Structure Development And Motion Analysis Of An Self-adaptive Air Conditioning Pipeline Cleaning Robot

With the development of society, the central air-conditioning becomes more and more popular in public. It is respected by people for creating a comfortable ambient temperature, and becomes indispensable facility in people's work and life. However, the air pollution caused by dust in the ventilation pipes of the central air-conditioning has a great harm to human health; in addition unclean duct will also reduce the refrigeration effect, result in a lot of waste of energy. Therefore, from the point of people's physical and mental health and energy conservation, the central air-conditioning cleaning has already become an urgent problem, been pay more and more attention by the government and society. As the main equipment of cleaning the central air-conditioning pipeline, the central air-conditioning cleaning robot has highly practical value and commercial value.This paper firstly describes the purpose and significance of the research, points out that the central air-conditioning ducts need regular cleaning, and analyses the development of domestic and foreign central air conditioning duct cleaning robots and their shortcomings. In response, this paper develops a self-adaptive type air-conditioning duct cleaning robot that can clean pipes of various shapes to meet work requirements.The pipeline cleaning robot adopts double-tracked mobile body, the drive motors place inside the track feet to form a whole that connected with the robot body, at work it can adjust the opening angle through the track feet deflection device. At the same time in the cleaning mechanism we design a device that can replace the brush head, before work we choose appropriate brush according to the pipeline situation, the two devices use in conjunction, so that the robot can adapt to the pipelines of different shapes.This paper identifies the robot's main structure size, the drive motors, track feet and other parts'structural parameters, gives the whole robot and key institutions' structure charts and their relationship, then analyses their work principle.In order to ensure the robot works normally inside the pipeline, this paper analyses its various motion states and loading situation in detail, mostly including research on the robot gets across the vertical platform, ditch and climbs the slope, and then determines reasonable and optimized structure parameters and specific requirements of the robot power system; analysis of the robot passes several different forms elbow when turning in the wind pipe, and researches its minimum turning radius; analysis of the cable tow line resistance that the robot suffered in the straight pipe and elbow.Finally, the paper summarizes the major work and research, and prospects the research directions in the future.