| "穿地龙"机器人总体方案分析与研究 |
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| 引用本文： | 孟庆鑫,王茁,王殿君,王立权,屠治国."穿地龙"机器人总体方案分析与研究[J].哈尔滨工程大学学报,2003,24(3):292-295. |
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| 作者姓名： | 孟庆鑫 王茁 王殿君 王立权 屠治国 |
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| 作者单位： | 1. 哈尔滨工程大学,机电工程学院,黑龙江,哈尔滨,150001
2. 哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 黑龙江省科学技术计划(攻关)项目(20010101005-00). |
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| 摘 要： | 通过对国内外地下管线非开挖技术发展的分析,设计了应用于中、小管线铺设的“穿地龙”机器人,根据总体方案的要求,确定由气动二冲击机构、转向机构测试部件组成的本体方案,分析锥形钻头的旋转空间,针对机器人在土中的实际运行,确定机器人位置姿态、温度及压力等物理量的测量方案,最后,采用微机操作实现自动控制。
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| 关 键 词： | 非开挖 “穿地龙”机器人 锥形钻头 气动冲击 检测与控制 |
| 文章编号： | 1006-7043(2003)03-0292-04 |
| 修稿时间： | 2002年12月23 |
General scheme analysis of "dragon of puncturing mud"robot |
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| Abstract: | From the brief analysis of the developmed trenchless technology for underground pipes both at home and abroad, the concept of "dragon of puncturing mud"robot was put forward ,laying of middle and small pipelines and the collectivity scheme of robot was designed with the pneumatic impact force as the driving force of advancing, and two turning devices using hydraulic pressure and electricity were designed. The circumvolving vacuum of taper aiguille was analyzed. Considering the robot processing on mud, we made sure the physical quantity measure scheme was worked out for robot's position and gesture, turning direction, temperature and pressure etc. Finally, the auto control of robot was realized by computer operation. |
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| Keywords: | dragon of puncturing mud"robot taper aiguille pneumatic impact detection and control |
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