中央空调垂直风管清洁机器人机构设计  

Mechanism Desing of Cleaning Robot for Center Air Conditioning Vertical Ventiduct

作　　者：曹毅[1,2] 谢启武[2] 何世钧 韩宇辉 

机构地区：[1]河南省自动化工程技术研究中心,河南郑州450008 [2]河南工业大学机电工程学院,河南郑州450007

出　　处：《机电产品开发与创新》2008年第6期31-32,35,共3页Development & Innovation of Machinery & Electrical Products

基　　金：河南省基础与前沿技术研究(072300440130);河南省教育厅自然科学研究计划(2007460003)

摘　　要：针对目前国内外中央空调通风管道清洁机器人的研究现状,提出了一种垂直通风管道清洁机器人的设计思路。该机器人主要由支撑机构、清洁机构组成。支撑机构采用了伞状支架,能够适用于矩形或圆形管道;清洁机构采用了钢丝绳驱动的柔性机械臂。并对机器人的伞状支架和柔性机械臂的机构和工作原理进行了详细说明。通过对样机的实验测试,验证了该结构的合理性和实用性。A vertical ventiduct cleaning robot was proposed in the paper,according to the characteristic of ventiduct cleaning robots of central air conditioning at home and abroad. In this design, the robot is comoposed of support mechanism and cleaning mechanism. The support mechanism which can be used in rectangular or circular pipeline, adopts umbellar bracket. The cleaning mechanism adopts the flexible robot arm which drived by steel wire.The working theory about the robot＇s umbellar bracket and flexible robot arm is explained in detail in the paper.And the practicability and rationality of the mechanisms are verified by the test to prototype.

关 键 词：中央空调 垂直风管 清洁机器人 伞状支架 柔性机械臂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TU831.7[自动化与计算机技术—控制科学与工程]