Mechanical Analysis And Experimental Research Of Working In The Earth Helical Blade

Move-in-mud robot is a kind of special robots work in the soil, the move-in-mud and predetermined path to walk is achieved. Itself support condition is required to implement the process of move-in-mud, the expected path of robot is realized by steering device. It’s the key issue that stable support conditions, rational move-in-mud action and reliable steering for smoothly work of move-in-mud robot, due to the complexity of mechanical properties of soil, poor work environment and the limitation of device size, the available move-in-mud robot cannot fully meet the requirement of application, a new move-in-mud robot is presented in this paper, and the theoretical and experimental research are carried out based on the mechanical model of spiral blades, the new solution of move-in-mud robot is obtained, which provides a theoretical basis for the engineering practice.First, the special robots from home and abroad in the soil are summarized, the self-supporting special robot, namely the motion principle and work condition of move-in-mud robot are analyzed, Itself support condition is required to implement the process of move-in-mud, the expected path of robot is realized by steering device. It’s the key issue that stable support conditions, rational move-in-mud action and reliable steering for smoothly work of move-in-mud robot. The body mechanism of available move-in-mud robot is analyzed, the scheme of spiral move-in-mud robot is proposed; 2PSP/S-type parallel mechanism is designed as the steering device, in order to ensure the better steering effectiveness. To solve the problem of power wire wound of the device, a coupling mechanism with steering joint is designed, the overall scheme of move-in-mud robot is improved, which provides theoretical basis for the engineering practice of subsequent spiral move-in-mud robot.Second, the relation between the structural parameters of spiral blade and environmental parameters of soil is the theoretical base, the drive torque of blade is the premise for the normal work of the spiral move-in-mud robot. Because of the complexity and discreteness of the soil environment, however, in order to simplify the mechanical model, assuming spiral blades in the soil of uniform motion, the relation between the structural parameters of spiral blade and soil environmental parameters are established based on the mechanics balance and soil mechanics principle, the numerical simulation is performed based on mechanical model, finally, the theoretical curve of the helical blade and soil parameters on the torque is obtained, which provides theoretical base for further research.Then, in order to verify the correctness of theoretical curve, the test platform for test analysis of the spiral blade is developed. It mainly consists of the body structure, control system, data acquisition system. The body structure mainly include stepper motor, support plates, shaft couplings, sliders and rails, linear bearings, adjustment plates, the soil tank and other parts, the axial resistance for test effect is decreased by the sliders, the alignment of the connecting shaft is improved by adjustment plates. Control system hardware is mainly composed of STC89C51 microcontroller and corresponding development board, the speed regulation of stepper motor and the start-stop of motor are performed by control system. Data acquisition system consists of dynamic torque sensor, AMPCI-9110 data acquisition card and PC, it’s responsible for the real-time detection of motor drive torque, data collection and analysis is conducted by data acquisition card and the PC. In addition, the dynamic calibration is achieved by torque sensor, the relation curve between torque and the voltage signal is obtained in the available environment.Finally, the experimental research on driving torque of blade with structure parameters of blade, rotary speed and soil parameters is carried out by experimental platform, the theoretical curves are verified by test results, at the same time it shows that mechanics model for the study of move-in-mud robot of double-spiral provided certain guiding significance.