Improvement And Optimization On The Head's Deflection Controlling Mechanism Of Controllable Impact Mole

" Under-ground Drilling Machine " robot is a kind of device that can walk by itself 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, " Under-ground Drilling Machine " robot has a great future in the aspects of paving underground pipe adopting the no-drill technology.Author carried on research about"Under-ground Drilling Machine " robot which is the steerable impact mole's product from the following several aspects: One: Using Drucker-Prager yield standard as judgment,set up limited unit analyse model of " Under-ground Drilling Machine " robot in the soil;Two: thrust analyse on"Under-ground Drilling Machine " robot;Three: on transfer direction problem of"Under-ground Drilling Machine " robot in the soil,raised hydraulic and barometrical schemes on transfer direction mechanism of"Under-ground Drilling Machine " robot.