The purpose of this paper was to propose an automatic device based on a trenchless underground perforation and a path planning method to learn. Based on conservation of mechanical energy, the authors propose a pneumatic impact mechanism. Through the establishment of dynamic analysis of mathematical Model, the authors point out the relationship between the displacement of the piston segments, mass and output parameters. Through the development of its test system, the parameters and path correlation curves are acquired to point out the mutual connection and restrictive relationship. Several data and experimental analyses are described, showing that puncturing mud robot can realize steering and its impact reaches the level of trenchless laying pipes technology at home and abroad. With the proposed approach , it is possible for puncturing mud robot to squeeze the surrounding soil layer to form a circular hole and lay the trenchless pipeline to improve perforation performance.
展开▼
