General capability analyzing and research on puncturing mud robot

Puncturing mud robot is a kind of trenchless device that can walk by itself in the earth. There are abroad appliance foreground and developing value as it can mainly pave PE pipe, PVC pipe, cable and optical fiber cable under the mud. In this paper, turning and driving capability are analyzed and through researching on impacting construction of steerable air-powered impact mole in trenchless technology at home and abroad, total structure of puncturing mud robot was designed. The turning and driving device machinery character and work principle is recounted and device three-dimensional model was established and device virtual assembly was finished. The driving parameter equation was educed and effect parameter to output capability was analyzed. Based on analysis result, testing of impacting capability about driving device was put up and the academic result of the impacting capability was validated. The testing result can provides reference for engineering design of puncturing mud robot.