Rope-driven type plant root sheath imitating anchoring mechanism

Abstract

The invention relates to the technical field of anchoring, and discloses a rope driving type plant root sheath imitating anchoring mechanism which comprises a hollow anchoring drill bit, a rope driving device and a rope driving device. The root sheath anchoring assembly is arranged in the anchoring drill bit, the root sheath anchoring assembly comprises two flexible drill rods, and one ends of the two flexible drill rods extend to the outside of the anchoring drill bit and are used for reinforcing anchoring of the anchoring drill bit to the planetary ground. According to the rope-driven type plant root sheath imitating anchoring mechanism, by referring to the structural characteristics of a plant root sheath, a flexible drill rod is adopted as an anchoring assembly, the flexible drill rod can go deep into the planet ground like a plant root system when stretching out, drill rod barbs on the surface of the drill rod can pop out and expand after stretching out, the anchoring force is further enhanced, and the anchoring effect is improved. Due to the bionic design, the device can better adapt to complex terrain and geological conditions on the surface of the asteroid, the anchoring stability and reliability are improved, and the problem that a traditional anchoring device is prone to being unstable in anchoring on the surface of the asteroid is effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of anchoring technology, in particular to a rope-driven plant root sheath imitating anchoring mechanism. BACKGROUND

[0002] As important relics of the early formation and evolution of the solar system, asteroids contain rich mineral resources, and their exploration has extremely important value and significance for revealing the origin of life and conducting resource exploration. In recent years, asteroid exploration has become a research hotspot internationally. However, the universal gravitation of asteroids is extremely low, mostly in the order of 10 -3 -10 -5 g, the gravity can be ignored, and the escape velocity is as low as 20 cm / s. During landing, the counter-thrust generated by the lander, the reaction force generated by the sampling mechanism, and the radiation force and magnetic field force in space may all push the lander away from the asteroid surface. Therefore, designing a reasonable anchoring device to enable the lander to stay on the asteroid surface stably for a long time is one of the key technologies for asteroid exploration.

[0003] Currently, the existing anchoring technology has many defects and deficiencies in asteroid exploration. On the one hand, the extreme environment on the surface of the asteroid, unknown geological conditions, and limited carrying capacity of the lander pose great challenges to the anchoring of the lander. The traditional anchoring device is often difficult to adapt to the complex terrain and geological conditions on the surface of the asteroid, and problems such as unstable anchoring and structural damage may occur. On the other hand, the existing anchoring technology has limitations in transmission mode, such as belt transmission and chain transmission, which may have problems such as transmission jamming, excessive friction, and severe wear, making it difficult to meet the requirements of high-efficiency and reliable transmission of the anchoring device in asteroid exploration missions.

[0004] In summary, the existing asteroid explorer anchoring technology has obvious deficiencies in adapting to complex environments and efficient transmission, and cannot meet the needs of asteroid exploration missions. Therefore, there is an urgent need for a new type of anchoring mechanism that can draw on the bionic configuration of plant root sheaths and combine the advantages of rope-driven transmission to achieve efficient and reliable anchoring function, thereby improving the stability and reliability of the asteroid explorer on the surface of the asteroid. SUMMARY

[0005] (I) Technical problems solved

[0006] In view of the deficiencies of the prior art, the present application provides a rope-driven plant root sheath imitating anchoring mechanism to solve the problem that the traditional anchoring device is often difficult to adapt to the complex terrain and geological conditions on the surface of the asteroid, and is prone to problems such as unstable anchoring and structural damage.

[0007] (II) Technical solutions

[0008] In order to achieve the above object, the present application provides the following technical scheme: a rope-driven plant root sheath anchoring mechanism, comprising:

[0009] A hollow anchor drill bit;

[0010] A root sheath anchoring assembly arranged inside the anchor drill bit, comprising two flexible drill rods, and one end of each of the two flexible drill rods extending to the outside of the anchor drill bit for reinforcing anchoring of the anchor drill bit to the planet ground;

[0011] A driving assembly arranged inside the anchor drill bit, comprising two probe units for probing the two flexible drill rods and a rope driving unit for driving the two probe units.

[0012] Preferably, the inside of the anchor drill bit is fixedly connected with a storage frame for storing the flexible drill rods, and the inside of the storage frame is provided with a partition plate;

[0013] The bottom of the storage frame is fixedly connected with two guide pipes, the bottom ends of the two guide pipes extend to the outside of the anchor drill bit, and the two flexible drill rods are respectively probed through the two guide pipes.

[0014] Preferably, the outer surfaces of the two flexible drill rods are fixedly connected with a plurality of groups of drill rod barbs;

[0015] The plurality of groups of drill rod barbs are made of memory alloy material.

[0016] Preferably, the rope driving unit comprises two annular ropes, two upper transition pulleys, two lower transition pulleys, two driving wheels, and a transmission member for transmitting the two annular ropes;

[0017] The two driving wheels are used to drive the two probe units through rotation of the driving wheels, and the flexible drill rods inside the guide pipes are probed through the two probe units.

[0018] Preferably, the transmission member comprises a protective cover fixed inside the anchor drill bit, the inside of the protective cover is rotatably connected with two transmission wheels, and the two transmission wheels are drivingly connected through intermeshing gear wheels;

[0019] The inside of the protective cover is fixedly connected with a motor for rotationally driving one of the transmission wheels.

[0020] Preferably, the outer surface of the guide pipe is provided with two groove notches;

[0021] The probe unit comprises two clamping plates for clamping the flexible drill rods, which are slidingly connected through a guide rod group;

[0022] The two sides of the driving wheel are fixedly connected with convex plates for the up-down movement of the two clamping plates;

[0023] The outer side of the clamping plate closest to the driving wheel is fixedly connected with a stress block.

[0024] Preferably, the opposite sides of the two clamping plates are fixedly connected with clamping protrusions for clamping the flexible drill rod;

[0025] The two clamping plates are fixedly connected with a spring set, and the two clamping plates are hingedly connected with two V-shaped hinged frames.

[0026] Preferably, the inside of the anchor drill is provided with an adjusting assembly for adjusting the protruding angle of the two flexible drill rods.

[0027] (Three) beneficial effects

[0028] Compared with the prior art, the present application provides a rope-driven plant root sheath simulation anchoring mechanism, which has the following beneficial effects:

[0029] The present application adopts flexible drill rods as anchoring components, which can penetrate into the surface of the planet like plant roots when stretched out, and the drill rod barbs on the surface of the drill rod will pop out and expand after stretching out, further enhancing the anchoring force. The bionics design makes it better adapt to the complex terrain and geological conditions on the surface of the asteroid, greatly improving the stability and reliability of anchoring, and effectively solving the problem of loose anchoring of traditional anchoring devices on the surface of the asteroid.

[0030] The present application adopts a rope driving unit to drive the flexible drill rod to protrude out. Compared with the traditional belt drive, chain drive and other modes, the rope drive has the advantages of large transmission force or torque and high flexibility. The toughness of the rope can prevent transmission from being stuck to a certain extent. At the same time, by setting a transition pulley mechanism, the angle of the rope during transmission is ensured to be appropriate, avoiding the problem of wear or sticking caused by excessive rope angle and increased friction due to limited space, thereby improving the reliability and stability of the driving system and better meeting the requirements of high efficiency and reliable transmission of the anchoring device in the asteroid exploration mission. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a structural schematic view of the present application;

[0032] Figure 2 is a structural sectional view of the present application;

[0033] Figure 3 is a structural schematic view of the adjusting assembly of the present application;

[0034] Figure 4The combination of the driving assembly and the root sheath anchoring assembly of the present application;

[0035] Figure 5 The structural diagram of the rope driving unit of the present application;

[0036] Figure 6 The transmission diagram of the rope driving unit and the probe-out unit of the present application;

[0037] Figure 7 The partial diagram of the guide tube of the present application;

[0038] Figure 8 The partial diagram of the probe-out unit of the present application.

[0039] In the figure: 100, anchoring drill bit;

[0040] 200, root sheath anchoring assembly; 201, flexible drill pipe; 202, storage frame; 203, guide tube; 204, drill pipe barb; 205, groove notch;

[0041] 300, driving assembly;

[0042] 310, probe-out unit; 311, guide rod group; 312, clamping plate; 313, elastic telescopic rod; 314, convex disc; 315, V-shaped hinged frame; 316, force receiving block;

[0043] 320, rope driving unit; 321, annular rope; 322, upper transition pulley; 323, lower transition pulley; 324, driving wheel; 325, protective cover; 326, transmission wheel; 327, gear;

[0044] 400, adjusting assembly; 401, ball; 402, adjusting cylinder; 403, H-shaped block; 404, movable shaft; 405, movable shaft. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0046] Embodiment 1:

[0047] Referring to the drawings Figures 1 to 8 A rope driving type plant root sheath anchoring mechanism, comprising:

[0048] The hollow anchoring drill bit 100;

[0049] The root sheath anchoring assembly 200 is arranged in the inside of the anchoring drill bit 100, the root sheath anchoring assembly 200 comprises two flexible drill rods 201, and one end of each of the two flexible drill rods 201 extends to the outside of the anchoring drill bit 100, for reinforcing anchoring of the anchoring drill bit 100 to the planet ground;

[0050] The root sheath anchoring assembly 200 is in a plant root sheath type, is made of flexible material, is convenient for storage in the inside of the anchoring drill bit 100 and free extension, the drill rod mechanism is provided with barbs, the barbs are ejected when the drill bit is deep, and anchoring force is increased; as the application scene is mainly landing on an asteroid rubble pile, the application adopts bionics, and the plant root sheath has good anchoring force;

[0051] The driving assembly 300 is arranged in the inside of the anchoring drill bit 100, the driving assembly 300 comprises two extension units 310 for extending the two flexible drill rods 201 and a rope driving unit 320 for driving the two extension units 310;

[0052] The rope driving unit 320 in the driving assembly 300 can drive the two extension units 310, so that the two extension units 310 are synchronously and automatically driven, and then the two flexible drill rods 201 in the root sheath anchoring assembly 200 are extended from the inside of the anchoring drill bit 100, and root sheath anchoring is formed.

[0053] It should be noted that the rope driving unit 320 adopts a rope driving form, the required transmission force or torque meets the requirements; and compared with belt transmission and chain transmission, the rope driving unit 320 has higher flexibility, the toughness of the rope can prevent transmission jamming and the like to a certain extent, and the transition pulley mechanism is added to the rope driving unit 320, so that the angle of the rope in the transmission process is appropriate, and the rope angle is prevented from being too large due to limited space, the friction force is prevented from being increased, and the rope is prevented from being jammed or worn.

[0054] The plant root sheath is a clever structure in nature, and through various mechanisms, the key root shape for improving plant water and nutrient utilization can provide sufficient anchoring torque for the plant, so that the plant is fixed in the soil.

[0055] Meanwhile, the flexibility of the root system enables the root system to grow and be fixed in a hard object environment such as a rock or a rubble pile, and the root system will not be structurally damaged. The interaction between the plant root sheath and the soil provides important bionic inspiration for the design of the anchoring device of the asteroid probe.

[0056] The rope driving mode has the advantages of large transmission force or torque and high flexibility, can effectively overcome the shortcomings of the traditional transmission mode, and provides a new train of thought for the driving mode design of the anchoring mechanism

[0057] Referring to the accompanying drawings Figure 2-Figure 5The inside of the anchor drill bit 100 is fixedly connected with a storage frame 202 for storing the flexible drill pipe 201, and the inside of the storage frame 202 is provided with a partition plate; through the arrangement of the storage frame 202, the flexible drill pipe 201 in the root sheath anchoring assembly 200 is stored, and the partition plate is used for separating the two flexible drill pipes 201 to prevent mutual interference therebetween;

[0058] The bottom of the storage frame 202 is fixedly connected with two guide pipes 203, the bottom ends of the two guide pipes 203 extend to the outside of the anchor drill bit 100, and the two flexible drill pipes 201 respectively extend out through the two guide pipes 203;

[0059] The two guide pipes 203 are respectively used for guiding the two flexible drill pipes 201 inside the storage frame 202, so that the two flexible drill pipes 201 can better extend out from the inside of the storage frame 202 to form a root sheath anchoring work.

[0060] Referring to the accompanying drawings Figure 2 and Figure 4 The outer surfaces of the two flexible drill pipes 201 are fixedly connected with a plurality of groups of drill pipe barbs 204; the plurality of groups of drill pipe barbs 204 are made of memory alloy, so that the drill pipe barbs 204 can be initially collected on the surface of the flexible drill pipe 201, and the memory alloy can be unconstrained and pop out one by one when the barbs extend out of the hole, becoming an expanded state to complete the anchoring effect;

[0061] Through the movement of the flexible drill pipe 201 inside the guide pipe 203, the extension trajectory of the flexible drill pipe 201 through the guide pipe 203 can be limited, the flexibility of the flexible drill pipe 201 can be improved, and the drill pipe barbs 204 on the outer surface of the flexible drill pipe 201 can be contracted and limited.

[0062] Referring to the accompanying drawings Figure 2 、 Figure 4 and Figure 5 The rope driving unit 320 includes two annular ropes 321, two upper transition pulleys 322, two lower transition pulleys 323, two driving wheels 324, and a transmission member for transmitting the two annular ropes 321;

[0063] The two annular ropes 321 are respectively wound and connected with the outer surfaces of the two upper transition pulleys 322, the two lower transition pulleys 323, and the two driving wheels 324, and the annular rope 321 is wound at least one turn when being wound and connected; through the annular movement of the transmission member to the two annular ropes 321, the two driving wheels 324 can be driven to rotate, forming the driving work of the two extension units 310;

[0064] It needs to be explained here that through the setting of the upper transition pulley 322 and the lower transition pulley 323, the angle formed by the annular rope 321 between the transmission member and the driving wheel 324 is suitable, avoiding the increase of the rope angle due to limited space, the increase of friction, and the generation of wear or jamming.

[0065] The two driving wheels 324 are used to drive the two probe-out units 310 through their rotation, and the flexible drill rods 201 inside the guide pipe 203 are probed out through the two probe-out units 310.

[0066] Through the transmission connection of the two driving wheels 324 with the two probe-out units 310, the rotation of the two driving wheels 324 can directly drive the two probe-out units 310, so that the two probe-out units 310 automatically probe out the two flexible drill rods 201.

[0067] Referring to the accompanying drawings Figure 4 and Figure 5 The transmission member includes a protective cover 325 fixed inside the anchor drill bit 100, the inside of the protective cover 325 is rotatably connected with two transmission wheels 326, and the two transmission wheels 326 are transmissionally connected through intermeshing gears 327, and the two annular ropes 321 are woundly connected with the outer surfaces of the two transmission wheels 326.

[0068] The intermeshing gears 327 transmissionally connect the two transmission wheels 326, so that one of the transmission wheels 326 can synchronously drive the other transmission wheel 326 to rotate when rotating, forming synchronous and symmetrical rotation of the two transmission wheels 326, and further ensuring synchronous driving of the two probe-out units 310.

[0069] Here, the two annular ropes 321 are woundly connected with the outer surfaces of the two transmission wheels 326, and the annular rope 321 is wound at least once when woundly connected, which ensures better circulation of the annular rope 321 through the transmission wheel 326, and further forms the rotational driving work of the driving wheel 324.

[0070] The inside of the protective cover 325 is fixedly connected with a motor for rotational driving of one of the transmission wheels 326.

[0071] The motor is connected with the control system of the outside, which is a forward and reverse motor, and is set in the connection mode and coding mode of the prior art, for driving one of the transmission wheels 326 to rotate.

[0072] Referring to the accompanying drawings Figure 6 and Figure 7 The outer surface of the guide pipe 203 is provided with two recessed notches 205.

[0073] Through the setting of the two groove gaps 205, the protruding end of the subsequent protruding unit 310 is directly in contact with the flexible drill rod 201 inside the guide pipe 203, forming the protruding work of the flexible drill rod 201;

[0074] It should be noted here that the two groove gaps 205 are provided, and the flexible drill rod 201 is in an exposed state, as shown in Figure 7 , so that the protruding end of the protruding unit 310 does not contact the guide pipe 203 when it contacts the flexible drill rod 201.

[0075] The protruding unit 310 includes two clamping plates 312 for clamping the flexible drill rod 201, which are connected to the guide rod group 311 by sliding connection;

[0076] The two clamping plates 312 are connected to the guide group 311 by sliding connection, and the two clamping plates 312 are provided to clamp the flexible drill rod 201 inside the guide pipe 203 through the groove gap 205;

[0077] The two sides of the drive wheel 324 are fixedly connected with the convex disc 314 for the up and down movement of the two clamping plates 312;

[0078] The convex disc 314 is fixedly connected on both sides of the drive wheel 324, so that when the drive wheel 324 rotates, it can directly drive the convex disc 314 to rotate synchronously, and through the rotation of the convex disc 314, the two clamping plates 312 can move along the diameter direction of the guide pipe 203, forming the protruding work of the flexible drill rod 201.

[0079] Embodiment 2: Different from embodiment 1 is that

[0080] Referring to the accompanying Figure 6 and Figure 8 , the outer surface of the convex disc 314 is provided with at least one convex portion, and the radius of the annular ring A of the convex portion is greater than the straight line distance of the clamping plate 312 closest to the drive wheel 324;

[0081] At least one convex portion is provided on the outer surface of the convex disc 314, which facilitates the downward driving of the clamping plate 312 by the convex portion, forming the protruding work of the flexible drill rod 201, and the increase in the number of convex portions can form flexible drill rod 201 protruding driving work of different frequencies;

[0082] In the embodiment, the radius of the annular ring A of the convex part is greater than the straight line distance of the clamping plate 312 closest to the driving wheel 324, so that when the convex part is driven to rotate by the convex disc 314, the convex part can not only form a downward thrust on the clamping plate 312 to form the protruding work of the flexible drill rod 201, but also form a transverse thrust on the clamping plate 312 to move the clamping plate 312 to the direction of the guide pipe 203 to form the self-clamping work of the flexible drill rod 201, and the linkage function of clamping and protruding of the flexible drill rod 201 is achieved.

[0083] The outer side of the clamping plate 312 closest to the driving wheel 324 is fixedly connected with a stress block 316.

[0084] The setting of the stress block 316 facilitates the driving of the convex part on the convex disc 314 on the driving wheel 324, so that the stress block 316 moves downward to drive the flexible drill rod 201 clamped by the two clamping plates 312 to move downward to form the protruding work of the flexible drill rod 201.

[0085] The opposite sides of the two clamping plates 312 are fixedly connected with clamping protrusions for clamping the flexible drill rod 201.

[0086] The setting of the clamping protrusions on the inner sides of the two clamping plates 312 facilitates the clamping of the exposed flexible drill rod 201 by the clamping protrusions through the groove gap 205 when the two clamping plates 312 move in opposite directions.

[0087] The two clamping plates 312 are fixedly connected with a spring set, and the two clamping plates 312 are hingedly connected with two V-shaped hinged frames 315.

[0088] The fixing of the spring set between the two clamping plates 312 facilitates the extrusion of the two clamping plates 312 by the elastic force of the spring set, so that the two clamping plates 312 are in an unfolded state when they are not subjected to other pressure, and the two clamping plates 312 are in a non-contact state when they are reset upward after moving downward.

[0089] In the embodiment, the setting of the V-shaped hinged frame 315 between the two clamping plates 312 facilitates the movement of one of the clamping plates 312 to the direction of the guide pipe 203, and the synchronous movement of the other clamping plate 312 to the direction of the guide pipe 203, so that the two clamping plates 312 clamp the flexible drill rod 201 through the groove gap 205, and the clamped flexible drill rod 201 moves downward to form the protruding work of the flexible drill rod 201.

[0090] It should be noted here that the V-shaped hinged frame 315 is composed of two symmetrical inclined hinged frames, one end of the two hinged frames is hinged, and the other end is respectively hinged with two clamping plates 312;

[0091] The guide rod group 311 is composed of a plurality of guide rods, and both ends of the plurality of guide rods are provided with limiting protrusions for limiting the clamping plate 312;

[0092] In this embodiment, the guide rod group 311 is fixed in the inside of the anchor drill bit 100 through the elastic telescopic rod 313, and the telescopic track of the elastic telescopic rod 313 is parallel to the guide pipe 203, which facilitates the telescopic movement of the two clamping plates 312 connected with the guide rod group 311 along the pipeline direction of the guide pipe 203, and in turn facilitates the telescopic movement of the flexible drill pipe 201 clamped by the two clamping plates 312.

[0093] Embodiment 3: Different from embodiment 1 is that;

[0094] Referring to the accompanying drawings Figure 1 And Figure 3 The inside of the anchor drill bit 100 is provided with an adjusting assembly 400 for adjusting the protruding angle of the two flexible drill pipes 201;

[0095] The adjusting assembly 400 includes two ball bodies 401 movably connected to the bottom outer surface of the anchor drill bit 100, and the two guide pipes 203 extend to the outside of the anchor drill bit 100 through the two ball bodies 401 respectively, and the two guide pipes 203 are fixedly connected with the inside of the two ball bodies 401 respectively;

[0096] By rolling the two ball bodies 401 in the adjusting assembly 400 on the shell of the anchor drill bit 100, the angle of the guide port of the guide pipe 203 can be adjusted, and in turn the protruding angle of the flexible drill pipe 201 can be changed, and in turn the root sheath anchoring work of different angles can be realized;

[0097] The guide pipe 203 includes an upper pipe body connected with the storage frame 202 and a lower pipe body connected with the ball body 401, and the upper pipe body and the lower pipe body are connected by a movable joint sleeve;

[0098] The guide pipe 203 is composed of an upper pipe body and a lower pipe body, and the upper pipe body and the lower pipe body are connected by a movable joint sleeve, which ensures the protruding guiding work of the flexible drill pipe 201 on the upper half of the guide pipe 203, and also ensures the smoothness of the protruding angle adjustment of the guide pipe 203;

[0099] The inner bottom of the anchor drill bit 100 is fixedly connected with an adjusting cylinder 402, and the telescopic end of the adjusting cylinder 402 is fixedly connected with an H-shaped block 403, the two sides of the H-shaped block 403 are fixedly connected with movable shafts 404, the outer surfaces of the two spheres 401 are fixedly connected with movable sleeve blocks 405, and the two movable sleeve blocks 405 are movably sleeved on the outer surfaces of the two movable shafts 404;

[0100] By movably sleeving the two movable sleeve blocks 405 on the outer surfaces of the two movable shafts 404, when the H-shaped block 403 moves up and down, the two movable sleeve blocks 405 can be poked by the two movable shafts 404, so that the spheres 401 roll at the installed positions, and finally the angle adjustment work of the lower end part of the guide pipe 203 is formed, and finally the root sheath anchoring work of different angles is realized.

[0101] It should be noted here that the adjusting cylinder 402 is used for the up and down movement of the H-shaped block 403 to form the adjustment of the angle of the flexible drill pipe 201.

[0102] Finally, it should be pointed out that the above is only the preferred embodiment of the present application and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced, and any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A rope-driven plant root sheath-like anchoring mechanism, characterized in that: include: A hollow anchor drill bit (100); A root sheath anchoring assembly (200), the root sheath anchoring assembly (200) being arranged inside the anchor drill bit (100), the root sheath anchoring assembly (200) comprising two flexible drill rods (201), one end of each of the two flexible drill rods (201) extending to the outside of the anchor drill bit (100), for reinforcing the anchoring of the anchor drill bit (100) to the planetary ground; A drive assembly (300) is provided inside the anchor drill bit (100), and the drive assembly (300) comprises two probe units (310) for probing two flexible drill rods (201) and a rope drive unit (320) for driving the two probe units (310).

2. The rope-driven plant root sheath-mimicking anchoring mechanism according to claim 1, characterized in that: A storage frame (202) for storing the flexible drill rod (201) is fixedly connected to the interior of the anchor drill bit (100), and a partition plate is provided inside the storage frame (202); Two guide tubes (203) are fixedly connected to the bottom of the storage frame (202), the bottom ends of the two guide tubes (203) extend to the outside of the anchor drill bit (100), and the two flexible drill rods (201) are respectively extended through the two guide tubes (203).

3. The rope-driven plant root sheath-mimicking anchoring mechanism according to claim 2, characterized in that: The outer surfaces of the two flexible drill rods (201) are fixedly connected with a plurality of groups of drill rod barbs (204); Several groups of drill rod barbs (204) are all made of memory alloy.

4. The rope-driven plant root sheath-mimicking anchoring mechanism according to claim 2, characterized in that: The rope drive unit (320) comprises two ring-shaped ropes (321), two upper transition pulleys (322), two lower transition pulleys (323), two driving wheels (324), and a transmission member for transmitting the two ring-shaped ropes (321); The two driving wheels (324) are used to drive the two protruding units (310) through their own rotation, and the flexible drill rod (201) inside the guide tube (203) is protruded through the two protruding units (321).

5. The rope-driven plant root sheath-mimicking anchoring mechanism according to claim 4, characterized in that: The transmission member includes a protective cover (325) fixed inside the anchor drill bit (100), and the interior of the protective cover (325) is rotatably connected to two transmission wheels (326), and the two transmission wheels (326) are transmission-connected via mutually meshing gears (327); A motor for rotating and driving one of the transmission wheels (326) is fixedly connected to the interior of the protective cover (325).

6. The rope-driven plant root sheath-mimicking anchoring mechanism according to claim 4, characterized in that: The outer surface of the guide tube (203) is provided with two grooves and notches (205); The probe unit (310) comprises two clamping plates (312) slidably connected via a guide rod group (311) and used for clamping the flexible drill rod (201); Both sides of the driving wheel (324) are fixedly connected with convex plates (314) for moving the two clamping plates (312) up and down; A force-bearing block (316) is fixedly connected to the outer side surface of the clamping plate (312) closest to the driving wheel (324).

7. The rope-driven plant root sheath-mimicking anchoring mechanism according to claim 6, characterized in that: The two clamping plates (312) are fixedly connected to opposite sides thereof with clamping protrusions for clamping the flexible drill rod (201); A spring group is fixedly connected between the two clamping plates (312), and two V-shaped hinge frames (315) are hinged between the two clamping plates (312).

8. The rope-driven plant root sheath-mimicking anchoring mechanism according to claim 2, characterized in that: An adjustment component (400) for adjusting the protrusion angles of the two flexible drill rods (201) is provided inside the anchor drill bit (100).

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