新型空调通风管道清理机器人的设计与优化
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摘要
针对现有通风管道清理机器人清理效率低、管道适应性差等问题,设计了新型空调通风管道清理机器人。介绍了机器人的结构组成及各机构工作原理;分析了机器人弯管通过性并给出了机器人通过弯管的约束条件;以清理机构各杆件长度为设计变量,综合考虑机器人运动干涉、机器人主体直径等约束条件,以机器人驱动轮所在外圆半径与清理机构毛刷所在外圆半径之差最小为优化目标对机器人清理机构进行优化,得到机器人最佳设计尺寸。最后,进行工程应用与分析,得出优化后机器人变径范围为(630～560)mm,由机器人变径引起的误差降低了89%,为机器人样机的制作奠定了基础。
Aiming at the problems of poor cleaning efficiency and poor adaptability of the existing cleaning robot for ventilation pipes,a new air conditioning ventilating pipeline cleaning robot is designed. The principle and structure of the robot are introduced. The robot for fitting in curved pipeline is analyzed and the constraint condition of robot through elbow is given. In the optimization,the member length of cleaning mechanism is specified as design variable,the motion interference and robot diameter are considered. The robot cleaning mechanism is optimized by minimizing the difference between the outer circle radius of the driving wheel and the outer radius of the brush of the cleaning mechanism. The best design size of the robot is obtained. Finally,the engineering application and analysis are carried out to show that the optimized diameter of the robot is(630～560)mm,and the error caused by the change of the diameter of robot is reduced by 89%. All of these preparations provide a strong foundation for the manufacture of robot prototype.
Aiming at the problems of poor cleaning efficiency and poor adaptability of the existing cleaning robot for ventilation pipes,a new air conditioning ventilating pipeline cleaning robot is designed. The principle and structure of the robot are introduced. The robot for fitting in curved pipeline is analyzed and the constraint condition of robot through elbow is given. In the optimization,the member length of cleaning mechanism is specified as design variable,the motion interference and robot diameter are considered. The robot cleaning mechanism is optimized by minimizing the difference between the outer circle radius of the driving wheel and the outer radius of the brush of the cleaning mechanism. The best design size of the robot is obtained. Finally,the engineering application and analysis are carried out to show that the optimized diameter of the robot is(630～560)mm,and the error caused by the change of the diameter of robot is reduced by 89%. All of these preparations provide a strong foundation for the manufacture of robot prototype.
引文
[1]陈继文,杨红娟,范文利.中央空调管道清洗机器人设计[J].现代制造工程,2010(6):133-135.(Chen Ji-wen,Yang Hong-juan,Fan Wen-li.The design of central air conditioning duct cleaning robot[J].Modern Manufacturing Engineering,2010(6):133-135.)
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[7]郗艳梅,岳红新,石岩.基于ADAMS自卸汽车举升机构优化设计[J].机械设计与制造,2016(6):192-196.(Xi Yan-mei,Yue Hong-xin,Shi Yan,Zhang Peng-cheng.Optimization design of lifting system in dump truck based on ADAMS[J].Machinery Design&Manufacture,2016(6):192-196.)
[8]朱朝霞,尹明德,孟庆林.装载机八杆机构工作装置优化设计[J].机械设计与制造,2015(2):11-14.(Zhu Zhao-xia,Yin Ming-de,Meng Qing-lin.Optimized design on 8-bar-mec-hanism working device of loaders[J].Machinery Design&Manufacture,2015(2):11-14.)
[2]唐鹏,石成江,刘占民.基于ADAMS的管道检测机器人动力学分析及仿真[J].机械设计与制造,2012(7):150-152.(Tang Peng,Shi Cheng-jiang,Liu Zhan-min.Dyna-mics analysis and simulation of pipeline detection robot based on ADAMS[J].Machinery Design&Manufacture,2012(7):150-152.)
[3]刘莹,申超,邵泉钢.中央空调管道式通风系统清洁机器人[J].机械科学与技术,2011(3):435-439.(Liu Ying,Shen Chao,Shao Quan-gang.A cleaning robot for the pipe ventilation system of a central air-conditioner[J].Mechanical Science and Technology for Aerospace Engineering,2011(3):435-439.)
[4]熊友,白国振,周全.通风管道清洁机器人系统的研究[J].机械科学与技术,2012(8):1257-1260.(Xiong You,Bai Guo-zhen,Zhou Quan.Study on the robot system for pipe cleaning[J].Mechanical Science and Technology for Aerospace Engineering,2012(8):1257-1260.)
[5]刘雷,赵吉宾,陈月玲.光传输管道清洗机器人控制系统设计与研究[J].机械设计与制造,2016(2):110-112.(Liu Lei,Zhao Ji-bin,Chen Yue-ling.Research and design of optical transmission pipeline cleaning robot control system[J].Machinery Design&Manufacture,2016(2):110-112.)
[6]唐德威,梁涛,姜生元.机械自适应管道机器人的机构原理与仿真分析[J].机器人,2008(1):29-33.(Tang De-wei,Liang Tao,Jiang Sheng-yuan.Mechanism and simulation analysis of mechanical self-adaptive pipe-robot[J].Robot,2008(1):29-33.)
[7]郗艳梅,岳红新,石岩.基于ADAMS自卸汽车举升机构优化设计[J].机械设计与制造,2016(6):192-196.(Xi Yan-mei,Yue Hong-xin,Shi Yan,Zhang Peng-cheng.Optimization design of lifting system in dump truck based on ADAMS[J].Machinery Design&Manufacture,2016(6):192-196.)
[8]朱朝霞,尹明德,孟庆林.装载机八杆机构工作装置优化设计[J].机械设计与制造,2015(2):11-14.(Zhu Zhao-xia,Yin Ming-de,Meng Qing-lin.Optimized design on 8-bar-mec-hanism working device of loaders[J].Machinery Design&Manufacture,2015(2):11-14.)