Mechanism Design,Kinematic Performance Analysis And Simulation Of Rectangular Pipe-Cleaning Robot

With the development and progress of society,especially with the advancement of urbanization,the application of central air conditioning has been very common.The problems caused by dust accumulation in the central air conditioning ventilating pipe need to be solved urgently,and the ventilation efficiency declines obviously because of duct blockage.The application of cleaning robot is an effective way to solve the above problem.The advantages and disadvantages of some pipe-cleaning robots at home and abroad are analyzed in this paper,and a kind of pipe-cleaning robot scheme for the ventilation ducts cleaning of central air conditioning is put forward.The walking mechanism,cleaning mechanism and collection mechanism are designed.The three-dimensional model of the robot is established.Flexible wheel walking scheme is used in walking mechanism.Disk brush,bar brush and rolling brush are used in the cleaning mechanism.All the pipe wall cleaning can be completed by cooperating with the regulator at the same time.Collecting mechanism is designed with traditional fan vacuum adsorption.Based on the working environment,the various technology and performance parameters of the robot are analyzed and calculated.Aiming at passing the right-angle bend and rounded corners bend smoothly,the overall size of the robot is determined.The reasonable installation angle of the disc brush not only ensures the cleaning effect,but also increses the life of brush.The adaptability of the robot in the pipe is increased by designing the adjustment mechanism of Dish brush center distance and the cushion mechanism of the bar brush.The virtual prototype of the robot is established.Dynamic simulation analysis of the main functions mechanism and parts of the robot is carried out.The stability and driving force in the process of robot obstacle-navigation are determined.The strength and the inherent frequency of the frame and the adjusting mechanism of the plates and central moments are calculated,and the improvement of the structure is carried out.