【正文】 據(jù)具體的管道情況設(shè)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(shè)計設(shè)計工作是一個反復(fù)進(jìn)行不斷修改尋優(yōu)的過程。在進(jìn)行機器人設(shè)計的過程中，我把機器人的設(shè)計分為兩大主要部分：移動載體﹑張緊裝置，采用模塊化設(shè)計方法。把機器人的移動本體﹑張緊機構(gòu)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?？紤]到管道內(nèi)壁不會嚴(yán)格是平面，故在張緊機構(gòu)的設(shè)計中，輪子與增力連桿之間設(shè)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張緊輪同時與管壁接觸。6. 總結(jié)與展望作為一種代替人在管道內(nèi)作業(yè)的特種機器人，管道清掃機器人的研究和發(fā)展具有重要的社會效益、經(jīng)濟意義和廣闊的應(yīng)用前景。針對目前國內(nèi)外的現(xiàn)狀，為了使管內(nèi)作業(yè)機器人能夠盡快進(jìn)入大規(guī)模實用化階段,必須在以下幾個方面有所突破：1. 研究開發(fā)能夠適應(yīng)復(fù)雜管道和特殊管道的多功能行走機構(gòu)，管內(nèi)作業(yè)機 器人在彎管、支岔管中的通過性問題仍未很好解決，要解決這一問題，首先要在機構(gòu)上保證機器人能夠在這些特殊環(huán)境中順利行走，提高機器人在彎管、L 型和T型管中的通過性。 2. 基于多傳感器的管況識別技術(shù)的研究。經(jīng)過多年的實踐，人們已經(jīng)認(rèn)識到傳感器的集成，即多種傳感器(光，機，電，儀)的綜合運用是解決上述問題的有效手段，才能為提高管內(nèi)作業(yè)機器人的智能控制水平打下良好的基礎(chǔ)。例如，目前已經(jīng)在機械手控制中引入視覺伺服技術(shù)，即利用視覺傳感器來實現(xiàn)機械手的位置閉環(huán)控制。 在管內(nèi)作業(yè)機器人中采用視覺伺服技術(shù)，有利于提高其控制性能和自主能 力，并對其智能化進(jìn)程有重要意義。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)機器人的智能 化水平得到進(jìn)一步的提高。4. 發(fā)展遠(yuǎn)距離控制技術(shù)，解決拖線供能、通信對機器人的行走距離的約束。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。這些方式對機器人的行程有較大的影響。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。Source Removal,39。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。s side and most were measured by the robot to obstacles on both sides of pipe or the distance and obstacles to the front of the pipe or the distance. So the robot must have organ with mobile carriers to install cleaning tools, parts, CCD camera systems and lighting systems, munication systems, steering control systems and other ancillary equipment. As evidence of the industry39。事實上，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)。大部分室內(nèi)空氣質(zhì)量（IAQ）問題是許多因素的結(jié)合，供暖，通風(fēng)和空調(diào)（HVAC）傳輸工具系統(tǒng)的結(jié)構(gòu)物理狀態(tài)即是指其潔凈程度就是其中之一?，F(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)備如計算機等的普及、建筑密閉性的提高、運行管理水平的 局限以及為了節(jié)能或降低造價而盡可能減小新風(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。空調(diào)系統(tǒng)存在微生物的情況不是不常見，它的存在是合理的。因此，加強中央空調(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)隊伍技術(shù)先進(jìn)，設(shè)備精良，這使管道清掃機器人步入了歷史舞臺。行業(yè)規(guī)范 管道清洗行業(yè)目前是一個不受管制的。隨著使用年限的增加，風(fēng)管內(nèi)也會沉積大量的灰塵。所以對風(fēng)管的清洗是最主要且必需的項目。 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（NADCA）。 NADCA不僅制定清潔標(biāo)準(zhǔn)，還一直與環(huán)境保護局（EPA）進(jìn)行密切合作，測試了通風(fēng)管清潔效果，并且給美國環(huán)境保護署提出一些建議，這些結(jié)果是一個風(fēng)道清洗服務(wù)提供商按照NADCA標(biāo)準(zhǔn)。真空收集系統(tǒng)是管道清洗中心部件。管道清掃機器人能輕松的爬入管道配合其他管道清洗設(shè)備將管道中的灰塵、塵螨，甚至昆蟲尸體，死老鼠等垃圾一掃而空，最后還能對管道進(jìn)行消毒。空調(diào)管道機器人應(yīng)具備的功能有清掃管道灰塵、噴灑消毒藥水、攜帶CCD攝像機和傳感器單元等，且機器人一般都會帶有傳感器，以此來控制在管道中的運動。測距傳感器采用紅外測距傳感器，分別安裝在機器人的兩側(cè)和最前端，“器官”有移動載體、安裝清洗工具的部件、CCD攝像系統(tǒng)