風管清潔機器人之機構設計與研發

淡江大學機構典藏 > 工學院 > 機械與機電工程學系暨研究所 > 學位論文 > Item 987654321/35521

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题名:	風管清潔機器人之機構設計與研發
其它题名:	The development and design of duct cleaning equipment
作者:	葉書瑞;Yeh, Shu-jui
贡献者:	淡江大學機械與機電工程學系碩士班楊智旭;Yang, Jr-syu
关键词:	通風管線;風管維護清潔;風管清潔機器人;Ventilation System;Duct Cleaning Maintenance;Duct Cleaning Robot
日期:	2009
上传时间:	2010-01-11 06:44:03 (UTC+8)
摘要:	本論文研究目的是設計一部風管清潔機器人，主要研究項目包括：(1)移動平台設計，(2)清潔機構設計，(3)機構輕量化設計，(4)控制電路設計，(5)控制介面設計，和(6)機器視覺設計，達到機器人能夠進入風管系統內部探勘與清潔維護，因為國內尚無風管清潔機器人，而國外所發展的機器人重量與尺寸大小不符合國內需求，成本也相當昂貴，所以本研究成果將可提供國內產業使用。研究成果包括完成機構上的設計與改良，使機器人具有穩定的機體結構與承載之功能；採用履帶驅動，使其行進時更加穩定，提升穿越障礙物時車體穩定性；機體重量也考量輕量化設計方案，讓風管能承載機器人之重量；加裝清潔機構，讓機器人具有清潔風管之基本能力，經由機電整合後可使其成為具有清潔維護通風管線系統功能的風管清潔機器人。經由實驗測試結果得知，目前風管清潔機器人具有可控制之能力、可前後行走、原地旋轉、穿越障礙物、影像傳輸等功能，可利用本研究所建立之雛型機構作為未來改進的參考，進一步設計將以輕量化、縮小化為目標，使清潔機器人各方面功能均得到提升，發展出更適合國內需求之風管清潔機器人。 The objective of this thesis is to design a duct cleaning robot. The research work includes: (1) a platform design, (2) a cleaning mechanism design, (3) weight optimum design, (4) electrical circuit design, (5) control interface design, and (6) machine vision design. The duct cleaning robot can be applied into the ventilation system for detection and cleaning. Because there is no duct cleaning robot in Taiwan now and imported duct cleaning robot is too heavy, too expensive and the bulk is too huge which are not suitable for the domestic duct. So, the research result will be a good solution for domestic robotic appliance. The research includes redesign and modify the structural mechanison for more loading ability. The tracked is applied to be the transmission part of this robot in order to improve its dynamic stability and capability of overcoming obstacle. The weight optimum design is able to reduce its own weight in order to improve its loading capability. The cleaning mechanism is installed on this robot to implement its cleaning capability. Finally, the duct cleaning robot is tested by experiment after integration of all these sub-systems. From the experimental results, this robot can be controlled to move forward and backward, rotate with respect to a fixed axis, overcome obstacles and transmit images capability. A future study will be focused on the modification of this developed prototype. Hopely, a lither and reductive robot will be developed to clean a duct of the domestic ventilation system.
显示于类别:	[機械與機電工程學系暨研究所] 學位論文

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