中央空调管道式通风系统清洁机器人

20113033MechanicalScienceandTechnologyforAerospaceEngineeringMarchVol．302011No．32008－12－08“”[e-mail]310027300mm。。、、160mm～1000mm、。TP242A1003-8728201103-0435-05ACleaningRobotforthePipeVentilationSystemofaCentralAir-conditionerLiuYingShenChaoShaoQuangangGuDaqiangTangRenzhongInstituteofModernManufactureDepartmentofMechanicalEngineeringZhejiangUniversityHangzhou310027AbstractAnewkindofcleaningrobotforthepipelineventilationsystemofacentralair-conditionerisdesignedtosolveproblemsofpresentpipecleaningdevicessuchasthefailuretocleanpipeswithheightsmallerthan300mmandverticalpipessomerobots'difficultyinwalkingoverobstacleslowcleaningefficiencyandsomeoftheclean-ingmechanism'sinabilitytoconstantlyclingtosurfacesofpipelinewhentheheightandwidthofthesectionofpipe-linechange．Thisrobotadoptstheleg-foottypeofwalkingmechanismandanewly-designeddoublechutesswingingcleaningmechanism．Inthispaperthemechanicalstructureworkingprincipleandthestaticanddynamiccharac-teristicsoftherobothavebeenanalyzed．Bysimulationandexperimentithasbeenprovedthattherobotcancleanpipeswiththeheightbetween160mmand1000mmmoreoveritcancleanbothverticalpipesandhorizontalonesandcanautomaticallyadapttothechangeofsectionofpipesandcancleantwosurfacesatthesametimesoastoraisethecleaningefficiency．Keywordspipecleaningcentralair-conditionerrobot。R．Aracil1OyaTomoyasu2WangZhelong34、5、6。———。78WintCleanAirDanDuctClean9。109MDCR－I。3011。300mm。71012。90°90%13。11。、、、。、、、。4。。11.1300mm。1。。A、B、C、DX1、X2ACX1BDX2。。。、。2。2、2A、B、C、D、。A6343BBCCD。AA、CX1X2AX2。。B、DX2A、C。BX1B。AB。180°。CBA、CX1X1X2X2X2C。B、DX2A、CX1D。。。1.2。34、、、、、、、、。。3、。4。44、。。。。。。73430。。。50°90°。22.1。5。5G=Tacosθ×b2－a2sin2槡αsinαb2－a2sin2槡α+asinαcosα1GTαα=π－ωtθab。2.2V=2V=2aωsinωt+2a2ωsinωtcosωtb2－a2sin2槡α2ωVV。2.36。N=BD－a2+b2－2abcos槡αacosα－r3α∈－25°～25°F＜1728N。N＜BF×F/AF=1296N4NN0。N01296N。6-。77EF·Fr=N1JI－rr·EF－r－CIsin()θ·f[]15rr·EF－r－CIsinθ＞1αBCθf1N1。3、。。83433.11。f=130kgf～150kgf13kg。12.8kg26kg。2。10W3r/s20mm65mm。89。898G=35.86N20N。910.08m/min。331010α=－0．44radN0=21.9N。10N·mN=500N。21.9N＜N＜1296N10αN0。511α。3.2。24V。1。L10m9.77m/min0～9.77m/min28m～35m。2160mm～1000mm160mm。3。1cm1cm0.3cm。25W200r/min。12。11、αN11244393433。MicrosoftVisualC++7MicrosoftSQLserver2000。4、。、。44GPRS。8、PLM、。1．ARM7J．20091445～472．J．20073871～43MoriMFujishimaMKomatsuM．Developmentofremotemoni-toringandmaintenancesystemformachinetoolsJ．CIRPAn-nals-ManufacturingTechnology2008571433～4364．GSM/GPSJ．20052277～105．GPRSM．20056．uC/OS-II2M．20027．VC++M．20068．J．2003226999～10024394160mm～1000mm、。190°。。2。3。4。1AracilRetal．Parallelrobotsforautonomousclimbingalongtu-bularstructuresJ．RoboticsandAutonomousSystems2003421125～1342TomoyasuOetal．Developmentofasteerablewheel-typein-piperobotanditspathplanningJ．AdvancedRobotics2005196635～6503WangZLetal．TheconceptandresearchofapipecrawlingrescuerobotJ．AdvancedRobotics2003174339～3584．J．1999214249～2555．3J．200827101145～11486．J．200724116～187．、J．200636726～298．J．200521647～499．MDCR2IJ．2005272142～14610．J．2005211223～2711．J．200726165～7112．J．2006331～3813．M．1987344