通过对大型超市及办公写字楼等场所的中央空调通风管壁的结构特点进行调研分析,设计了一款用于探测和清洗此类矩形管道的机器人。对机器人的行进机构和清洁毛刷的升降机构进行了选型,并对行进机构的转向和越障性进行了详细论述及分析,最后对清洁毛刷传动装置进行了优化设计。%A pipe cleaning robot is designed based on the analysis of pipe features in the central air conditioning being used in supermarkets and large office building. The robot system can be used for detecting and cleaning the rectangular pipe above-mentioned. The moving mechanism and cleaning brush lifting mechanism are selected, and the turning of moving mechanism and climbing over obstacle of moving mechanism is discussed in detail, finally the optimal design of transmission device of cleaning brush is done. The design is proved to be feasible and in a good agreement with that in practice.
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