The Construction Designing and Analyzing on Turning Device of "Dragon of Puncturing Mud" Robot

"Dragon of Puncturing Mud" robot is a special kind of robot which integrates equipment briefness and manipulating facility of impacting mole in trenchless technology, and high reliability, better aptitude and strong self applicability of robot designing - greatly increasing trenchless technology level. The robot is mainly made up of three parts including taper head, turning device and impacting equipment. There are broad appliance foreground and developing values as it can pave PE pipe, PVC pipe, cable and optical fiber cable under the mud. Through research into the deflective theory of steerable air-powered impact mole in trenchless technology at home and abroad, in this paper we put forward the design scheme of the deflective mechanism about "Dragon of Puncturing Mud" robot, exerting ingenious idea in the design of the turning device of the robot. The global gimbal structure was adopted and twain axes across as cross in turning device, so two freedom movements of one joint in the robot head, was realized. Moreover, the force endurance analysis of robot in the mud was put up and as well as the intension of the robot head and the key parts in the turning device were checked by using finite element method. Theory and test analysis and checking results indicate that this turning device is feasible. This paper can provide reference for collectivity design of "Dragon of Puncturing Mud" robot