Design And Motion Simulation Analysis Of The Adaptive Air Conditioning Pipeline Cleaning Robot

Since the reform and opening up, the pace of domestic urban construction has been accelerated. Therefore, the prevalence of air-conditioner is increased greatly, and meanwhile many problems in the ventilation and cleaning of air-conditioning units have arisen, especially the air-conditioning ducts of large buildings. In the past, cleaning air-conditioners are mainly done manually, so the working efficiency is relatively low and the safety of workers can't be guaranteed. Thus, this artificial cleaning way of air-conditioners can't meet the practical needs. Due to the invention of air-conditioning pipeline cleaning robot, the above problems have been solved, which is receive wide attention.This paper points out the serious problem about the dirt of central air-conditioning ducts and the necessity of regular cleaning, which shows that the development and promotion of air-conditioning pipeline cleaning robot have some significance. At the same time, this paper introduces the development situation of such robots in the world and puts forward the defects of the related robots. In view of the current situation of the central air-conditioning duct system in China, this study develops and designs an adaptive cleaning robot, and makes a specific research and analysis on the various running and load-bearing conditions of such robots in the air ducts.This study identifies and designs the walking mechanism of pipeline robot, which adopts the adjustable and deployable mechanism. The angle of the deployable mechanism is adjusted to adapt to the square section pipe and circular section pipe. The strong climbing and obstacle-climbing capacity of robot can be guaranteed through the crawler walking mechanism. The cleaning mechanism of robot can realize the multi-angle cleaning without dead corner. With 360° turntable, the walking mechanism of robot can finish the cleaning task of pipe wall without making a turn. The addition of sliding cross-shaped bench on the turntable can change the cleaning width of mechanical arms, in order to enlarge the cleaning range and reduce them over ment times of motion mechanism.In order to ensure the normal and smooth operation of robot, this paper also analyzes the kinematics and dynamics of air-conditioning pipeline robot respectively. Through building the kinematic walking model and applying Adams software simulation, the analysis of motion characteristics is completed. And the various running and load-bearing conditions of robots in the air ducts are further analyzed and studied. Meanwhile, with the aid of dynamic simulation analysis, this study analyzes the velocity, acceleration, climbing capacity and turning flexibility of robot in various working conditions.Finally, this paper summarizes the main work and research, and also prpects the future research work.