穿地龙机器人液压冲击与转向机构研究

Research on hydraulic impact and steeringmechanism of earth-piercing robot

针对国内外已有非开挖技术中的方向可控气动冲击矛能源消耗率高的问题,设计了一种新型的穿地龙机器人冲击与转向机构,研究穿地龙机器人在非开挖状态下的地下穿孔工作机理。制定了差动式液压缸作为动力源的冲击方案,用以完成同一动力源对机器人在直线穿孔作业和曲线穿孔工作两种状态下转向的驱动功能,保证穿地龙机器人的工作质量,增强机器人运行整体协调性。此结构的设计具有创新性,为非开挖技术提供了新的设备支持。

Since the trenchless technology at home and abroad suffers from high energy consumption rate of directional controllable pneumatic impact spear,a new impact and steering mechanism of earth-piercing robot is designed.Efforts are made to explore the working mechanism of underground perforation of the earth-piercing robot under the trenchless condition.The impact scheme of the differential hydraulic cylinder as the power source is developed,which is used to drive the steering of the robot under two states of straight line and curve perforation with the same power source,so as to ensure working quality of the robot and enhance overall coordination.The innovative structure design provides new equipment support for the trenchless technology.