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Advancing- Impacting Capability Research on Puncturing Mud Robot Zhonglin ZHANG1,2, Liquan WANG1 , Xiufen YE2 1)College of Mechanical and Electrical Engineering; 2)College of Automation Harbin Engineering University nantong street 145, Harbin 150001, China goodluck_zh Abstract - 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. Through researching on impacting construction of steerable air-powered impact mole in trenchless technology at home and abroad, the driving device of puncturing mud robot was designed. The device machinery character and work principle is recounted and device three-dimensional model was established and device virtual assembly was finished. The parameter equation of driving device was educed and effect from main 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 indicates also that this driving device can meet puncturing power need. This paper can provides reference for collectivity design of puncturing mud robot. Index Terms -Puncturing Mud Robot; Trenchless Technology; Driving Device; Testing Capability I. INTRODUCTION With the rapid development of the city, from the beginning of 1970, trenchless technology has been spread appliance for paving pipe in the earth. In the case of a little digging, this technology can detect, check, repair, renew and pave various under-earth pipe or cable and so on. Now trenchless technology mainly includes 1, 2 paving technique for example directional drilling, impacting mole, easy pipe method, horizontal spiral drilling, pipe-rammer et al and every no-dig pipe repairing and detecting technique. Thereinto, pneumatic impacting mole is one of very spread appliance no-dig equipment as it has many characteristic liking simple device, convenient manipulation and a few invest. Its development has several decade history, muscovite has already devised no-valve pneumatic impacting mole in 1960. Afterward, Germanic Tracro-Technik, American Vermeer?CASE developed the same product one after the other. Directional impacting mole made by Germanic Tracro- Technik corporation in 2000 is best representative of all products. Its working theory (as fig.1) is that pose parameters of impacting mole were fed back by left workman. If advanced trajectory need adjusted, right workman turns directional pipe, torque was transferred to turning device and the head was driven to swing definite angle, so the adjusting trajectory is realized. Output power from to-and-fro moving creates its advanced driving power to accomplish boring construction. This paper used for reference the character of impacting mole 3, 4 the direction controlled, according to the working theory of puncturing mud robot, the design thought on driving device of robot was presented and its working capability was analyzed. Now, please lets introduce its theory. II. DESIGN AND VIRTUAL ASSEMBLY ON DRIVING DEVICE The driving device of puncturing mud robot (as fig.2)mostly includes linking part, gas jar, impacting piston assembly, gas distributive pole core, gas distributive pole seat, gas jar back cover, gas pipeline linking and parts so on. Thereinto, impacting piston assembly is made up of 3.impacting piston, 4.loop part and 6.piston loop part. The gas hole connecting from front to back cavity was opened in impacting piston. The moving of impacting piston is controlled by feedback implement from cooperating of the gas Fig.1 impacting mole working theory 12345768 a b 9 ?c? ?d 1.linking part 2.gas jar 3. impacting piston 4. loop part 5. gas distributive pole core 6.piston loop 7. gas distributive pole seat 8. gas jar back cover 9 gas pipeline linking a. front gas cavity b. back gas cavity c. piston gas pipeline d. gas pipeline ? fig.2 robot driving device 978-1-4244-3608-8/09/$25.00 2009 IEEE. 632 Proceedings of the 2009 IEEE International Conference on Information and Automation June 22 -25, 2009, Zhuhai/Macau, China hole and gas distributive pole core. In order to avoid rigid contacting between piston and jar inner wall and decrease friction force, linking part makes piston keep floating case. Depend on itself springiness, piston loop part effect to prevent gas from releasing. The driving device power comes from connecting air compressor with 9 gas pipeline linking part. It is indicated that this driving device has character as follows simple device, a few parts, high quality, little rebounding power. The driving device was split into every part and virtual assembly 5 on driving device is as fig.3. ?nterference checking was put up as well as and the results indicated that every part assembly has not interference. III. WORKING PRINCIPLE OF DRIVING DEVICE Movement of driving device piston is to-and-fro impacting, its working course is divided into advance impacting and backtrack impacting. 3.1 advance impacting course In fig.2, piston situation is at beginning phase of impacting course. According to dynamical course of gas working, the advance impacting course of piston is separated into constant acceleration, varying accelerated and deceleration impacting. 1?constant acceleration?piston moving displacement is S1 Piston is driven accelerating by compressed air P0 from gas pipeline linking part 9 through gas pipeline d to back gas cavity (b). With moving of piston, the gas of front gas cavity(a) in gas jar is thrown off from front hole? through gap? between piston and gas jar, gas hole in piston(c),gap? between gas distributive pole core and piston hole, gas hole? of gas distributive pole seat, gap? between gas jar back cover and gas pipeline linking part to outside. Gas sealing between gap ? and gas cavity (b) used labyrinth sealing of gas distributive pole core5, so air pressure in gas cavity (a) is constant and air pressure in gas cavity (b) is P0=0.70.8 MPa. Here, piston movement is constant acceleration and piston displacement is S1. 2?varying accelerated?piston moving displacement is S2 After moving S1, the gas of piston hole (c) is sealed fully by gas distributive pole core. Air pressure in gas cavity (b) is still P0 and air in gas cavity (a) is sealed by pole(c). Here, the air in gas cavity (a) is compressed and considered as adiabatic course because of a little time. At the same time, the resistance is created to piston moving, so piston movement is varying accelerated and in S2 piston velocity reaches to max. 3?deceleration impacting After moving S2, piston hole (c) is undone by gas distributive pole core and connected with gas cavity (b). Here, air P0 in gas pipeline (d) enter into gas cavity (a) from gas cavity (b), through piston hole (c), gas pipeline? and ?. As the diameter of gas cavity (a) is bigger than gas cavity (b) and function force of gas cavity (a) is better than gas cavity (b), thus, piston movement is deceleration impacting and piston displacement is S3. Finally, the piston impacts to front of gas jar with definite velocity, advance impacting course is end and total piston displacement is S=S1+S2+S3. 3.2 The backtrack impacting course On the contrary, the backtrack impacting course can been considered as reverse of advance impacting course and separated into reverse constant acceleration, varying accelerated and deceleration impacting gas jar back cover. The relevant backtrack piston displacement is also S=S1+S2+S3. Thereby, from beginning of piston movement, based on piston impacting front and back cover of gas jar, the vibrations-itself is established with definite frequency and velocity. By adjusting beginning place of gas hole(c) and gas distributive pole core, velocity and direction of robot advanced and backtrack in the earth can be controlled. IV. EFFECTING FROM MAIN PARAMETER TO OUTPUT CAPABILITY Effecting element from main parameter to output capability (as impacting work, impacting frequency et al) of driving device includes air pressure (P0), piston quality (m), every phase displacement(as named gas distributive parameter S1,S2,S3). According to main parameter as basic data, parameter and output capability equation of driving device was educed. And then by only changing parameter analyzed, effect from main parameter to output capability was analyzed. The relation between air pressure of gas cavity (a,b) and piston displacement is as fig.4. For example advance impacting course, parameter dynamic equation established on driving device are as follows. Impacting work(E) of driving device is as formula(1). 2 /2Emv? (1) Thereinto: m?impacting piston quality, kg v ?piston impacting velocity, m/s After basic parameters of impacting device were defined, piston quality is relation to machinery dimension and impacting velocity is to air compressed work. As constant acceleration (displacement is S1 of fig.4), air pressure in gas cavity (b) is P0, air pressure in gas cavity (a) is P1, piston friction is constant F, so there are nether expression. ? 22 101 / 4 adpDpFm ? ? ? ? (2) 9 1 2 3 4 5 7 6 8 1.gas jar 2.loop part 3.impacting piston 4.piston loop 5.loop part 6.gas distributive pole core 7.gas distributive pole seat 8.gas jar back cover 9.gas pipeline linking Fig. 3 virtual assembly on driving device 633 111 2/tSa? (3) 111 2vSa? (4) Thereinto: a1 ?acceleration in displacement S1 phase, m/s2 t1 ?time in S1,s v1 ?velocity in S1, m/s? d ?diameter of gas cavity (b), m D ?diameter of gas cavity (a), m As varying accelerated (displacement is S2 of fig.4), work from air in gas cavity (b) is plus and work from air in gas cavity (a) is minus. For air adiabatic course, there is PVk=const, k is adiabatic coefficient. so there are nether formula. 1 1 11 k s V pp VA S ? ? ? ? ? (5) ? 001 / ss apApAFm? (6) 2 0 4 Ad ? ? (7) 2 1 4 AD ? ? (8) Thereinto: Ps ?air pressure in gas cavity (a) as displacement is s, MPa V1 ?beginning volume in gas cavity (a),m3 S ?piston displacement, m as ?acceleration in displacement S, m2/s k ?adiabatic coefficient, commonly k=1.41 Formula (9) is educed from formula (5),(6),(7). 2 2 221 01 2 1 / 4(/4) s k d s a dt V pdpDFm VDs ? ? ? ? ? ? ? ? ? ? ? ? (9) Beginning condition is: t0=0,s0=0,v0=v1, End displacement is: S1=S2, thus velocity v2 and time t2 can been calculated in displacement S2. As deceleration impacting (displacement is S3 of fig.4), there is compressed air P0 in gas cavity (a,b). so piston is driven to impact gas jar front cover by dispersion between gas cavity a and b. so there are nether expression. ? 22 30 / 4 aDdpFm ? ? ? ? (10) 3233 vvat? (11) 2 3233 0.5Svtat? ? (12) Thereinto: a3?acceleration in displacement S3 phase,m/s2 v3?piston impacting velocity, m/s t3 ?time in displacement S3, s The relevant advance impacting time tc=t1+t2+t3. By the same theory, backtrack impacting time tb and velocity v1?can been computed. Piston moving periods T=tc+tb and relevant frequency p=1/T. The beginning velocity of backtrack impacting is defined by formula (13). 3 w w mme vv mm ? ? ? (13) begin give beginning value:P0,P1,D,d,F,m give beginning value:S1,S2, S3 advance impacting calculating V30 N S1= S1+1 or S3= S3-1 S1= S1-1 or S3= S3+1 Y V10 backtrack impacting calculating N Y V3 V1 end as advance output S1,S2,S3 as backtrack outputS1,S2,S3 output p,T V3, V1,S output p,T V3, V1,S Y N Fig. 5 simulation calculating frame on parameter of driving device Fig.4 the relation between air pressure of gas cavity (a,b) and piston displacement P1 S2 S1 S3 P0 P2 (gas cavity b) P1 P0 P2 Si Si+1 S1 S3 (gas cavity a) S2 634 3 (1) w e m uv mm ? ? ? (14) Thereinto: v?velocity after piston impacting, m/s u ?advance velocity of impacting machine, m/s mw ?all machine quality not including piston, kg e ?renew coefficient, for impacting steal to steal, e=0.56 By programming in Matlab, dynamic simulation on driving device was put up and its calculating frame is as fig.5. The calculating results are as fig.6,7,8, there into, vc is advance impacting velocity and vd is backtrack impacting velocity. By analyzing fig6, it is knowable that with increasing of S1, impacting work E and impacting velocity vc also increase, more then, frequency p and backtrack velocity vd decrease. This indicates that displacement S1 brings mail effect to impacting work and impacting velocity in constant acceleration. By analyzing fig7, it is known that with increasing of S2, impacting work E and impacting velocity vc still increase, but no more obvious than effect of S1. As decreasing of acceleration, more then moving time increases, so frequency p decreases too. Commonly, S2 can be increased in order to improve output capability. Contrarily, in deceleration impacting course, effect of can make piston impacting velocity decrease and backtrack velocity increase. By analyzing fig8, it is known that with increasing of S3, impacting work E, impacting velocity vc and frequency p decrease, more then backtrack velocity vd increase. it is obvious that S3 is determinant element to backtrack velocity. Thereby, under definite impacting velocity and work condition, S3 properly increased is favorable for improving vibratility of device. ?. CAPABILITY TESTING EXPERIMENT The measurement system established includes impacting device, forces sensor, transmitter, electrical source, oscilloscope, singlechip sampled system and computer system (as fig.9) and impacting force was directly test. The testing results on main capability parameter were as fig.10. fig.6 effect from S1 to capability parameter 0 10 20 30 40 50 60 2.5 3 3.5 4 0 10 20 30 40 50 60 0 0.5 1 1.5 2 2.5 3 0 10 20 30 40 50 60 15 20 25 30 35 40 0 10 20 30 40 50 60 6 6.2 6.4 6.6 6.8 7 7.2 (a) (b) (c) (d) vc(m/s) vd (m/s) p (Hz) E (J) S1 () S1 () S1 ( S1 ( fig.7 effect from S2 to capability parameter 30 40 50 60 70 80 90 100 2.8 3 3.2 3.4 30 40 50 60 70 80 90 100 1. 2 1. 4 1. 6 1. 8 2 30 40 50 60 70 80 90 100 20 22 24 26 28 30 30 40 50 60 70 80 90 100 6 6.2 5 6.5 6.7 5 7 7.2 5 7.5 (a) (b) (c) (d) vc(m/s) vd (m/s) p (Hz) E (J) S2? (m S2? (mm) S2? (m S2? (m fig.8 effect from S3 to capability parameter 20 30 40 50 60 70 80 2.8 3 3.2 3.4 20 30 40 50 60 70 80 1.4 1.6 1.8 2 2.2 2.4 2.6 20 30 40 50 60 70 80 20 22 24 26 28 30 20 30 40 50 60 70 80 6 6.25 6.5 6.75 7 7.25 7.5 7.75 (a) (b) (c) (d) vc(m/s) vd (m/s) p (Hz) E (J) S3 (mm) S3(mm) S3 (mm) S3(mm) b. forces sensor c. control on/off valve d. sampled system e. computer system a. impacting device Fig.9 measurement system on driving device 635 Impacting work E in fig.10 is defined by formula (15). 2 2 1 1 /2 2 F t Emvm m ? ? ? ? ?15? Thereinto: t?effecting time of impacting force,s F1?impacting force measured,N Academic value comparing with experiment value on effect from air feed pressure to impacting capability is as fig.10. With increasing of air feed pressure, impacting work, impacting velocity and frequency all increase. Experiment result is very close to academic value by contrasting between academic value and experiment value. ?. CONCLUSION By design and research on rotational skirt of mating device, the conclusion was drawn as follows. 1) The assembly design indicated two-joint rotational skirt scheme of the mating device can meet working space of underwater vehicle passageway and there is not interference phenomenon, and as well as structure analyzing make known that