Research On Key Technology On Series Of Dragon Of Puncturing Mud Robot

Dragon of puncturing mud robot is a kind of device that can go ahead and extrude hole in the mud. It is controlled by the computer following the scheduled track to enter into the mud, changes the direction to avoid the obstacles, corrects the errors and comes out of the mud from the destined spot finally. So under the mud it can mainly used to pave PE or PVC pipe, cable and optical fiber cable, etc. As one of special type work robots, the dragon of puncturing mud robot has a great future in the aspects of paving underground pipe adopting the no-drill technology.The research works are supported by "Research on Key Technology on Series of Dragon of Puncturing Mud Robot" of The Heilongjiang Science Technology Project-"Prototype Development of Dragon of Puncturing Mud Robot" in this paper. According to the base of prophase research, the paper studies the key technologies on series develop of dragon of puncturing mud robot , including the scheme of series design of it, the series design of impact machine ,the airproof of reality machine, turning machine , the pose detecting etc.The author introduces the domestic and foreign developing situation of gasses impact moles and drilling bore radio-detection, analyses the detecting device's developing situation of the gasses impact moles whose trace can be controlled.By the base of prophase research, the scheme of series design of dragon of puncturing mud robot is studied. It includes its collectivity constitutes, the characteristics of its perforation, the scheme of its inspecting and control, the design of air pressure transmission system etc. The length of perforation for the dragon of puncturing mud robot was calculated by the loss of pressure. The charge time for the gas impact machine was analyzed and the diameter of pipeline and its lumen was ascertained, and some data for its series was provided.The research for series design of dragon of puncturing mud robot was put up. The gas distribution acreage function of impact machine was discussed and the dimensionless equation of dragon of puncturing mud robot gases impacting mechanism is deduced through the analysis and design of its machinery and principle. The mostly design parameter of its series impacting mechanism were educed according to its similarity design. The turning machine was designed and it could carry out its turning when dragon of puncturing mud robot were perforating and make the impact, turning work at one time.The seal of dragon of puncturing mud robot impact machine was studied and the configuration and capability of O ring seal were analyzed. The composing of movement seal for gas impact machine was worked over. Design of its trapezium groove labyrinth seal and piston ring seal were carried through. After the practice test, The seal can prevent gas leak availably and impact machine is started and librated steadily at lower gas pressure (≥0.4 MPa) and offered the gas for its vibration.At last, the pose inspect of dragon of puncturing mud robot was researched by the use of numeral a box and needle. The experiments of its movement without load, the body pose detecting, turning machine running, perforation outside the room were done and the theory was validated.