摘要：目前全国大型商场和办公楼的不断建设，大楼的通风管道与人们的健康有了紧密的联系。中央空调长期使用后，灰尘、污垢、细菌等会积聚在空调通风管道内部，会促成螨虫的滋生；附着在室内机的细菌随送风系统吹回室内，污染室内的空气、传播疾病，严重影响人们身心健康。因此通风管道的检测与清洗越来越受到社会的重视。49015

本文主要阐述了通风管道清扫机器人的背景与现状，结合国内外通风管道清扫机器人的发展，阐明了本课题的研究背景和意义，简述了本文的组织形式和研究内容。然后重点介绍了通风管道清扫机器人的三大部分：行走机构计算与设计过程、清扫机构的设计理念与关键部位的强度校核计算和监视与控制系统里各种传感器应用等。同时，针对通风管道清扫机器人在清扫管道时存在的难点，深入介绍了机器人如何同时实现四个方向同时清扫的方式及结构设计，和如何通过传感器实现机器人的自动行走及自动转向功能。

本文结尾对此次的毕业设计进行了总结，并对以后的研究想法做出了展望。

毕业论文关键字： 通风管道，机器人，履带行走，旋转毛刷

Ventilation duct cleaning robot design

Abstract：At present the country to keep building large-scale shopping malls and office buildings, the ventilation ducts of the building and people's health has been closely linked. After the central air conditioning long-term use, dust, dirt and bacteria can accumulate inside the air conditioning and ventilation pipes, would contribute to the breeding of mites; attached to the indoor unit of germs in the air supply system blown back indoors, contaminated indoor air transmitted diseases, serious impact physical and mental health. Therefore, detection and cleaning ventilation ducts society more and more attention.

This paper describes the background and current situation of the ventilation duct cleaning robot, combined with the development of domestic ventilation duct cleaning robot, to clarify the background and significance of this issue, the paper outlines the organizational form and content. And then focuses on the ventilation duct cleaning robot of three parts: the walking mechanism calculation and design process, design concepts and key parts of the cleaning mechanism strength check calculation and monitoring and control system in a variety of sensor applications. At the same time, the difficulty for the ventilation duct cleaning robot when cleaning the pipeline exists, insight into how the robot while achieving four directions simultaneously sweeping manner and structural design, and how the robot walking through automatic sensor and automatic steering function.

 End of this article for the graduation project are summarized, and future research ideas to make a prospect.

Key Words：The ventilation pipe, The robot, Crawler walking, Rotating brush 

 目  录

1 绪论 1

1.1  课题的背景和意义 1

1.2现代小型机器人技术状况 2

1.2.1   多样化的行走方式 2

1.3  国内外通风管道清扫机器人的发展概况 2

1.4  课题的设计任务 4

2  总体设计方案论述 5

2.1  机器人设计原则 5

2.2  整体方案选择 5

3 行走机构设计及计算 8

3.1  机器人驱动电机 8