Application Of Trenchless Underground Perforating Robot Impact Steering Head

Aiming at the problem of high energy consumption of robot in trenchless technology at home and abroad,a new type of impact steering head of trenchless underground perforating robot was designed to guide the underground perforating work of robot in trenchless state.Formulated the differential hydraulic cylinder as the impact of the power supply scheme,can complete the same power supply to the impact of the robot to head in a straight line perforation job assignments and curve under the two states of steering and forward drive function,strengthen the robot run the overall coordination,ensure the quality of the work of the robot,as the trenchless technology provides a new device support.Firstly,based on the understanding of trenchless technology,combined with the design goal of trenchless underground perforated robot impact steering head,the body structure and hydraulic control scheme of impact steering head are designed.Solid Works software is used to draw the three-dimensional model of the impact steering head,and the motion of the impact steering head is analyzed.The kinematics simulation of the body and steering mechanism of the impact steering head is carried out,and the motion characteristics of the impact steering head are obtained.Secondly,the steering mechanism and the impact mechanism of the impact steering head are statically analyzed to determine whether the strength and stiffness of the two mechanisms meet the requirements of use.On the basis of statics analysis,the mode calculation of steering structure and impact mechanism is carried out by using ANSYS software,and the low-order natural mode shapes and frequencies are obtained to judge whether the two mechanisms will produce resonance when working.The dynamic characteristics of the two mechanisms of the impact steering head were verified by dynamic analysis.Finally,combined with ANSYS analysis files of impact steering head impact mechanism and steering mechanism and S-N curve of materials,combined with ANSYS and NCODE software to carry out fatigue life analysis,the fatigue life results of the two mechanisms are obtained,which shows that the mechanism meets the requirements of use.The above research results provide a design idea for the optimal design of the impact steering head of trenchless underground perforation robot,and also point out the direction for the structure upgrading of similar equipment,which has important reference value.There are 62 figures,14 tables and 54 references in this paper.