An anchoring robot based on the movement mechanism of long bamboo clam

Abstract

The present invention discloses an anchoring robot based on the movement mechanism of long bamboo razor clam, including a coupling frame, a connecting block is slidingly arranged on the front side of the coupling frame, the connecting block can slide back and forth along the vertical direction of the coupling frame under the drive of a first driving mechanism, and the bottom of the connecting block is connected to an axe foot part through a transition piece; the axe foot part includes an axe foot bracket, a sleeve, and an axe foot, and the axe foot bracket is driven to rotate in a horizontal plane by a second driving mechanism; the sleeve is fixed at the bottom of the axe foot bracket, and the sleeve is through from top to bottom, the axe foot is arranged at the bottom of the sleeve, and the axe foot includes a plurality of independent blades uniformly distributed along the circumference of the sleeve, the top of each blade is hinged to the bottom of the sleeve through its own main hinge shaft, and each blade is driven to rotate by a third driving mechanism, thereby realizing the opening or closing of each blade, and when each blade is closed, each blade together forms an inverted cone-shaped inverted cone-shaped axe foot. Advantages of the present invention: the robot's autonomous anchoring and autonomous detachment functions are realized.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to an anchoring robot based on the movement mechanism of long bamboo razor clams. Background Art

[0002] With the continuous expansion of the development of marine resources and the utilization of space, underwater operation equipment for exploring and developing the deep sea is becoming more and more widely used. Nowadays, new requirements are put forward for various new underwater operation equipment in complex environments, such as underwater detection equipment needs to be positioned on the seabed to collect samples of seabed organisms and mineral resources, and it can be detached autonomously after the detection function is completed. The development of an underwater robot with efficient positioning technology and integrated various intelligent functions is becoming more and more important.

[0003] There are two main types of underwater robots:

[0004] One is a robot that uses dynamic positioning, which relies on a computer system to control its own thrusters to maintain its position and heading, and is mostly used in large-scale marine projects or equipment. This type of robot that uses dynamic positioning has an overly complex system, consumes too much energy, has a large impact from failures, and is large in size, making it unsuitable for small underwater robots.

[0005] The other type is a robot that uses anchoring to position itself. It uses fixed objects to anchor itself to a designated sea area, restricting external forces from changing its state and keeping it in a predetermined position. However, it cannot realize functions such as autonomous anchoring and autonomous detachment, and cannot meet the requirements of robots operating at any location, which has great limitations. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an anchoring robot based on the movement mechanism of the long bamboo clam, so as to realize the autonomous anchoring and autonomous detachment functions of the robot.

[0007] The present invention is achieved through the following technical solutions:

[0008] An anchoring robot based on the movement mechanism of a long bamboo clam comprises a coupling frame, characterized in that: a connecting block is slidably arranged on the front side of the coupling frame, the connecting block can slide back and forth along the vertical direction of the coupling frame under the drive of a first driving mechanism, and the bottom of the connecting block is connected to an axe foot through a transition piece;

[0009] The axe foot includes an axe foot bracket, a sleeve, and an axe foot. The top of the axe foot bracket is connected to the transition piece through a second driving mechanism, and the axe foot bracket is driven to rotate in a horizontal plane by the second driving mechanism; the sleeve is fixed to the bottom of the axe foot bracket, and the sleeve is connected from top to bottom, and the axe foot is arranged at the bottom of the sleeve. The axe foot includes a plurality of independent blades evenly distributed along the circumference of the sleeve, and the top of each blade is hinged to the bottom of the sleeve through its own main hinge axis, and the third driving mechanism installed at the bottom of the axe foot bracket drives each blade to rotate synchronously around its own main hinge axis, thereby realizing the opening or closing of each blade. When each blade is closed, each blade together forms an inverted cone-shaped axe foot with an inverted cone shape.

[0010] Furthermore, the second driving mechanism includes a main servo, a housing of which is fixedly mounted on the bottom of the transition piece, and an output shaft of the main servo extends vertically downward and is fixedly connected to the axe foot bracket.

[0011] Furthermore, the third driving mechanism is located inside the sleeve, and the third driving mechanism includes a servo, a screw, a nut, and a push-pull block. The servo housing is fixedly installed on the bottom of the axe foot bracket, and extends vertically downward from the output shaft of the servo and is fixedly connected to the screw. The nut and the screw thread cooperate to form a screw-nut pair. The push-pull block is fixed on the nut. A plurality of push-pull connecting rods are evenly distributed along the circumference on the outer circumference of the push-pull block. The number of push-pull connecting rods is equal to the number of blades and corresponds one to one. The upper and lower ends of the push-pull connecting rods are respectively hinged to the push-pull block and the inner side of the blade.

[0012] Furthermore, two gear shafts are arranged side by side on the left and right sides of the coupling, each gear shaft extends vertically, and each gear shaft is rotatably installed on the coupling, the gears on the two gear shafts mesh with each other, and a left outer shell and a right outer shell are fixedly installed on the left and right gear shafts, respectively. The left outer shell and the right outer shell wrap the coupling, the connecting block, the two gear shafts and the gears thereon, and the rear ends of the left outer shell and the right outer shell are fixed on the left and right gear shafts, respectively. An inclined strut is provided on the inner side of one of the outer shells, and the strut is inclined from bottom to top toward the direction close to the coupling, and a connecting ring is fixed on the connecting block, and the connecting ring is slidably mounted on the strut, and the connecting ring moves synchronously with the up and down movement of the connecting block, and the synchronous opening or closing of the left outer shell and the right outer shell is realized through the cooperation of the moving connecting ring and the inclined strut.

[0013] Furthermore, the first driving mechanism includes a torque motor, a driving bevel gear, a driven bevel gear, and a transmission rod. A horizontal coupling plate is provided at the top of the coupling frame, the torque motor is fixedly mounted on the coupling plate, the output end of the torque motor is fixedly connected to the driving bevel gear, the top of the transmission rod is rotatably mounted on the coupling plate and extends upwardly to be fixedly connected to the driven bevel gear, the driving bevel gear is meshed with the driven bevel gear to form a bevel gear pair, a trapezoidal thread is provided on the outer wall of the transmission rod, a trapezoidal threaded hole is opened on the connecting block, the trapezoidal thread on the transmission rod is threadedly connected to the trapezoidal threaded hole on the connecting block, the bevel gear pair is driven by the torque motor to move, thereby driving the transmission rod to rotate, and the rotating transmission rod drives the connecting block to slide back and forth in the vertical direction.

[0014] Furthermore, the coupling frame is provided with a vertical guide rail, a slider is slidably provided on the vertical guide rail, and the connecting block is fixedly connected to the slider.

[0015] Furthermore, the gear shaft is connected to the corresponding housing via two upper and lower housing connectors, one end of each housing connector is fixed to the rear end of the housing, and the other end of each housing connector is fixedly sleeved on the gear shaft.

[0016] Furthermore, a plurality of blade fixings are evenly distributed along the circumferential direction at the bottom of the sleeve, the number of the blade fixings is equal to the number of the blades and corresponds one to one, the blade fixings are fixed to the bottom of the sleeve, and the top ends of the blades are hinged to the corresponding blade fixings.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. The present invention provides an anchoring robot based on the movement mechanism of the long bamboo clam. The axe foot is provided with a sleeve and an axe foot composed of multiple blades. Through the repeated opening and closing of the multiple blades, the axe foot is coordinated with the overall rotation and downward movement of the axe foot to achieve the robot's efficient excavation, autonomous and firm anchoring, and autonomous detachment functions, thereby meeting the requirement that the robot can operate at any position. In addition, the robot has a simple structure, high efficiency and energy saving, and meets the needs of small underwater equipment.

[0019] 2. The present invention provides an anchoring robot based on the movement mechanism of the long bamboo clam. The robot drives the opening and closing of multiple blades through the third driving mechanism to repeat the action, simulating the principle of the long bamboo clam eating soil during the excavation process, bringing the sand into the cavity inside the axe foot and discharging it from the top of the sleeve. This process greatly reduces the resistance around the sand when the axe foot moves downward, thereby realizing efficient excavation of the robot. The third driving mechanism is arranged inside the sleeve as a whole, saving installation space.

[0020] 3. The present invention provides an anchoring robot based on the movement mechanism of the long bamboo clam, which drives the connecting block to slide back and forth in the vertical direction through the first driving mechanism, and slides with the inclined support rod on the inner side of the outer shell through the connecting ring fixed on the connecting block, thereby realizing automatic closing of the outer shell in the process of moving away from the axe foot; and automatic opening of the outer shell in the process of moving downward close to the axe foot. The opening of the outer shell causes local fluidization of the surrounding sand and soil, thereby reducing the resistance of the outer shell when it moves downward and improving the overall excavation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional view of the housing of the present invention when it is closed.

[0022] Figure 2 It is a three-dimensional view when the housing of the present invention is opened.

[0023] Figure 3 It is a stereogram of one viewing angle of the coupling portion of the present invention.

[0024] Figure 4 It is a stereogram of another viewing angle of the coupling part of the present invention.

[0025] Figure 5 It is a three-dimensional diagram of the connection relationship between the gear shaft and the housing of the present invention.

[0026] Figure 6 It is a stereoscopic diagram showing the connection relationship between the gear shaft and the housing of the present invention from another perspective.

[0027] Figure 7 It is a three-dimensional view of the axe foot of the present invention in a closed state.

[0028] Figure 8 It is a three-dimensional view of the axe foot of the present invention in an open state.

[0029] Fig. 9 It is a three-dimensional view of the axe foot of the present invention after the sleeve is removed.

[0030] Numbers in the figure: 1 coupling; 2 connecting block; 3 torque motor; 4 active bevel gear; 5 driven bevel gear; 6 transmission rod; 7 coupling plate; 8 vertical guide rail; 9 slider; 10 gear shaft; 11 upper hinge shaft; 12 gear; 13 left housing; 14 right housing; 15 housing connecting piece; 16 support rod; 17 connecting ring; 18 transition piece; 19 axe foot bracket; 20 sleeve; 21 blade; 22 main hinge shaft; 23 blade fixing piece; 24 main servo; 25 slave servo; 26 screw; 27 nut; 28 push-pull block; 29 push-pull connecting rod. DETAILED DESCRIPTION

[0031] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0032] See also Figures 1 to 9 This embodiment discloses an anchoring robot based on the movement mechanism of the long bamboo clam, including a coupling 1, a connecting block 2 is slidably arranged on the front side of the coupling 1, and the connecting block 2 can slide back and forth along the vertical direction of the coupling 1 under the drive of a first driving mechanism.

[0033] The first driving mechanism includes a torque motor 3, a driving bevel gear 4, a driven bevel gear 5, and a transmission rod 6. A horizontal coupling plate 7 is provided at the top of the coupling frame 1. The torque motor 3 is fixedly mounted on the coupling plate 7. The output end of the torque motor 3 is fixedly connected to the driving bevel gear 4. The top of the transmission rod 6 is rotatably mounted on the coupling plate 7 through a bearing and extends upward to be fixedly connected to the driven bevel gear 5. The top of the transmission rod 6 is fixedly connected to the driven bevel gear 5 by a screw. The driving bevel gear 4 and the driven bevel gear 5 are meshed to form a pair of bevel gears 12. A trapezoidal thread is provided on the outer wall of the transmission rod 6. A trapezoidal thread hole is provided on the connecting block 2. The trapezoidal thread on the transmission rod 6 is threadedly connected to the trapezoidal thread hole on the connecting block 2. The torque motor 3 drives the pair of bevel gears 12 to move, thereby driving the transmission rod 6 to rotate, and the rotating transmission rod 6 drives the connecting block 2 to slide back and forth in the vertical direction. A vertical guide rail 8 is provided on the coupling 1 , a slider 9 is slidably provided on the vertical guide rail 8 , the connecting block 2 is fixedly connected to the slider 9 , and the connecting block 2 is vertically guided by the vertical guide rail 8 .

[0034] Two gear shafts 10 arranged side by side on the left and right are provided on the rear side of the coupling 1, each gear shaft 10 extends vertically, and the upper and lower ends of each gear shaft 10 are rotatably mounted on the coupling 1 through second bearings respectively, and the gears 12 on the two gear shafts 10 are meshed with each other, and the left and right gear shafts 10 are respectively fixedly mounted with a left outer shell 13 and a right outer shell 14, which wrap the coupling 1, the connecting block 2, the two gear shafts 10 and the gears 12 thereon, and the rear ends of the left and right outer shells 13 and 14 are respectively fixed on the left and right gear shafts 10, and the gear shaft 10 is connected to the corresponding outer shell through two upper and lower outer shell connectors 15, one end of each outer shell connector 15 is fixed to the rear end of the outer shell, and the other end of each outer shell connector 15 is fixedly sleeved on the gear shaft 10. An inclined strut 16 is provided on the inner side of one of the shells. The strut 16 is inclined from bottom to top toward the direction close to the coupling 1. A connecting ring 17 is fixed on the connecting block 2. The connecting ring 17 is slidably mounted on the strut 16. The connecting ring 17 moves synchronously with the up and down movement of the connecting block 2. The synchronous opening or closing of the left shell 13 and the right shell 14 is achieved through the cooperation of the moving connecting ring 17 and the inclined strut 16.

[0035] The bottom of the connecting block 2 is connected to the axe foot part through a transition piece 18. The axe foot part includes an axe foot bracket 19, a sleeve 20, and an axe foot. The top of the axe foot bracket 19 is connected to the transition piece 18 through a second driving mechanism, and the axe foot bracket 19 is driven to rotate in a horizontal plane by the second driving mechanism; the sleeve 20 is fixed to the bottom of the axe foot bracket 19, and the sleeve 20 is connected from top to bottom. The axe foot is arranged at the bottom of the sleeve 20, and the axe foot includes a plurality of independent blades 21 uniformly distributed along the circumference of the sleeve 20, and the top of each blade 21 is hinged to the bottom of the sleeve 20 through its own main hinge shaft 22. The bottom of the sleeve 20 is uniformly distributed along the circumference with a plurality of blade fixing members 23, and the number of the blade fixing members 23 is equal to the number of the blades 21 and corresponds to each other. The blade fixing members 23 are fixed to the bottom of the sleeve, and the top of the blade 21 is hinged to the corresponding blade fixing member 23. The third driving mechanism installed at the bottom of the axe foot bracket 19 drives each blade 21 to rotate synchronously around its own main hinge shaft 22, thereby realizing the opening or closing of each blade 21. When each blade 21 is closed, each blade 21 together forms an inverted conical axe foot with an inverted cone shape.

[0036] The second driving mechanism includes a main servo engine 24 , the housing of which is fixedly mounted on the bottom of the transition piece 18 , and the output shaft of the main servo engine 24 extends vertically downward and is fixedly connected to the axe foot bracket 19 .

[0037] The third driving mechanism is located inside the sleeve 20, and the third driving mechanism includes a slave servo 25, a lead screw 26, a nut 27, and a push-pull block 28. The housing of the slave servo 25 is fixedly installed at the bottom of the axe foot bracket 19, and the output shaft of the slave servo 25 extends vertically downward and is fixedly connected to the lead screw 26. The nut 27 and the lead screw 26 are threadedly matched to form a lead screw nut pair. The push-pull block 28 is fixed on the nut 27. A plurality of push-pull connecting rods 29 are evenly distributed along the circumference on the outer circumference of the push-pull block 28. The number of push-pull connecting rods 29 is equal to the number of blades 21 and corresponds one to one. The upper and lower ends of the push-pull connecting rod 29 are respectively hinged to the push-pull block 28 and the inner side of the blade 21. The upper end of the push-pull connecting rod 29 is hinged to the push-pull block 28 through the upper hinge shaft 11, and the lower end of the push-pull rod is hinged to the inner side of the blade 21 through the lower hinge shaft.

[0038] The robot relies on the torque motor 3 to drive the connecting block 2 to slide back and forth along the vertical direction. In the process of the connecting block 2 moving upward, the connecting block 2 drives the connecting ring 17 to move upward together. Under the cooperation of the connecting ring 17 and the strut 16, the shell with the strut 16 installed is opened by the connecting ring 17, and under the action of the two meshing gears 12, the left shell 13 and the right shell 14 are synchronously opened. The opening of the shell causes the surrounding sand to fluidize locally, so that the resistance of the shell when it moves downward is reduced, and the overall excavation efficiency is higher, and the shell is automatically opened when the shell moves downward and approaches the axe foot. In the process of the connecting block 2 moving downward, the connecting block 2 drives the connecting ring 17 to move downward together. Under the cooperation of the connecting ring 17 and the strut 16, the shell with the strut 16 installed is pulled back by the connecting ring 17, and under the action of the two meshing gears 12, the left shell 13 and the right shell 14 are synchronously pulled back, and the shell is automatically closed when the shell moves upward away from the axe foot.

[0039] The working principle of the anchoring robot provided in this embodiment is:

[0040] A. Efficient mining

[0041] When the robot starts to dig downwards, the axe foot starts to move first. The specific process is: the lead screw 26 is driven to rotate by the slave servo 25, and the nut 27 and the push-pull block 28 on the lead screw 26 move in the vertical direction. The blades 21 of the axe foot begin to repeat the closing-opening process, referring to the principle of eating soil during the digging process of the long bamboo clam, and the sand is brought from the bottom to the top into the cavity in the axe foot, and discharged from the top of the sleeve 20. This process greatly reduces the resistance around the sand when the axe foot moves downward; at the same time, the main servo 24 drives the entire axe foot to start rotating, and the axe foot gradually moves downward into the sand.

[0042] When the axe foot has completely entered the sand, the axe foot stops moving, the blades 21 are in a closed state, and the sand in the sleeve 20 anchors the axe foot; at this time, the torque motor 3 is started again, and during the process of the torque motor 3 driving the connecting block 2 to move upward, because the axe foot is completely anchored, the left and right outer shells 14 move downward relative to the axe foot, and under the cooperation of the connecting ring 17 and the support rod 16, the outer shell with the support rod 16 installed is opened through the connecting ring 17, and under the action of two meshing gears 12, the left outer shell 13 and the right outer shell 14 are synchronously opened, and the opening of the outer shell causes the surrounding sand to undergo local fluidization, thereby reducing the resistance of the outer shell when it moves downward, and the overall excavation efficiency is higher, and the outer shell automatically opens in the process of the outer shell moving downward close to the axe foot, until the axe foot is completely retracted into the inner shell, and the torque motor 3 stops.

[0043] Repeat the above movement process to continue digging downwards.

[0044] B. Firmly anchored

[0045] When the axe foot is completely in the sand, each blade 21 is in a closed state, and the cavity of the axe foot is filled with sand, and anchoring is achieved by the gravity of the sand, and the anchoring force is very strong. At this time, the axe foot is relatively fixed, so that the shell part can move downward relative to the axe foot.

[0046] C. Autonomous desorption

[0047] When the robot wants to detach from the sand, the action process is the opposite of the excavation process. The axe foot is anchored in the sand, and the torque motor 3 in the housing reverses, causing the housing to move upward relative to the axe foot. When the axe foot is fully extended out of the housing, the torque motor 3 in the housing reverses and starts to rotate forward, and then pulls the axe foot up. After repeating the above steps, the autonomous detachment process is completed.

[0048] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An anchoring robot based on the movement mechanism of a long bamboo clam, comprising a coupling (1), characterized in that: A connecting block (2) is slidably provided on the front side of the coupling (1); the connecting block (2) can slide back and forth along the vertical direction of the coupling (1) under the drive of the first driving mechanism; the bottom of the connecting block (2) is connected to the axe foot via a transition piece (18); The axe foot part comprises an axe foot bracket (19), a sleeve (20), and an axe foot. The top of the axe foot bracket (19) is connected to the transition piece (18) through a second driving mechanism, and the axe foot bracket (19) is driven to rotate in a horizontal plane by the second driving mechanism. The sleeve (20) is fixed to the bottom of the axe foot bracket (19), and the sleeve (20) is connected from top to bottom. The axe foot is arranged at the bottom of the sleeve (20). The axe foot comprises a plurality of independent blades (21) uniformly distributed along the circumference of the sleeve (20). The top of each blade (21) is hinged to the bottom of the sleeve (20) through its own main hinge shaft (22), and each blade (21) is driven to rotate synchronously around its own main hinge shaft (22) by a third driving mechanism installed at the bottom of the axe foot bracket (19), thereby realizing the opening or closing of each blade (21). When each blade (21) is closed, each blade (21) together forms an inverted conical axe foot with an inverted conical shape. The coupling frame (1) is provided with two gear shafts (10) arranged side by side on the left and right sides at the rear side, each gear shaft (10) extending vertically and each gear shaft (10) being rotatably mounted on the coupling frame (1), the gears (12) on the two gear shafts (10) being meshed with each other, and a left outer shell (13) and a right outer shell (14) being fixedly mounted on the left and right gear shafts (10), respectively, the left outer shell (13) and the right outer shell (14) enclosing the coupling frame (1), the connecting block (2), the two gear shafts (10) and the gears (12) thereon, and the left outer shell (13) and the right outer shell (14) are provided on the coupling frame (1), the connecting block (2), the two gear shafts (10) and the gears (12) thereon. The rear ends of the housings (14) are fixed to the left and right gear shafts (10), respectively. An inclined support rod (16) is provided on the inner side of one of the housings. The support rod (16) is inclined from bottom to top in a direction close to the coupling frame (1). A connecting ring (17) is fixed to the connecting block (2). The connecting ring (17) is slidably mounted on the support rod (16). The connecting ring (17) moves synchronously with the upward and downward movement of the connecting block (2). The left housing (13) and the right housing (14) are synchronously opened or closed by the cooperation of the movable connecting ring (17) and the inclined support rod (16).

2. The mooring robot based on the movement mechanism of the long bamboo clam as claimed in claim 1, characterized in that: The second driving mechanism comprises a main steering gear (24), the housing of the main steering gear (24) being fixedly mounted on the bottom of the transition piece (18), and the output shaft of the main steering gear (24) extending vertically downward and being fixedly connected to the axe foot bracket (19).

3. The mooring robot based on the movement mechanism of the long bamboo clam as claimed in claim 1, characterized in that: The third driving mechanism is located inside the sleeve (20), and comprises a steering gear (25), a lead screw (26), a nut (27), and a push-pull block (28). The housing of the steering gear (25) is fixedly mounted on the bottom of the axe foot bracket (19), and the output shaft of the steering gear (25) extends vertically downward and is fixedly connected to the lead screw (26). The nut (27) and the lead screw (26) are threadedly matched to form a lead screw nut pair. The push-pull block (28) is fixed on the nut (27). A plurality of push-pull connecting rods (29) are evenly distributed along the circumference on the outer circumference of the push-pull block (28). The number of the push-pull connecting rods (29) is equal to the number of the blades (21) and corresponds one to one. The upper and lower ends of the push-pull connecting rods (29) are respectively hinged to the push-pull block (28) and the inner side of the blade (21).

4. The mooring robot based on the movement mechanism of the long bamboo clam as claimed in claim 1, characterized in that: The first driving mechanism comprises a torque motor (3), a driving bevel gear (4), a driven bevel gear (5), and a transmission rod (6). A horizontal coupling plate (7) is provided at the top of the coupling frame (1). The torque motor (3) is fixedly mounted on the coupling plate (7). The output end of the torque motor (3) is fixedly connected to the driving bevel gear (4). The top of the transmission rod (6) is rotatably mounted on the coupling plate (7) and extends upward from the coupling plate (7) to be fixedly connected to the driven bevel gear (5). The driving bevel gear (4) and the driven bevel gear (5) are meshed to form a bevel gear (12) pair. A trapezoidal thread is provided on the outer wall of the transmission rod (6). A trapezoidal thread hole is provided on the connecting block (2). The trapezoidal thread on the transmission rod (6) and the trapezoidal thread hole on the connecting block (2) are threadedly connected. The torque motor (3) drives the bevel gear (12) pair to move, thereby driving the transmission rod (6) to rotate. The rotating transmission rod (6) drives the connecting block (2) to slide back and forth in the vertical direction.

5. The mooring robot based on the movement mechanism of the long bamboo clam as claimed in claim 4, characterized in that: The shaft coupling (1) is provided with a vertical guide rail (8), a slider (9) is slidably provided on the vertical guide rail (8), and the connecting block (2) is fixedly connected to the slider (9).

6. The mooring robot based on the movement mechanism of the long bamboo clam as claimed in claim 1, characterized in that: The gear shaft (10) is connected to the corresponding housing via two upper and lower housing connectors (15), one end of each housing connector (15) being fixed to the rear end of the housing, and the other end of each housing connector (15) being fixedly sleeved on the gear shaft (10).

7. The mooring robot based on the movement mechanism of the long bamboo clam as claimed in claim 1, characterized in that: A plurality of blade fixing members (23) are evenly distributed along the circumferential direction at the bottom of the sleeve (20), the number of the blade fixing members (23) being equal to and corresponding to the number of the blades (21), the blade fixing members (23) being fixed to the bottom of the sleeve, and the top ends of the blades (21) being hinged to the corresponding blade fixing members (23).

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