The Construction Designing and Analyzing on Turning Device of "Dragon of Puncturing Mud" Robot

摘要

"Dragon of Puncturing Mud" Robot is one kind robot of special type, which integrates equipment briefness and manipulating facility of impacting mole in trenchless Technology and high reliability, better aptitude and strong self applicability of robot designing, trenchless Technology level will be greatly increased. The robot makes mainly up of three parts including taper head, turning device and impacting equipment. There are abroad appliance foreground and developing value as it can pave PE pipe, PVC pipe, cable and optical fiber cable under the mud. Through the research into the deflective theory of steerable air-powered impact mole in trenchless technology at home and abroad, in this paper we put forward the designing scheme of the deflective mechanism about "Dragon of Puncturing Mud" Robot, exerting ingenious idea design turning device of robot. The global gimbal structure was adopted and twain axes across as cross in turning device, so two freedom movement of one joint in robot head was realized. Moreover, the endure force analyzing of robot in the mud was put up and as well as the intension of the robot head and the key parts in the turning device was checked by use of the finite element method. Theory and test analyzing and checking result indicate that this turning device is feasible. This paper can provides reference for collectivity design of "Dragon of Puncturing Mud" Robot.