This paper introduces the epicyclic reduction arrangement applied in cutting drive mechanism inpipe jacking, analyses the construction and characteristics of epicyclic reduction arrangement.
介绍顶管掘进机截割传动装置所采用的行星齿轮减速器，论述行星齿轮减速器的结构特点。
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The paper gives the whole control system design of the in-pipe robot, which includes electro-magnet drive module, CPLD patulous module, wireless communications module, power module.