“穿地龙”机器人的设计与综合  

Design and Integration of a Robot for Puncturing Mud

作　　者：孟庆鑫 张忠林[1] 王茁 曹立文 孙雪[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001

出　　处：《机械科学与技术》2006年第8期972-975,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：黑龙江省科学技术计划(攻关)项目(2001010100500)资助

摘　　要：介绍了具有非开挖技术的特种作业机器人“穿地龙”机器人系统的设计。该机器人系统主要包括:空心钻头、转向机构、测试系统、控制系统和冲击装置,它集成了非开挖技术中气动冲击矛的优点,加上机器人的设计思想于一身,可提高非开挖的技术水平。详细地叙述了“穿地龙”机器人的工作原理以及土中的轨迹规划问题,并进行了规划仿真研究,通过“穿地龙”机器人的穿孔实验验证了仿真结果的可靠性,为“穿地龙”机器人的工程化应用提供了理论参考。This paper presented the design of a special-operation type of a robot for puncturing mud that possesses trenchless technology. This system consists mostly of an empty-heart aiguilles, a turning device, a control system and impact equipment. It integrates the strong points of an impacting mole in trenehless technology with robot design ideas, thus raising trenchless technology levels. The working principle of the robot and the planning of robot trajectories in mud were described in detail, and the trajectory planning was simulated. Its boring test results prove that the simulation is reliable. What was presented in the paper provides a theoretical basis for the engineering application of the robot.

关 键 词：“穿地龙”机器人 非开挖技术 转向机构 冲击装置 轨迹规划 

分 类 号：TH137.7[机械工程—机械制造及自动化]