaning and sanitizing procedures. Presence of microbial is not unmon in an HVAC system. However, the presence of active microbial growth is of concern, since it may affect indoor air quality and pose a health risk for some people.The benefits of air conveyance system cleaning include lessening the chances of indoor air pollution, health and fort plaints by the occupants, and it may decrease energy costs by allowing the mechanical ponents to operate more efficiently and last longer.Industry GuidelinesThe duct cleaning industry is currently an unregulated one. Ventilation pipes are the backbone of the air conditioning and ventilation systems, fresh air and mixed airconditioning air through the duct work is transferred to the living space, and because the issue of the installation of air duct may also exist a variety of construction waste. With the increase of service life, the wind pipe will deposit a lot of dust. The dirt deposited in the appropriate temperature and under moderate breeding microorganisms, and a carrier concentration of various pollutants. So on the air duct cleaning is the most important and necessary project. After the air duct cleaning in order to ensure uniform and thorough disinfection can, need to use with a spray robot camera on the air duct disinfection, the purpose is to disinfect even without omission, so as to ensure the thoroughness of disinfection. In 1989, a group of ventilation cleaning contractors and equipment manufacturers formed the National Air Duct Cleaners Association (NADCA). NADCA has, since its inception, developed industry standards for its members, as well as an Air Systems Cleaning Specialist (ASCS) certification program which includes continuing education and training programs. NADCA has not only developed cleaning standards, but has worked closely with the Environmental Protection Agency (EPA) on testing the effectiveness of air duct cleaning, resulting with the EPA39。采用無線的方式來傳遞信號，由于金屬管道具有一定的屏蔽作用，需要考慮發(fā)射信號的頻率。在管道內(nèi)部復(fù)雜的環(huán)境 中，為減輕操作人員的負(fù)擔(dān)，機(jī)器人具有自主能力是必要的，先進(jìn)的控制策略，如路徑規(guī)劃，控制器參數(shù)的在線優(yōu)化等的研究也必將使管內(nèi)作業(yè)機(jī)器人的智能 化水平得到進(jìn)一步的提高。例如，目前已經(jīng)在機(jī)械手控制中引入視覺伺服技術(shù)，即利用視覺傳感器來實(shí)現(xiàn)機(jī)械手的位置閉環(huán)控制。 2. 基于多傳感器的管況識別技術(shù)的研究。6. 總結(jié)與展望作為一種代替人在管道內(nèi)作業(yè)的特種機(jī)器人，管道清掃機(jī)器人的研究和發(fā)展具有重要的社會(huì)效益、經(jīng)濟(jì)意義和廣闊的應(yīng)用前景。行走載體主要包括一系列減速齒輪，為了使結(jié)構(gòu)緊湊，同一軸上的兩個(gè)齒輪做成一個(gè)整體，軸承外圈依靠過盈裝在齒輪組合體上，依靠內(nèi)圈與軸肩實(shí)現(xiàn)才、軸肩定位。在進(jìn)行機(jī)器人設(shè)計(jì)的過程中，我把機(jī)器人的設(shè)計(jì)分為兩大主要部分：移動(dòng)載體﹑張緊裝置，采用模塊化設(shè)計(jì)方法。由=R+,=,有 化簡得 通過以上分析計(jì)算，就可以根據(jù)具體的管道情況設(shè)計(jì)機(jī)器人機(jī)體尺寸，或者驗(yàn)證已成形的管道機(jī)器人能否通過實(shí)際的管道?？傻胊=,可取490mm 所以機(jī)器人能通過的直角彎管最小管道寬度為490mm 管道機(jī)器人在矩形管水平圓弧形彎頭的通過性分析，圓管半徑 R，寬a。對于該問題曾嘗試過解析解，但結(jié)果相當(dāng)復(fù)雜。設(shè)管道寬度一端為a，另一端b，機(jī)器人長l，如圖所示正通過矩形管直角彎道。 軸承2 , (選公稱接觸角a=5176。另外，是通過兩端的深溝球軸承作用在軸上的，而由于離軸端很近，可認(rèn)為其直接作用在軸端，經(jīng)過以上分析， 受力簡化圖圖中： 把其中受力分解為水平和垂直兩個(gè)方向：： 水平受力求得支反力：, 剪力圖彎矩圖： 垂直方向受力圖求得支反力：， ： 垂直方向剪力圖 彎矩圖從彎矩圖上可以看出，軸的危險(xiǎn)截面為Ⅰ﹑Ⅱ﹑Ⅲ﹑Ⅳ截面，求得各截面的合成彎矩如下： 按彎矩合成校核軸的強(qiáng)度：對Ⅰ﹑Ⅱ截面，由于其半徑相同，只需校核I截面即可： 對截面Ⅲ: ,由于截面Ⅲ帶有鍵槽，查得此時(shí)的抗彎截面系數(shù)，代入數(shù)值得： 所以對截面Ⅳ，其只受彎矩的作用，故有： 輸出軸材料采用40Cr，其許用彎曲應(yīng)力，由此可見，該軸的幾個(gè)危險(xiǎn)截面滿足強(qiáng)度要求。1） 初估軸頸 一般按照許用扭轉(zhuǎn)剪切應(yīng)力的方法估算軸徑，估算公式為： 主軸采用40Cr，C取98—107，這里取100則對輸出軸：2） 軸的結(jié)構(gòu)設(shè)計(jì) 在最小軸徑的基礎(chǔ)上，根據(jù)軸上零件的位置﹑類型﹑尺寸，以及定位﹑定位方式和載荷情況，我們就可以設(shè)計(jì)階梯軸的軸向尺寸和形狀，對于要與例如軸承等標(biāo)準(zhǔn)零件配合的部分，應(yīng)采用標(biāo)準(zhǔn)的軸徑，其他部分的軸徑和軸肩尺寸，只要略高于前端軸徑即可。其使用壓力范圍為（）MPa，使用溫度范圍為（2580）℃。我選擇的產(chǎn)品型號為HF1416，極限轉(zhuǎn)速為9500r/min。E． 驗(yàn)算齒根彎曲疲勞強(qiáng)度驗(yàn)算公式：蝸輪當(dāng)量齒數(shù)，查得齒形系數(shù) 則可求得：，帶入上市中可得： 彎曲強(qiáng)度滿足要求F． 蝸桿、渦輪幾何尺寸計(jì)算蝸桿齒根圓直徑： 蝸桿齒寬： 取蝸輪喉圓直徑： 蝸輪齒根圓直徑：蝸輪咽喉母圓半徑：4） 超越離合器的選擇蝸輪與車輪軸之間應(yīng)該安裝一超越離合器，機(jī)器人正常時(shí)，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)，此時(shí)電機(jī)動(dòng)力通過蝸桿蝸輪和超越離合器傳遞到車輪軸上，驅(qū)動(dòng)車輪前進(jìn)。本設(shè)計(jì)不采用變位，取a=30mm不變。應(yīng)力循環(huán)次數(shù)