【正文】 得各截面的合成彎矩如下： 按彎矩合成校核軸的強度：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，其許用彎曲應力，由此可見，該軸的幾個危險截面滿足強度要求。(1) 計算軸承所受的徑向載荷R1和R2由前面軸的校核計算已知：水平支反力, 垂直支反力， 求得合成支反力： (2) 計算軸承的軸向載荷A1和A2由于成對安裝兩個同一型號的角接觸處可按雙列軸承的數(shù)值，查得內(nèi)徑為17mm的雙列角接觸球軸承的C=14KN,Co=。 軸承2 , (選公稱接觸角a=5176。因此機器人要能安全通過彎道，必須充分考慮管道的通過性。設管道寬度一端為a，另一端b，機器人長l，如圖所示正通過矩形管直角彎道。在BC連線從x軸運動到Y(jié)軸的過程中，A點到BC線段最短距離就是該彎角所能允許的最大機器入寬度，由此可判定機線段最短距離就是該彎角所能允許的最大機器入寬度，由此可判定機器人的寬度能否通過該彎道。對于該問題曾嘗試過解析解，但結(jié)果相當復雜。在管道中常見的相交兩管等寬的情況屬于該問題的一個特例，即A點坐標為(a，a)，該情況下求出dmin時，θ=45176?？傻胊=,可取490mm 所以機器人能通過的直角彎管最小管道寬度為490mm 管道機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。該情況下，可通過幾何關(guān)系得出所允許的機體寬最大值mmax。由=R+,=,有 化簡得 通過以上分析計算，就可以根據(jù)具體的管道情況設計機器人機體尺寸，或者驗證已成形的管道機器人能否通過實際的管道。5 結(jié)構(gòu)設計設計工作是一個反復進行不斷修改尋優(yōu)的過程。在進行機器人設計的過程中，我把機器人的設計分為三大主要部分：移動載體﹑撐緊裝置和機械手，采用模塊化設計方法。把機器人的移動本體﹑撐緊機構(gòu)和機械手分別獨立加工裝配，然后組裝在一起。行走載體主要包括一系列減速齒輪，為了使結(jié)構(gòu)緊湊，同一軸上的兩個齒輪做成一個整體，軸承外圈依靠過盈裝在齒輪組合體上，依靠內(nèi)圈與軸肩實現(xiàn)才、軸肩定位。考慮到管道內(nèi)壁不會嚴格是平面，故在撐緊機構(gòu)的設計中，輪子與增力連桿之間設有球鉸，使得機器人在管道內(nèi)壁有輕微傾斜的情況下仍能保證撐緊輪同時與管壁接觸。在機械手的設計中﹑同樣是把同軸上的齒輪與蝸輪做成一體的惰輪。機械手與行走本體是痛過螺釘連接在一起的。本文設計的中央空調(diào)管道清潔機器人系統(tǒng)結(jié)構(gòu)簡單，自動化程度高，具有較強的應用性。因此要研究一種既融合各種機構(gòu)優(yōu)點，能夠提供較大的牽引力，又具有快速靈活，可靠性高的驅(qū)動方案。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。其中以攝像機為基礎的視覺傳感器，將是發(fā)展的一個主要方向。視覺對管內(nèi)機器人具有重要意義，利用視覺可以： （1）確定作業(yè)位置； （2）識別管內(nèi)環(huán)境(是否拐彎, 是否有枝杈等)； （3）識別機器人的姿態(tài)(是否有轉(zhuǎn)體, 相對于作業(yè)位置的距離等)。3. 在復雜管道環(huán)境下機器人智能控制技術(shù)的研究。但這有賴于先進的傳感器技術(shù)，特別是管內(nèi)環(huán)境識別技術(shù)作保證。 信號、電力的傳輸和供給方式：在直管道線纜可以順利進出，但是在彎曲管道里，尤其是有幾個彎曲的管道里，必須考慮線纜在轉(zhuǎn)彎處的阻力，因此現(xiàn)在的機器人一般只能進入帶彎道管道的深度為 30m。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。5. 機構(gòu)和驅(qū)動器的小型化、微型化。(7)：47—52 [4] 程良輪，楊宜民．管道內(nèi)微機器人彎管運動的動力學穩(wěn)定性[J]．控制理論與應用．2002，18(1)：62～68[5] 謝文彬，楊建國，李蓓智等．管道檢測機器人的研制[J]．機械工程師，2005，(1)：1618[6] 宋章軍，陳懇，楊向東等．通風管道智能清污機器人MDCRI的研制與開發(fā)[J]．機器人，2005，27(2)：142146 [7] 韓曉明，車立新，謝霄鵬等．中央空調(diào)管道清掃機器人的設計[J]．機械，2005，32(1)：3941[8] 孫桓，陳作模，[M].北京：高等教育出版社，2006[9] 濮良貴，[M].北京：高等教育出版社，2005[10] 龔振邦等編著．機器人機械設計[M]．北京：電子工業(yè)出版社，1995[11] 唐增寶,[M].：華中科技大學出版社，2006[12] [M].：機械工業(yè)出版社，2004[13] 許福玲等.《液壓與氣壓傳動》（第三版）[M].北京：機械工業(yè)出版社. 2008.[14] 朱驥北.《機械控制工程基礎》（重印本）[M].北京：機械工業(yè)出版社，2007，6. 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 EPA3