A mole-tooth-like star-soil excavation robot

Abstract

The present invention relates to the technical field of star soil excavation robots, and more specifically, to a mole-like biting star soil excavation robot. It comprises a head mechanism, a body mechanism, and a walking mechanism arranged on both sides of the body mechanism; the head mechanism comprises a head shell, an upper jaw, a lower jaw, a transmission turntable, an upper incisor connecting rod, a lower incisor connecting rod, and a driving mechanism, one end of the upper incisor connecting rod is hinged to the outer periphery of the transmission turntable; one end of the lower incisor connecting rod is hinged to the outer periphery of the transmission turntable; the output end of the driving mechanism is connected to the transmission turntable to drive the upper jaw and the lower jaw to rotate so that the upper incisors and the lower incisors bite and break the soil. By setting the head mechanism as a transmission turntable and a driving mechanism, the present invention can simultaneously control the movement of the upper incisors and the lower incisors with only one driving component, i.e., the driving mechanism, to achieve excavation of star soil, with a simple driving structure and a simple control method.

Description

Technical Field

[0001] The present invention relates to the technical field of star-soil excavation robots, and more particularly to a mole-teeth-biting star-soil excavation robot. Background Art

[0002] Current planetary soil sampling technology primarily relies on planetary drills, which often suffer from limitations such as large size, high power requirements, and difficulty transporting. Compared to traditional drilling equipment, bionic excavation robots are compact, lightweight, and require less power, while offering greater maneuverability and flexibility. Therefore, bionic planetary soil excavation robots are currently a hot research topic.

[0003] Moles can be divided into two categories based on their digging method: forelimb moles and incisor moles. Forelimb moles rely primarily on their powerful forelimbs to effectively penetrate and dig up the soil in front of them; incisor moles rely primarily on their strong incisors and unique head bone structure to effectively break up the soil. Because incisor moles mostly live in arid areas, they are able to dig into harder soil than forelimb moles.

[0004] The prior art discloses a mole-like earth-digging robot, comprising a head, wherein the head comprises an upper jaw, a lower jaw, a first drive assembly and a second drive assembly mounted on the body, wherein the first drive assembly is connected to the end of the upper jaw, and the second drive assembly is connected to the end of the lower jaw, and the first drive assembly and the second drive assembly can respectively drive the upper jaw and the lower jaw to reciprocate so that the upper incisors and the lower incisors bite and break the soil. The present invention integrates excavation and propulsion, and combines the soil-breaking mechanism of the upper jaw and the lower jaw to adapt to directional excavation in earth-digging environments of different hardness. This technology uses two drive assemblies, and the drive structure is complex; the two drive assemblies respectively drive the movement of the upper incisors and the lower incisors to realize the excavation of the earth, and the control method is complex. Summary of the Invention

[0005] The purpose of the present invention is to provide a mole-tooth-biting earth-digger robot, which can simultaneously control the movement of the upper and lower incisors with only one drive component to achieve earth-diggering, with a simple drive structure and a simple control method.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A mole-tooth-biting soil excavation robot comprises a head mechanism, a body mechanism and a walking mechanism arranged on both sides of the body mechanism; the head mechanism comprises a head shell, an upper jaw, a lower jaw, a transmission turntable, an upper incisor connecting rod, a lower incisor connecting rod and a driving mechanism, the head shell is connected to the body mechanism; the head end of the upper jaw is provided with upper incisors, and the end of the upper jaw is rotatably connected to the head shell; the head end of the lower jaw is provided with lower incisors, and the end of the lower jaw is rotatably connected to the head shell; one end of the upper incisor connecting rod is hinged to the outer periphery of the transmission turntable, and the other end is hinged to the top of the end of the upper jaw; one end of the lower incisor connecting rod is hinged to the outer periphery of the transmission turntable, and the other end is hinged to the bottom of the end of the lower jaw; the driving mechanism is arranged on the head shell, and the output end of the driving mechanism is connected to the transmission turntable, which is used to drive the transmission turntable to rotate, so as to drive the upper jaw and the lower jaw to rotate so that the upper incisors and the lower incisors bite and break the soil.

[0008] According to the above technical means, the present invention provides a mole-tooth-biting star soil excavation robot, which uses a walking mechanism to move the robot to the position where excavation is required. While walking, the driving mechanism is started to drive the transmission turntable to rotate, and the transmission turntable drives the upper incisor connecting rod and the lower incisor connecting rod to move. The upper incisor connecting rod drives the upper jaw to rotate upward, and the lower incisor connecting rod drives the lower jaw to rotate downward, and the upper and lower jaws are opened. When the robot walks to the position where excavation is required, the walking mechanism stops moving, and the driving mechanism is started to rotate in the opposite direction, driving the upper and lower jaws to close, and the upper and lower incisors contact the star soil to break the ground. The present invention only uses one driving component, namely the driving mechanism, to simultaneously control the movement of the upper and lower incisors to achieve excavation of the star soil. The driving structure is simple and the control method is simple.

[0009] Furthermore, the drive mechanism includes a first servo, a drive gear, and a driven gear. The first servo is mounted on the head housing, the output shaft of the first servo is connected to the drive gear, the driven gear is rotatably mounted on the head housing, the drive gear is meshed with the driven gear, and the transmission turntable is coaxially and fixedly connected to the driven gear. When controlling the movement of the upper and lower jaws, the first servo is activated to rotate the drive gear, which in turn rotates the driven gear, which in turn rotates the transmission turntable, which in turn drives the upper and lower jaws to move.

[0010] Furthermore, the outer circumference of the transmission turntable is provided with a first protrusion and a second protrusion. The upper incisor connecting rod is hinged to the first protrusion, and the lower incisor connecting rod is hinged to the second protrusion. The distance from the hinge point of the upper incisor connecting rod and the first protrusion to the rotation center of the transmission turntable is greater than the distance from the hinge point of the lower incisor connecting rod and the second protrusion to the rotation center of the transmission turntable. The length of the first protrusion is set to be longer than the length of the second protrusion, so that the upper jaw moves less than the lower jaw, thereby serving as an anchor when breaking soil.

[0011] Furthermore, the length of the upper incisors is greater than the length of the lower incisors. When the upper and lower jaws bite, the upper incisors first contact the earth, which can play an anchoring role and prevent the robot from moving due to resistance from the earth.

[0012] Furthermore, the body mechanism is provided with a second steering gear, the output shaft of which is connected to the head housing. Activating the second steering gear rotates the head housing, which in turn rotates the head mechanism, thereby increasing the bite area of ​​the upper and lower jaws and the area of ​​soil crushing.

[0013] Furthermore, the walking mechanism includes a single-driven front leg mechanism and a single-driven hind leg mechanism, both of which are arranged on either side of the trunk mechanism. Each of the single-driven front leg mechanism and the single-driven hind leg mechanism includes a third servo, a crank member, a long connecting rod, a first supporting connecting rod, and a flipper. The third servo is arranged on the trunk mechanism; one end of the crank member is connected to the output shaft of the third servo, the other end of the crank member is hinged to one end of the long connecting rod, and the other end of the long connecting rod is connected to the flipper; one end of the first supporting connecting rod is hinged to the trunk mechanism, and the other end of the first supporting connecting rod is hinged to the middle portion of the long connecting rod. When walking, the third servo is activated to drive the crank member to rotate, which in turn drives the long connecting rod to rotate. The long connecting rod, supported by the first supporting connecting rod, drives the flipper to move, thereby enabling the robot to move forward.

[0014] Furthermore, the single-driven front leg mechanism and the single-driven hind leg mechanism each include a crossbar, a first short link, and a second supporting link. One end of the crossbar is coaxially hinged to the middle of the long link with the first supporting link, the other end of the crossbar is hinged to one end of the first short link, the other end of the first short link is hinged to the front end of the flipper, and the long link is hinged to the rear end of the flipper. The first short link is arranged parallel to the long link, and the distance between the hinge points at both ends of the first short link is equal to the distance between the hinge point of the long link and the crossbar and the hinge point of the long link and the flipper. One end of the second supporting link is hinged to the body mechanism, and the other end of the second supporting link is coaxially hinged to the first short link with the crossbar. By adding a crossbar, a first short link, and a second supporting link to the single-driven front leg mechanism and the single-driven hind leg mechanism, the motion trajectory of the flipper can be changed, allowing the entire flipper to contact the ground at the same time, thereby enabling the robot to move forward and backward.

[0015] Furthermore, the hinge between the first support link and the body mechanism is located between the head housing and the third servo, and the hinge between the second support link and the body mechanism is located between the head housing and the first support link. Setting the walking mechanism to a full kneeling position can effectively lower the center of gravity, improve stability, and increase the maximum travel distance.

[0016] Furthermore, the first support link and the second support link are both configured as arc-shaped links, with the concave arc surface of the first support link facing away from the flipper, and the concave arc surface of the second support link facing the flipper, thereby preventing interference between the first support link and the second support link during movement of the robot.

[0017] Furthermore, the robot further comprises a hollow hip mechanism, a power supply, and a controller. The front end of the torso mechanism is connected to the head mechanism, and the rear end of the torso mechanism is detachably connected to the hip mechanism. The power supply and controller are both mounted within the hip mechanism, electrically connected to the controller, and communicatively connected to the first, second, and third servos, respectively. The power supply can be provided to power the robot's servos, enabling the robot's excavation motion to be achieved through wireless communication with the controller. The detachable connection of the hip mechanism to the torso mechanism facilitates assembly and disassembly of the power supply and controller.

[0018] Compared with the prior art, the beneficial effects are:

[0019] 1. The present invention provides a mole-tooth-biting earth-digger robot. By configuring the head mechanism to include a head shell, an upper jaw, a lower jaw, a transmission turntable, an upper incisor connecting rod, a lower incisor connecting rod, and a driving mechanism, only one driving assembly, i.e., a driving mechanism, can be used to simultaneously control the movement of the upper and lower incisors, thereby achieving earth-diggering. The driving structure is simple and the control method is simple.

[0020] 2. The present invention provides a mole-tooth-biting soil excavation robot, which can make the structure of the head mechanism more compact, with high precision, high transmission efficiency, reliable operation and good transmission stability by setting the driving mechanism to gear transmission. The gear transmission can also increase the bite force of the incisors, making the incisor component more capable of breaking the soil. At the same time, the first servo is used to control the movement of the upper and lower jaws through the angle, which can more accurately control the movement trajectory of the upper and lower incisors.

[0021] 3. The present invention provides a mole-tooth-biting soil excavation robot. By setting a second servo, the second servo can drive the head shell to rotate, that is, it can drive the head mechanism to rotate, thereby increasing the bite area of ​​the upper and lower jaws, and can increase the area of ​​crushed soil.

[0022] 4. The present invention provides a mole-tooth-biting-like soil excavation robot. By setting a single-drive front leg mechanism and a single-drive hind leg mechanism, the walking mechanism can achieve a semicircular gait trajectory with only one degree of freedom, and the robot can move forward and backward by the forward and reverse rotation of the third servo. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of the mole-tooth-biting star-soil excavation robot of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the head in the present invention;

[0025] Figure 3 It is a structural schematic diagram of the transmission turntable in the present invention;

[0026] Figure 4 This is a schematic diagram of the position of the second steering gear in the present invention;

[0027] Figure 5 It is a structural diagram of the walking mechanism of the present invention;

[0028] Figure 6 It is an exploded view of the single-driven front leg mechanism of the present invention.

[0029] The symbols in the figure are as follows: 1. head mechanism; 101. head shell; 102. upper jaw; 121. upper incisors; 103. lower jaw; 131. lower incisors; 104. transmission turntable; 141. first protrusion; 142. second protrusion; 105. upper incisor connecting rod; 106. lower incisor connecting rod; 107. driving mechanism; 171. first steering gear; 172. driving gear; 173. driven gear; 108. second steering gear; 10 9. Drive shaft; 110. Bearing cover plate; 2. Body mechanism; 3. Walking mechanism; 301. Single-drive front leg mechanism; 311. Third servo; 312. Crank member; 313. Long connecting rod; 314. First supporting connecting rod; 315. Flipper; 316. Cross bar; 317. First short connecting rod; 318. Second supporting connecting rod; 319. Second short connecting rod; 320. Third short connecting rod; 302. Single-drive hind leg mechanism; 4. Hip mechanism. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The present invention is described in one of the embodiments below in combination with the specific implementation methods. Among them, the drawings are only for illustrative purposes and represent only schematic diagrams rather than physical drawings, and cannot be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0031] In the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features specified as "first" or "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that meet both A and B.

[0032] Example 1

[0033] like Figures 1 to 6 As shown, this embodiment proposes a mole-tooth-biting earth-drilling robot, comprising a head mechanism 1, a body mechanism 2, and a walking mechanism 3 arranged on both sides of the body mechanism 2; the head mechanism 1 comprises a head shell 101, an upper jaw 102, a lower jaw 103, a transmission turntable 104, an upper incisor connecting rod 105, a lower incisor connecting rod 106, and a driving mechanism 107, and the head shell 101 is connected to the body mechanism 2; the head end of the upper jaw 102 is provided with an upper incisor 121, and the lower end of the upper jaw 102 is rotatably connected to the head shell 101; the head end of the lower jaw 103 is provided with a lower incisor 131, and the lower jaw The end of 103 is rotatably connected to the head shell 101; one end of the upper incisor connecting rod 105 is hinged to the outer periphery of the transmission turntable 104, and the other end is hinged to the top of the end of the upper jaw 102; one end of the lower incisor connecting rod 106 is hinged to the outer periphery of the transmission turntable 104, and the other end is hinged to the bottom of the end of the lower jaw 103; the driving mechanism 107 is provided on the head shell 101, and the output end of the driving mechanism 107 is connected to the transmission turntable 104, for driving the transmission turntable 104 to rotate, so as to drive the upper jaw 102 and the lower jaw 103 to rotate so that the upper incisors 121 and the lower incisors 131 bite and break the soil.

[0034] Based on the above technical means, the present invention provides a mole-tooth-biting excavation robot. The robot uses a walking mechanism 3 to move to the location where excavation is required. While moving, the driving mechanism 107 is activated to rotate the transmission turntable 104. The transmission turntable 104 drives the upper incisor connecting rod 105 and the lower incisor connecting rod 106 to move. The upper incisor connecting rod 105 drives the upper jaw 102 to rotate upward, and the lower incisor connecting rod 106 drives the lower jaw 103 to rotate downward, causing the upper jaw 102 and the lower jaw 103 to open. When the robot reaches the location where excavation is required, the walking mechanism 3 stops and the driving mechanism 107 is activated to rotate in the opposite direction, driving the upper jaw 102 and the lower jaw 103 to close. The upper incisors 121 and the lower incisors 131 contact the excavation soil to break the soil. The present invention uses only one driving component, namely the driving mechanism 107, to simultaneously control the movement of the upper incisors 121 and the lower incisors 131 to achieve excavation of the excavation soil. The driving structure is simple and the control method is simple.

[0035] Example 2

[0036] This embodiment proposes a mole-tooth-biting star-soil excavation robot. Based on the first embodiment, in this embodiment, Figure 2 and Figure 4As shown, the driving mechanism 107 includes a first servo 171, a driving gear 172 and a driven gear 173. The first servo 171 is arranged on the head shell 101. By controlling the change in the rotation angle of the first servo 171, the angle change of the movement of the upper jaw 102 and the lower jaw 103 can be controlled, thereby realizing the control of the opening and closing angles of the upper incisors 121 and the lower incisors 131; at the same time, by controlling the rotation speed and acceleration of the first servo 171, the torque of the upper incisors 121 and the lower incisors 131 can be controlled. The smaller the rotation speed of the first servo 171, the greater the output torque, thereby realizing excavation in different environments.

[0037] The output shaft of the first servo 171 is connected to the drive gear 172. The center of the drive gear 172 is provided with a spline that matches the output end of the first servo 171, preventing the drive gear 172 from separating from the first servo 171 during rotation. The driven gear 173 is rotatably mounted on the head housing 101. The head housing 101 also rotatably mounts a transmission shaft 109. The transmission shaft 109 is a stepped shaft. The center of the driven gear 173 is provided with a first keyway that matches the transmission shaft 109. Rotation of the driven gear 173 drives the transmission shaft 109 to rotate. The transmission turntable 104 is coaxially and fixedly connected to the driven gear 173. Specifically, the center of the transmission turntable 104 is provided with a second keyway that matches the transmission shaft 109. Rotation of the transmission shaft 109 drives the transmission turntable 104 to rotate, thereby facilitating the fixing of the driven gear 173 and the transmission turntable 104. The driving gear 172 is meshed with the driven gear 173 , and different reduction ratios can be achieved by changing the gear ratio between the driving gear 172 and the driven gear 173 .

[0038] When controlling the movement of the upper jaw 102 and the lower jaw 103 , the first servo 171 is started to drive the driving gear 172 to rotate, the driving gear 172 drives the driven gear 173 to rotate, the driven gear 173 drives the transmission turntable 104 to rotate, and the transmission turntable 104 drives the upper jaw 102 and the lower jaw 103 to move.

[0039] like Figure 2 and Figure 3As shown, the outer periphery of the transmission turntable 104 is provided with a first protrusion 141 and a second protrusion 142, the upper incisor link 105 is hinged to the first protrusion 141, and the lower incisor link 106 is hinged to the second protrusion 142. The distance from the hinge point of the upper incisor link 105 and the first protrusion 141 to the rotation center of the transmission turntable 104 is greater than the distance from the hinge point of the lower incisor link 106 and the second protrusion 142 to the rotation center of the transmission turntable 104, that is, the length of the first protrusion 141 is greater than the length of the second protrusion 142. By setting the length of the first protrusion 141 to be longer than the length of the second protrusion 142, the distance moved by the upper jaw 102 is smaller than the distance moved by the lower jaw 103, so that the upper incisor 121 moves a smaller distance when breaking the soil. The upper incisor 121 can play an anchoring role, which can prevent the robot from moving due to the resistance of the soil.

[0040] like Figure 2 As shown, the length of the upper incisors 121 is greater than that of the lower incisors 131. When the upper and lower jaws 102 and 103 engage, the upper incisors 121 first contact the soil, acting as an anchor and preventing the robot from moving due to resistance from the soil. Furthermore, the tips of both the upper and lower incisors 121 and 131 are designed to be pointed, which allows for greater soil damage, reduces resistance, and further prevents the robot from moving during the soil-breaking process.

[0041] Example 3

[0042] This embodiment proposes a mole-tooth-biting star-soil excavation robot. Based on the second embodiment, in this embodiment, Figure 4 As shown, the body 2 is provided with a second servo 108, the output shaft of which is connected to the head housing 101. A bearing cover plate 110 is also provided at the connection point between the head housing 101 and the body 2. The bearing cover plate 110 has five through holes. The central through hole fully mates with the output shaft of the second servo 108, while the remaining through holes are connected to the head housing 101. The provision of the bearing cover plate 110 further stabilizes the connection between the head housing 101 and the body 2.

[0043] By activating the second servo 108, the second servo 108 drives the head housing 101 to rotate, which in turn drives the head mechanism 1 to rotate, allowing the head mechanism 1 to rotate using angle control. After the head mechanism 1 rotates, the upper and lower jaws can open and close not only in the vertical direction, but also in the left and right direction, or in any other direction, thereby increasing the bite area of ​​the upper and lower jaws 102 and 103, thereby increasing the area of ​​soil crushing.

[0044] At the same time, when discharging soil, the head mechanism 1 is rotated so that the upper jaw 102 and the lower jaw 103 are in a horizontal position, which can facilitate the discharge of the broken soil.

[0045] Example 4

[0046] This embodiment proposes a mole-tooth-biting star-soil excavation robot. Based on the third embodiment, in this embodiment, Figure 4 As shown, the walking mechanism 3 includes a single-drive front leg mechanism 301 and a single-drive rear leg mechanism 302, both of which are arranged on both sides of the body mechanism 2. The single-drive front leg mechanism 301 and the single-drive rear leg mechanism 302 each include two groups of symmetrically arranged leg components, each of which has only one degree of freedom, and walking can be achieved through the control of a single degree of freedom.

[0047] like Figure 5 and Figure 6 As shown, the single-drive front leg mechanism 301 and the single-drive hind leg mechanism 302 both include a third servo 311, a crank member 312, a long connecting rod 313, a first supporting connecting rod 314 and a flipper 315. The third servo 311 is arranged on the body mechanism 2. The third servo 311 adopts a 360-degree bus servo, and the control method adopts uniform full-circle rotation.

[0048] One end of the crank member 312 is connected to the output shaft of the third servo 311. The crank member 312 also includes a toothed connector. The toothed connector has teeth that perfectly match the output shaft of the third servo 311, allowing it to fit tightly with the output shaft of the third servo 311 and prevent it from falling off. The crank member 312 also has a groove that matches the toothed connector, ensuring a tight connection between the crank member 312 and the toothed connector, thus preventing the crank member 312 from separating from the output shaft of the third servo 311.

[0049] The other end of the crank member 312 is hinged to one end of the long connecting rod 313 and then fixed with a retaining spring to further prevent it from falling off. The other end of the long connecting rod 313 is connected to the fin 315, which is configured as a bionic fin to increase the contact area with the ground and improve the stability of the robot's walking.

[0050] One end of the first support link 314 is hinged to the body mechanism 2, and the other end of the first support link 314 is hinged to the middle of the long link 313. During walking, the third servo 311 is activated to rotate the crank member 312 via the toothed connector. The crank member 312 then rotates the long link 313. The long link 313, restrained by the first support link 314, drives the flippers 315 to move, enabling the robot to move forward.

[0051] Example 5

[0052] This embodiment proposes a mole-tooth-biting star-soil excavation robot. Based on the fourth embodiment, in this embodiment, Figure 5 and Figure 6As shown, the single-drive front leg mechanism 301 and the single-drive rear leg mechanism 302 also include a cross bar 316, a first short link 317 and a second support link 318. One end of the cross bar 316 is coaxially hinged to the first support link 314 at the middle of the long link 313, the other end of the cross bar 316 is hinged to one end of the first short link 317, the other end of the first short link 317 is hinged to the front end of the flipper 315, the long link 313 is hinged to the rear end of the flipper 315, the first short link 317 is arranged parallel to the long link 313, and the distance between the hinge points at both ends of the first short link 317 is equal to the distance from the hinge point of the long link 313 and the cross bar 316 to the hinge point of the long link 313 and the flipper 315. That is, the long connecting rod 313, the first short connecting rod 317, the cross bar 316 and the flipper 315 form a parallelogram, which can allow the entire flipper 315 to contact the ground at the same time during the flipper 315 movement, making walking more stable. One end of the second supporting link 318 is hinged to the trunk mechanism 2, and the other end of the second supporting link 318 is coaxially hinged to the first short connecting rod 317 with the cross bar 316. The second supporting link 318 supports and limits the parallelogram formed above. When the robot uses the walking mechanism 3 to walk, it adopts a diagonal gait, and each group of leg components has only one degree of freedom, and the motion trajectory is a semicircle. By adding the cross bar 316, the first short connecting rod 317 and the second supporting link 318 to the single-driven front leg mechanism 301 and the single-driven hind leg mechanism 302, the motion trajectory of the flipper 315 can be changed, allowing the entire flipper 315 to contact the ground at the same time, thereby enabling the robot to move forward and backward.

[0053] The first supporting link 314 and the second supporting link 318 are both configured as arc-shaped links, with the concave arc surface of the first supporting link 314 facing away from the flipper 315 and the concave arc surface of the second supporting link 318 facing the flipper 315. This can prevent the first supporting link 314 and the second supporting link 318 from interfering with each other when the robot moves.

[0054] The hinge point between the first supporting link 314 and the trunk mechanism 2 is located between the head housing 101 and the third servo 311, and the hinge point between the second supporting link 318 and the trunk mechanism 2 is located between the head housing 101 and the first supporting link 314. The walking mechanism 3 is configured as a full-knee type. This configuration effectively lowers the center of gravity, improves stability, increases the maximum travel distance, and is relatively simple to control.

[0055] Example 6

[0056] This embodiment proposes a mole-tooth-biting star-soil excavation robot. Based on the fourth or fifth embodiment, in this embodiment, Figure 4 and Figure 5As shown, the robot also includes a hollow hip mechanism 4, a power supply, and a controller. The front end of the trunk mechanism 2 is connected to the head mechanism 1, and the rear end of the trunk mechanism 2 is detachably connected to the hip mechanism 4. The power supply and controller are both installed within the hip mechanism 4, electrically connected to the controller, and the controller is communicatively connected to the first servo 171, the second servo 108, and the third servo 311, respectively. The power supply can be used to power the robot's servos, enabling the robot's excavation motion to be achieved through wireless communication with the controller. The detachable connection of the hip mechanism 4 to the trunk mechanism 2 facilitates the removal and installation of the power supply and controller.

[0057] The overall excavation mode of this robot is forward, breaking ground, backward, and soil discharge: the robot advances with a diagonal gait through the walking mechanism 3, and at the same time drives the upper incisors 121 and the lower incisors 131 to open by controlling the movement of the first servo 171 in the head mechanism 1; after walking to the position where the ground is required to be broken, the first servo 171 is started to drive the upper incisors 121 and the lower incisors 131 to close to achieve ground breaking, and the walking mechanism 3 is in a stationary state, which is equivalent to an anchored state, to avoid the robot retreating due to the resistance of the soil; after breaking ground, the third servo 311 is reversed, and the diagonal gait is also adopted to drive the robot backward; after retreating is completed, the third servo 311 stops moving, that is, the walking mechanism 3 is in a stationary state, the second servo 108 is started to drive the head mechanism 1 to rotate, and the first servo 171 is started to drive the upper incisors 121 and the lower incisors 131 to open to achieve soil discharge.

[0058] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0059] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A mole-tooth-like earth-drilling robot, characterized in that: The invention comprises a head mechanism (1), a body mechanism (2) and a walking mechanism (3) arranged on both sides of the body mechanism (2); the head mechanism (1) comprises a head shell (101), an upper jaw (102), a lower jaw (103), a transmission turntable (104), an upper incisor connecting rod (105), a lower incisor connecting rod (106) and a driving mechanism (107); the head shell (101) is connected to the body mechanism (2); the upper jaw (102) is provided with an upper incisor (121) at the head end; ), the end of the upper jaw (102) is rotatably connected to the head shell (101); the head end of the lower jaw (103) is provided with lower incisors (131), and the end of the lower jaw (103) is rotatably connected to the head shell (101); one end of the upper incisor connecting rod (105) is hinged to the outer periphery of the transmission turntable (104), and the other end is hinged to the top of the end of the upper jaw (102); one end of the lower incisor connecting rod (106) is hinged to the outer periphery of the transmission turntable (104). The driving mechanism (107) is provided on the head shell (101), and the output end of the driving mechanism (107) is connected to the transmission turntable (104) for driving the transmission turntable (104) to rotate, thereby driving the upper jaw (102) and the lower jaw (103) to rotate so that the upper incisors (121) and the lower incisors (131) engage and break the soil; the driving mechanism (107) includes a first steering gear ( 171), a driving gear (172) and a driven gear (173), the first servo (171) is arranged on the head shell (101), the output shaft of the first servo (171) is connected to the driving gear (172), the driven gear (173) is rotatably arranged on the head shell (101), the driving gear (172) is meshedly connected with the driven gear (173), and the transmission turntable (104) is coaxial with the driven gear (173) and fixedly connected.

2. The mole-tooth-biting star-soil excavation robot according to claim 1, characterized in that: The outer periphery of the transmission turntable (104) is provided with a first protrusion (141) and a second protrusion (142); the upper incisor connecting rod (105) is hinged to the first protrusion (141); the lower incisor connecting rod (106) is hinged to the second protrusion (142); and the distance from the hinge point of the upper incisor connecting rod (105) and the first protrusion (141) to the rotation center of the transmission turntable (104) is greater than the distance from the hinge point of the lower incisor connecting rod (106) and the second protrusion (142) to the rotation center of the transmission turntable (104).

3. The mole-tooth-biting star-soil excavation robot according to claim 2, characterized in that: The length of the upper incisor (121) is greater than the length of the lower incisor (131).

4. The mole-tooth-biting star-soil excavation robot according to claim 1, characterized in that: A second steering gear (108) is provided on the body mechanism (2), and an output shaft of the second steering gear (108) is connected to the head shell (101).

5. The mole-tooth-biting star-soil excavation robot according to claim 4, characterized in that: The walking mechanism (3) comprises a single-driven front leg mechanism (301) and a single-driven hind leg mechanism (302) both of which are arranged on both sides of the trunk mechanism (2); the single-driven front leg mechanism (301) and the single-driven hind leg mechanism (302) both comprise a third servo (311), a crank member (312), a long connecting rod (313), a first supporting connecting rod (314) and a flipper (315); the third servo (311) is arranged on the trunk mechanism (2); one end of the crank member (312) is connected to the output shaft of the third servo (311); the other end of the crank member (312) is hinged to one end of the long connecting rod (313); the other end of the long connecting rod (313) is connected to the flipper (315); one end of the first supporting connecting rod (314) is hinged to the trunk mechanism (2); the other end of the first supporting connecting rod (314) is hinged to the middle part of the long connecting rod (313).

6. The mole-tooth-biting star-soil excavation robot according to claim 5, characterized in that: The single-drive front leg mechanism (301) and the single-drive rear leg mechanism (302) both further include a crossbar (316), a first short link (317), and a second support link (318). One end of the crossbar (316) is coaxially hinged to the middle of the long link (313) with the first support link (314). The other end of the crossbar (316) is hinged to one end of the first short link (317). The other end of the first short link (317) is hinged to the front end of the flipper (315). The long link (313) is hinged to the flipper (315). The rear end of the first supporting link (315) is hinged, the first short connecting rod (317) is arranged in parallel with the long connecting rod (313), and the distance between the hinge points at both ends of the first short connecting rod (317) is equal to the distance between the hinge point between the long connecting rod (313) and the cross bar (316) and the hinge point between the long connecting rod (313) and the flipper (315); one end of the second supporting link (318) is hinged to the body mechanism (2), and the other end of the second supporting link (318) is coaxially hinged to the first short connecting rod (317) with the cross bar (316).

7. The mole-tooth-biting star-soil excavation robot according to claim 6, characterized in that: The hinge point between the first supporting link (314) and the body mechanism (2) is located between the head shell (101) and the third servo (311), and the hinge point between the second supporting link (318) and the body mechanism (2) is located between the head shell (101) and the first supporting link (314).

8. The mole-tooth-biting-type soil excavation robot according to claim 7 is characterized in that: The first supporting link (314) and the second supporting link (318) are both configured as arc-shaped links, the concave arc surface of the first supporting link (314) faces away from the flipper (315), and the concave arc surface of the second supporting link (318) faces toward the flipper (315).

9. The mole-tooth-biting-type soil excavation robot according to any one of claims 5 to 8, characterized in that: The invention also includes a hollow hip mechanism (4), a power supply and a controller. The front end of the body mechanism (2) is connected to the head mechanism (1), and the rear end of the body mechanism (2) is detachably connected to the hip mechanism (4); the power supply and the controller are both installed in the hip mechanism (4), the power supply is electrically connected to the controller, and the controller is respectively connected to the first servo (171), the second servo (108) and the third servo (311).

Images