三相伞状支撑式管道清洁机器人的设计与研究  

Design and Research of Three-phase Umbrella Supported Pipeline Cleaning Robot

作　　者：李东炜[1] 李嘉锐 LI Dongwei;LI Jiarui(School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou Guangdong 510006, China;School of Mechanical Engineering and Automation,Harbin Institute of Technology(Shenzhen),Shenzhen Guangdong 518055,China)

机构地区：[1]广州大学机械与电气工程学院,广东广州510006 [2]哈尔滨工业大学(深圳)机电工程与自动化学院,广东深圳518055

出　　处：《机床与液压》2020年第15期27-29,55,共4页Machine Tool & Hydraulics

基　　金：广州市属高校科技计划项目(1201431188)。

摘　　要：基于雨伞伸缩的结构,设计一种清洁中央空调通风管道内灰尘的机器人。该机器人由清洁单元和2组行走单元组成,其中清洁单元通过特制的弹簧使得清洁头可以自动适应管道直径大小的变化。行走部分由2组行走单元和连接机构组成,行走单元上沿圆周方向等距分布有3组伞状支撑结构。通过2组行走单元的配合,机器人可以顺利通过垂直管道和管径变化处。对3组伞状支撑结构进行力学分析,得出了合理选择驱动支撑结构运动的电机型号的数学公式。A robot was designed to clean the dust in the central air conditioning ventilation pipeline based on the telescopic structure of umbrella.The robot was composed of cleaning units and two groups of walking unit,in which the cleaning head of the cleaning unit was automatically adapted to the change of pipeline diameter through a special spring.The walking part was composed of two groups of walking unit and connecting mechanisms.Three groups of umbrella shaped support structure were equally distributed along the circumference of the walking unit.The robot could pass through the vertical pipeline and pipeline diameter change smoothly through the cooperation of the two groups of walking unit.Through the mechanical analysis to the three groups of umbrella support structure,the mathematical formula for selecting the motor model to drive the support structure was obtained.

关 键 词：伞状支撑结构 自适应 管道清洁机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]