Advancing-+Impacting+Capability+Research+on+Puncturing+Mud+Robot.pdf

Advancing- Impacting Capability Research on Puncturing Mud Robot Zhonglin ZHANG1,2, Liquan WANG1 , Xiufen YE2 1)College of Mechanical and Electrical Engineering; 2)College of Automation Harbin Engineering University nantong street 145, Harbin 150001, China goodluck_zh@ Abstract - Puncturing mud robot is a kind of trenchless device that can walk by itself in the earth. There are abroad appliance foreground and developing value as it can mainly pave PE pipePVC pipecable and optical fiber cable under the mud. Through researching on impacting construction of steerable air-powered impact mole in trenchless technology at home and abroad, the driving device of puncturing mud robot was designed. The device machinery character and work principle is recounted and device three-dimensional model was established and device virtual assembly was finished. The parameter equation of driving device was educed and effect from main parameter to output capability was analyzed. Based on analysis result, testing of impacting capability about driving device was put up and the academic result of the impacting capability was validated. The testing result indicates also that this driving device can meet puncturing power need. This paper can provides reference for collectivity design of puncturing mud robot. Index Terms -Puncturing Mud Robot; Trenchless Technology; Driving Device; Testing Capability I. INTRODUCTION With the rapid development of the city, from the beginning of 1970, trenchless technology has been spread appliance for paving pipe in the earth. In the case of a little digging, this technology can detect, check, repair, renew and pave various under-earth pipe or cable and so on. Now trenchless technology mainly includes [1, 2] paving technique for example directional drilling, impacting mole, easy pipe method, horizontal spiral drilling, pipe-rammer et al and every no-dig pipe repairing and detecting technique. Thereinto, pneu