A mole-like soil excavation robot

Abstract

The present invention discloses a mole-like excavation robot for excavating and discharging soil, comprising a head mechanism, forelimb mechanisms, hindlimb mechanisms, a trunk mechanism, and a control panel. The head mechanism is rotatably connected to one end of the trunk mechanism and is used to break up soil and guide the removal of soil debris. The forelimb mechanisms are located at the end of the trunk mechanism near the head mechanism and reciprocate in both directions to excavate and scrape loose soil debris in the forward direction. The hindlimb mechanisms are located at the end of the trunk mechanism away from the head mechanism and reciprocate in the forward direction to excavate and displace soil debris scraped by the forelimb mechanisms. The control panel is electrically connected to the head mechanism, forelimb mechanisms, and hindlimb mechanisms, respectively, for controlling the coordinated movements of the head mechanism, forelimb mechanisms, and hindlimb mechanisms. The present invention has a compact overall structure, and the coordinated movements of the various mechanisms are controlled by the control panel, enabling efficient excavation of shallow-layer excavated soil on the surface of a star.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more particularly to a mole-like soil excavation robot. Background Art

[0002] With the advancement of deep space exploration, scientists are increasingly hoping to delve deeper into the interior of celestial regolith to uncover information about the planet's earlier evolution. To this end, researchers have been exploring low-energy, high-efficiency methods for surface excavation, hoping to apply these methods to mobile exploration missions across the surface of the star, thereby enabling large-scale, in-depth exploration of celestial regolith to obtain comprehensive geological profiles.

[0003] Currently, research on biomimetic drilling has rapidly advanced its excavation principles. Its low mass, small size, and low power consumption reveal its great potential. Studies in biological anatomy and behavior have shown that the excavation ability of burrowing animals is related to numerous factors, including body morphology, muscle distribution, joint structure, and movement planning. Compared to traditional spiral drilling methods, biomimetic excavation offers unique advantages, such as low energy consumption, high energy efficiency, deep excavation, and excellent turning flexibility. This provides a promising model for the design of excavation robots for space exploration. As biological excavators, moles possess excellent biomechanical properties in their limbs, head, and other excavation areas, resulting in very low cutting resistance and excellent soil removal and drag reduction. Moles, only 0.1 meters long, can dig up to 90 meters of burrows in a single day in soft soil. Dubbed the "excavator" of the biological world, they provide a promising model for excavation robots for space exploration. Researchers at home and abroad have been researching bionic mole-like excavation robots for years, achieving some success. However, most bionic mole-like excavation robots exhibit complex movements and limited flexibility, and the vast majority are unable to truly dig within the soil, presenting difficulties and challenges for their subsequent practical application.

[0004] Prior art CN114687746B discloses a mole-like excavation robot. The robot comprises a body with forelimbs for excavation located on either side of one end, and hindlimbs for soil removal located on either side of the other end. The robot also comprises a head, comprising an upper jaw, a lower jaw, and a first drive assembly and a second drive assembly mounted on the body. The first and second drive assemblies respectively drive the upper and lower jaws to reciprocate, causing the upper and lower incisors to engage and break the soil. This robot combines excavation and propulsion, and, combined with the soil-breaking mechanism of the upper and lower jaws, is adaptable to directional excavation in soil environments of varying hardness. In this scheme, while soil debris in front of the robot's head can be broken up by the engagement of the incisors, it is unable to remove soil debris from the head, resulting in soil accumulation and increased resistance to the robot's excavation. Furthermore, the robot's forelimbs are relatively complex, and during movement within the soil, they face more nonlinear and complex mechanical relationships, causing the robot's movement to become blocked or even stopped, preventing it from completing excavation. Furthermore, the movement of each mechanism is difficult to precisely and independently control. Summary of the Invention

[0005] In order to solve the above problems, the present invention proposes a mole-like soil excavation robot, which controls the head mechanism to rotate and break the soil through the control panel, and the forelimb mechanism to dig on the left and right sides of the forward direction to scrape the soil debris to create forward space for the robot, and the hindlimb mechanism to dig the soil debris under the robot to discharge the soil debris loosened by the forelimb mechanism. The forelimb mechanism and the hindlimb mechanism are subjected to reaction force during the digging process to provide power for the robot's excavation.

[0006] To achieve the above-mentioned purpose, the present technical solution provides a mole-like soil excavation robot, comprising a head mechanism, a forelimb mechanism, a hindlimb mechanism, a trunk mechanism, and a control panel, wherein one end of the trunk mechanism is provided with at least one forward direction;

[0007] The head mechanism is rotatably connected to one end of the trunk mechanism, and the head mechanism rotates alternately clockwise and counterclockwise on the soil debris in the forward direction to break the soil and guide the discharge of the soil debris;

[0008] The forelimb mechanism is provided at one end of the trunk mechanism close to the head mechanism, and the forelimb mechanism reciprocates to dig and scrape loose soil debris in the forward direction;

[0009] The hind limb mechanism is provided at one end of the trunk mechanism away from the head mechanism, and the hind limb mechanism reciprocates in the forward direction to dig and remove soil scraps scraped by the front limb mechanism;

[0010] The control panel is electrically connected to the head mechanism, the forelimb mechanism and the hindlimb mechanism respectively, and is used to control the coordinated movement of the head mechanism, the forelimb mechanism and the hindlimb mechanism.

[0011] In this technical solution, the direction directly in front of the head mechanism is the forward direction of the robot. The head mechanism rotates the soil debris in the forward direction clockwise and counterclockwise alternately by a certain angle to break the soil, so that the soil debris in the front is loosened. The forelimb mechanism digs the soil debris on both sides of the forward direction and scrapes the loose soil debris passing through the head mechanism to discharge the soil debris to the rear sides, creating space for the robot to move forward. The rear trunk mechanism digs the soil debris at the bottom of the robot, forming a forward kicking action to provide power for the robot to move forward. This technical solution integrates excavation, soil debris discharge and propulsion, and has a compact structure.

[0012] As a preferred solution, the trunk mechanism includes a trunk axis, a first support frame and a second support frame, the first support frame and the second support frame are respectively connected to the two ends of the trunk axis, the forelimb mechanism is connected to both sides of the first support frame, the head mechanism is rotatably connected to the first support frame, and the hind limb mechanism is connected to both sides of the second support frame. The trunk mechanism serves as the body of the robot and plays a supporting role, connecting the head mechanism, forelimb mechanism, hind limb mechanism and torso mechanism.

[0013] As a preferred solution, in order to realize the rotation and soil breaking of the head mechanism, the head mechanism includes a head body and a transmission shaft, the first support frame is provided with a through hole for the transmission shaft to pass through, the head body is fixed to the transmission shaft, and a first driving device electrically connected to the control panel is fixed on the trunk shaft, and the end of the transmission shaft away from the head body passes through the through hole and is connected to the driving shaft of the first driving device, and the first driving device drives the rotating shaft to rotate clockwise and counterclockwise alternately by a certain angle to drive the head body to rotate clockwise and counterclockwise to break the soil. As the robot excavates, soil chips are discharged from both sides of the head body to reduce the resistance to excavation.

[0014] As a preferred embodiment, the forelimb mechanism includes a first forelimb assembly and a second forelimb assembly, the first forelimb assembly and the second forelimb assembly are respectively rotatably connected to both sides of the first support frame, and a helical gear is fixed on the transmission shaft, and the first forelimb assembly and the second forelimb assembly are respectively provided with an arc block, and each arc block is respectively provided with helical teeth along its arc surface, and each arc block is respectively engaged with the helical gear through the helical teeth to drive the first forelimb assembly and the second forelimb assembly to plan back and forth, and the first driving device drives the head body to rotate while driving the first forelimb assembly and the second forelimb assembly on both sides to plan through the engagement of the helical teeth. During this process, the control panel controls the first driving device to rotate clockwise or counterclockwise alternately by a certain angle instead of continuous rotation, so that the arc block rotates back and forth by a certain angle through the engagement of the helical teeth, so that the arc block does not disengage from the helical gear, and the range of the first forelimb assembly and the second forelimb assembly covers the soft soil debris accumulation area after the soil is broken by the head mechanism.

[0015] As a preferred solution, the first forelimb assembly and the second forelimb assembly have the same structure and both include a forelimb palm and a palm connecting structure. Each of the palm connecting structures is rotatably connected to the first support frame, and each of the arc blocks is respectively fixed at one end of each of the palm connecting structures. Each of the forelimb palms is respectively connected to the other end of each of the palm connecting structures. By setting the forelimb palm and the palm connecting structure, the digging range of the forelimb mechanism can be expanded, thereby making the robot's excavation smoother.

[0016] As a preferred solution, the palm connecting structure includes a connecting block, a connecting sleeve, a connecting rod, a crank connecting rod, and a second driving device, each of the connecting blocks is rotatably connected to both sides of the first support frame, each of the arc blocks is fixed to each of the connecting blocks, each of the second driving devices is fixed to one side of each of the connecting blocks and is electrically connected to the control panel, one end of each of the connecting rods is fixed to one side of each of the connecting blocks, the other end of each of the connecting rods is suspended outside the connecting block, each of the connecting sleeves is rotatably connected to one end of the suspension of each of the connecting rods, each of the connecting sleeves is provided with a sliding hole, and each of the crank One end of the handle connecting rod is connected to the driving end of each second driving device, and the other end of each crank connecting rod passes through the sliding hole and is fixed to each forelimb palm. The second driving device drives one end of the crank connecting rod to rotate, and the other end of the crank connecting rod drives the forelimb palm to move along an elliptical trajectory under the limit of the connecting sleeve, so that the forelimb palm extends when it rotates backward under the drive of the first driving device and retracts when the forelimb palm rotates forward. The retraction is to prevent the dug-out soil chips from being pushed back during the process of the forelimb palm rotating forward and resetting. The digging and extension is to increase the range of the digging to improve the chip removal capacity, thereby increasing the excavation efficiency.

[0017] As a preferred solution, the hind limb mechanism includes a first hind limb assembly and a second hind limb assembly, and the first hind limb assembly and the second hind limb assembly are respectively arranged on both sides of the second support frame. The first hind limb assembly and the second hind limb assembly simultaneously dig the soil debris at the bottom of the robot to provide forward power for the robot.

[0018] As a preferred embodiment, the first hind limb assembly and the second hind limb assembly have the same structure and both include a hind limb palm, a first connecting rod structure, a second connecting rod structure, a third driving device and a fourth driving device. Each of the third driving devices and the fourth driving device is electrically connected to the control panel respectively. Each of the third driving device and the fourth driving device is arranged side by side and fixed on one side of the second support frame. One end of each of the first connecting rod structures is connected to the driving end of each of the third driving devices respectively, and the other end of each of the first connecting rod structures is connected to one end of each of the hind limb palms respectively, and one end of each of the second connecting rod structures is connected to the driving end of each of the fourth driving devices respectively, and the other end of each of the second connecting rod structures is connected to the other end of each of the hind limb palms respectively. A closed chain link is formed between the first connecting rod structure, the second connecting rod structure and the hind limb palm, and the third device and the fourth driving device respectively drive the hind limb palm through the first connecting rod structure and the second connecting rod structure to realize reciprocating planing.

[0019] As a preferred solution, in order to reduce the excavation resistance, the head body is a polygonal curved surface body, and the polygonal curved surface body has at least one surface forming an angle with the forward direction, and the angle is 30° to 45°. The loose soil debris is discharged backward along the surface of the polygonal curved surface body.

[0020] As a preferred solution, in order to enhance the structural strength of the trunk structure, a reinforcing trunk is provided between the first support frame and the second support frame, one end of the reinforcing trunk is connected to the first support frame, and the other end of the reinforcing trunk is connected to the second support frame.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The head mechanism of the present invention rotates alternately clockwise and counterclockwise, which has the effect of loosening the soil and removing soil debris, and can effectively reduce the resistance of the star soil to the robot, breaking the star soil with higher hardness into the star soil with lower hardness, thereby reducing the power consumption of the robot and saving energy consumption.

[0023] 2. By placing the forelimb mechanism behind the head mechanism, the movement range of the forelimb mechanism covers the soft soil debris accumulation area after the head mechanism breaks the soil, which can enable the robot to have a larger excavation area and more sufficient debris removal capacity.

[0024] 3. The digging movement of the hind limbs can effectively loosen and remove the soil, and has an anchoring effect to help the robot resist the reaction force when digging in the soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of the mole-like earth-drilling robot of the present invention;

[0026] Figure 2 yes Figure 1 A structural diagram from another perspective;

[0027] Figure 3 It is a structural diagram of the torso mechanism;

[0028] Figure 4 It is a structural diagram of the forelimb mechanism;

[0029] Figure 5 It is a structural diagram of the hind limb mechanism;

[0030] Figure 6 It is a schematic diagram of the trajectory curve of the forelimb palm movement state;

[0031] Figure 7 It is a schematic diagram of the trajectory curve of the motion state of the forelimb mechanism;

[0032] Figure 8 It is a schematic diagram of the trajectory curve of the motion state of the hind limb mechanism.

[0033] In the figure: head mechanism 1; head body 101; transmission shaft 102; forelimb mechanism 2; bevel gear 201; arc block 202; forelimb palm 203; connecting block 204; connecting sleeve 205; connecting rod 206; crank connecting rod 207; second drive device 208; hind limb mechanism 3; hind limb palm 301; first connecting rod structure 302; second connecting rod structure 303; third drive device 304; fourth drive device 305; trunk mechanism 4; trunk shaft 401; first support frame 402; second support frame 403; first drive device 404; reinforced trunk 405; coupling 406. DETAILED DESCRIPTION

[0034] The drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate the embodiments, some components in the drawings may be omitted, enlarged, or reduced in size, and do not represent actual product dimensions. Those skilled in the art will understand that some well-known structures and their descriptions may be omitted from the drawings. The positional relationships depicted in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0035] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc. indicating the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do 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 position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0036] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0037] Example 1:

[0038] like Figures 1 to 5 As shown, this embodiment provides a mole-like soil excavation robot, comprising a head mechanism 1, a forelimb mechanism 2, a hindlimb mechanism 3, a trunk mechanism 4, and a control panel, wherein one end of the trunk mechanism 4 is provided with at least one forward direction;

[0039] The head mechanism 1 is rotatably connected to one end of the trunk mechanism 4, and the head mechanism 1 rotates alternately clockwise and counterclockwise on the soil debris in the forward direction to break the soil and guide the discharge of the soil debris;

[0040] The forelimb mechanism 2 is provided at one end of the trunk mechanism 4 close to the head mechanism 1, and the forelimb mechanism 2 reciprocates in both directions to dig and scrape loose soil debris in the forward direction;

[0041] The hind limb mechanism 3 is provided at one end of the trunk mechanism 4 away from the head mechanism 1, and the hind limb mechanism 3 reciprocates in the forward direction to dig and remove the soil scraping by the front limb mechanism 2;

[0042] The control panel is electrically connected to the head mechanism 1 , the forelimb mechanism 2 and the hindlimb mechanism 3 respectively, and is used to control the coordinated movements of the head mechanism 1 , the forelimb mechanism 2 and the hindlimb mechanism 3 .

[0043] In this embodiment, the trunk mechanism 4 is used to connect the head mechanism 1, the forelimb mechanism 2 and the hindlimb mechanism 3 to play a supporting role; the head mechanism 1 breaks the soil in the forward direction to loosen the soil debris in front of the robot; Figure 7The figure shows a schematic diagram of the motion trajectory curve of the forelimb mechanism 2. The reciprocating digging motion of the forelimb mechanism 2 includes side digging, downward digging, and forward digging, which respectively scrapes the soil debris in front of the robot, on both sides of the front, and in front of the robot. The motion area of ​​the head mechanism 1 and the forelimb mechanism 2 covers the cross-sectional area of ​​the robot's forward direction, creating space for the robot's excavation. Figure 8 The figure shows a schematic diagram of the motion trajectory curve of the hind limb mechanism 3. The hind limb mechanism 3 is mainly used to scrape the soil debris in the lower front and kick the soil to provide the main power for the robot's excavation. At the same time, the hind limb mechanism 3 can also provide an anchoring effect for the robot by inserting the hind limb mechanism 3 into the soil.

[0044] Specifically, the trunk mechanism 4 includes a trunk axis 401, a first support frame 402 and a second support frame 403. The first support frame 402 and the second support frame 403 are respectively connected to the two ends of the trunk axis 401, the forelimb mechanism 2 is connected to both sides of the first support frame 402, the head mechanism 1 is rotatably connected to the first support frame 402, and the hind limb mechanism 3 is connected to both sides of the second support frame 403.

[0045] In this embodiment, there are two trunk axes 401, both of which are optical axes. The optical axes are not limited to elasticity or rigidity. The first support frame 402 and the second support frame 403 are bolted to the two ends of the two trunk axes 401 respectively. The first support frame 402 is provided with a bearing connected to the head mechanism 1, and the control panel is fixed on the trunk axis 401.

[0046] Specifically, the head mechanism 1 includes a head body 101 and a transmission shaft 102. The first support frame 402 is provided with a through hole for the transmission shaft 102 to pass through. The head body 101 is fixed to the transmission shaft 102. A first driving device 404 electrically connected to the control panel is fixed on the torso shaft 401. The end of the transmission shaft 102 away from the head body 101 passes through the through hole and is connected to the driving shaft of the first driving device 404. The head body 101 is a polygonal curved surface body, and the polygonal curved surface body has at least one surface forming an angle A with the forward direction, and the angle A is 30° to 45°.

[0047] In this embodiment, the bearing is installed on the through hole of the first support frame 402. The back of the polygonal curved body is a curved surface with an inward concave shape. The curved surfaces on the left and right sides are smoothly connected to form a closed curved body, which is used to reduce the friction between the front end and the bottom of the robot and prevent motion interference with the forelimb mechanism 2. One end of the transmission shaft 102 is fixed to the back of the main body 101, and the other end of the transmission shaft 102 passes through the bearing on the first support frame 402 and is connected to the first drive device 404 through the coupling 406 to realize transmission. The first drive device 404 is a gear shaft drive motor.

[0048] Specifically, the forelimb mechanism 2 includes a first forelimb assembly and a second forelimb assembly, which are respectively rotatably connected to both sides of the first support frame 402, and a bevel gear 201 is fixed on the transmission shaft 102. The first forelimb assembly and the second forelimb assembly are respectively provided with an arc block 202, and each of the arc blocks 202 is respectively provided with bevel teeth along its arc surface. Each of the arc blocks 202 is respectively engaged with the bevel gear 201 through the bevel teeth to drive the first forelimb assembly and the second forelimb assembly to plan back and forth.

[0049] In this embodiment, the control panel sets the rotation angle range of the first driving device 404 and controls it to rotate alternately clockwise and counterclockwise, so as to drive the bevel gear 201 to rotate alternately clockwise or counterclockwise by a certain angle to drive the arc block 202 to rotate and prevent the arc block 202 from disengaging from the bevel gear 201, thereby driving the first forelimb assembly and the second forelimb assembly on the left and right sides to plan.

[0050] Specifically, the first forelimb assembly and the second forelimb assembly have the same structure and both include a forelimb palm 203 and a palm connecting structure, each of the palm connecting structures is rotatably connected to the first support frame 402, each of the arc blocks 202 is respectively fixed to one end of each of the palm connecting structures, each of the forelimb palms 203 is respectively connected to the other end of each of the palm connecting structures, and the palm connecting structure includes a connecting block 204, a connecting sleeve 205, a connecting rod 206, a crank connecting rod 207, and a second driving device 208, each of the connecting blocks 204 is respectively rotatably connected to both sides of the first support frame 402, and each of the arc blocks 202 is respectively connected to each of the connecting blocks 2 04 is fixed, each second driving device 208 is respectively fixed on one side of each connecting block 204 and electrically connected to the control panel, one end of each connecting rod 206 is respectively fixed to one side of each connecting block 204, the other end of each connecting rod 206 is suspended on the outside of the connecting block 204, each connecting sleeve 205 is respectively rotatably connected to one end of the suspension of each connecting rod 206, each connecting sleeve 205 is respectively provided with a sliding hole, one end of each crank connecting rod 207 is respectively connected to the driving end of each second driving device 208, the other end of each crank connecting rod 207 passes through each sliding hole and is fixed to each forelimb palm 203.

[0051] In this embodiment, the second drive device 208 is a DC worm gear dual-axis output motor. The two driving ends of the second drive device 208 are respectively connected to the short rods of the upper and lower crank connecting rods 207. The connecting rod 206 is an inverted "Z" structure for installing the connecting sleeve 205 to limit the long rods of the upper and lower crank connecting rods 207. Driven by the above structure, the forelimb palm 203 moves along an elliptical trajectory, that is, the forelimb palm 203 can be extended and retracted. When the forelimb palm 203 is reset forward, the forelimb palm 203 retracts to avoid contact with soil debris. When the forelimb palm 203 is moved backward, the forelimb palm 203 extends to expand the scraping area. Through the cooperation of the first drive device 404 and the second drive device 208, the forelimb palm 203 forms a Figure 6 、 7 As shown in the motion trajectory curve, when the first forelimb assembly and the second forelimb assembly rotate in the opposite direction to the forward direction driven by the first drive motor 404, each second drive device 208 drives each forelimb palm 203 to extend to both sides; when the first forelimb assembly and the second forelimb assembly rotate in the forward direction driven by the first drive motor 404, each second drive device 208 drives each forelimb palm 203 to retract.

[0052] Specifically, the hind limb mechanism 3 includes a first hind limb component and a second hind limb component, which are respectively arranged on both sides of the second support frame 403. The first hind limb component and the second hind limb component have the same structure and both include a hind limb palm 301, a first connecting rod structure 302, a second connecting rod structure 303, a third driving device 304 and a fourth driving device 305. Each of the third driving devices 304 and the fourth driving device 305 is electrically connected to the control panel respectively. Each of the third driving devices 304 and the fourth driving device 305 is arranged side by side and fixed on one side of the second support frame 403. One end of each of the first connecting rod structures 302 is respectively connected to the driving end of each of the third driving devices 304, the other end of each of the first connecting rod structures 302 is respectively connected to one end of each of the hind limb palms 301, one end of each of the second connecting rod structures 303 is respectively connected to the driving end of each of the fourth driving devices 305, and the other end of each of the second connecting rod structures 303 is respectively connected to the other end of each of the hind limb palms 301.

[0053] In this embodiment, the third driving device 304 and the fourth driving device 305 are both driving servos with PID control modules, which can ensure the output of accurate angular displacement. A closed-chain five-link mechanism is formed between the first connecting rod structure 302, the second connecting rod structure 303 and the hind limb palm 301, which is used for kicking trajectory movement, so as to achieve the following: Figure 8 The arbitrary trajectory motion shown.

[0054] Example 2:

[0055] This embodiment is similar to embodiment 1, except that, in this embodiment, Figure 1 、 3 As shown, a reinforcing trunk 405 is provided between the first support frame 402 and the second support frame 403 , one end of the reinforcing trunk 405 is connected to the first support frame 402 , and the other end of the reinforcing trunk 405 is connected to the second support frame 403 .

[0056] In this embodiment, the reinforced trunk 405 is formed of a plurality of rods to form a skeleton, and a flexible cable tube is provided in the skeleton for line connection.

[0057] Example 3:

[0058] This embodiment is similar to embodiment 1, except that, in this embodiment, Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 As shown, the ends of the forelimb palm 203 and the hindlimb palm 301 are respectively provided with three arc-shaped claw structures, which are arranged linearly and bent back to the forward direction, which can effectively loosen and remove the soil, and can also enable the forelimb palm 203 and the hindlimb palm 301 to be inserted into the soil to provide anchoring for the robot.

[0059] Example 4:

[0060] This embodiment is similar to embodiment 1, except that, in this embodiment, the head mechanism 1, forelimb mechanism 2, hindlimb mechanism 3 and trunk mechanism 4 are covered with an elastic film to prevent soil debris from entering the robot, thereby protecting the transmission components and lines.

[0061] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0062] 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-like earth-drilling robot, characterized in that: It comprises a head mechanism (1), a forelimb mechanism (2), a hindlimb mechanism (3), a trunk mechanism (4), and a control panel, wherein one end of the trunk mechanism (4) is provided with at least one forward direction; The head mechanism (1) is rotatably connected to one end of the trunk mechanism (4), and the head mechanism (1) rotates alternately clockwise and counterclockwise on the soil debris in the forward direction, so as to break the soil and guide the discharge of the soil debris; The forelimb mechanism (2) is provided at one end of the trunk mechanism (4) close to the head mechanism (1), and the forelimb mechanism (2) reciprocates in both directions to dig and scrape loose soil debris in the forward direction; The hind limb mechanism (3) is arranged at one end of the trunk mechanism (4) away from the head mechanism (1), and the hind limb mechanism (3) reciprocates in the forward direction to dig and remove soil scraps scraped by the front limb mechanism (2); The control panel is electrically connected to the head mechanism (1), the forelimb mechanism (2), and the hindlimb mechanism (3), respectively, and is used to control the coordinated movement of the head mechanism (1), the forelimb mechanism (2), and the hindlimb mechanism (3); The trunk mechanism (4) includes a trunk axis (401), a first support frame (402) and a second support frame (403), wherein the first support frame (402) and the second support frame (403) are respectively connected to two ends of the trunk axis (401), the forelimb mechanism (2) is connected to both sides of the first support frame (402), the head mechanism (1) is rotatably connected to the first support frame (402), and the hindlimb mechanism (3) is connected to both sides of the second support frame (403); The head mechanism (1) comprises a head body (101) and a transmission shaft (102); the first support frame (402) is provided with a through hole for the transmission shaft (102) to pass through; the head body (101) is fixed to the transmission shaft (102); a first driving device (404) electrically connected to the control panel is fixed to the trunk shaft (401); an end of the transmission shaft (102) away from the head body (101) passes through the through hole and is connected to the driving shaft of the first driving device (404); The forelimb mechanism (2) comprises a first forelimb assembly and a second forelimb assembly, the first forelimb assembly and the second forelimb assembly being rotatably connected to both sides of the first support frame (402), a helical gear (201) being fixed to the transmission shaft (102), the first forelimb assembly and the second forelimb assembly being respectively provided with an arc block (202), each of the arc blocks (202) being respectively provided with helical teeth along its arc surface, and each of the arc blocks (202) being respectively engaged with the helical gear (201) via the helical teeth to drive the first forelimb assembly and the second forelimb assembly to plan back and forth; The hind limb mechanism (3) comprises a first hind limb component and a second hind limb component, wherein the first hind limb component and the second hind limb component are respectively arranged on both sides of the second support frame (403); The first hind limb assembly and the second hind limb assembly have the same structure and both comprise a hind limb palm (301), a first connecting rod structure (302), a second connecting rod structure (303), a third driving device (304) and a fourth driving device (305). Each of the third driving devices (304) and the fourth driving device (305) is electrically connected to the control panel, and each of the third driving devices (304) and the fourth driving device (305) is arranged side by side and fixed on one side of the second support frame (403). One end of each of the first connecting rod structures (302) is connected to the driving end of each of the third driving devices (304), and the other end of each of the first connecting rod structures (302) is connected to one end of each of the hind limb palms (301). One end of each of the second connecting rod structures (303) is connected to the driving end of each of the fourth driving devices (305), and the other end of each of the second connecting rod structures (303) is connected to the other end of each of the hind limb palms (301).

2. The mole-like soil excavation robot according to claim 1, characterized in that: The first forelimb assembly and the second forelimb assembly have the same structure and both comprise a forelimb palm (203) and a palm connecting structure, each of the palm connecting structures being rotatably connected to the first support frame (402), each of the arc-shaped blocks (202) being respectively fixed to one end of each of the palm connecting structures, and each of the forelimb palms (203) being respectively connected to the other end of each of the palm connecting structures.

3. The mole-like soil excavation robot according to claim 2, characterized in that: The palm connecting structure comprises a connecting block (204), a connecting sleeve (205), a connecting rod (206), a crank connecting rod (207), and a second driving device (208). Each of the connecting blocks (204) is rotatably connected to both sides of the first support frame (402). Each of the arc blocks (202) is fixed to each of the connecting blocks (204). Each of the second driving devices (208) is fixed to one side of each of the connecting blocks (204) and is electrically connected to the control panel. One end of each of the connecting rods (206) is respectively It is fixed to one side of each connecting block (204), the other end of each connecting rod (206) is suspended outside the connecting block (204), each connecting sleeve (205) is rotatably connected to one end of the suspension of each connecting rod (206), each connecting sleeve (205) is provided with a sliding hole, one end of each crank connecting rod (207) is connected to the driving end of each second driving device (208), and the other end of each crank connecting rod (207) passes through the sliding hole and is fixed to each forelimb palm (203).

4. The mole-like soil excavation robot according to claim 1, characterized in that: The head body (101) is a polygonal curved surface body, and the polygonal curved surface body has at least one surface forming an angle A with the advancing direction, and the angle A is 30° to 45°.

5. The mole-like soil excavation robot according to claim 1, characterized in that: A reinforcing trunk (405) is provided between the first support frame (402) and the second support frame (403), one end of the reinforcing trunk (405) is connected to the first support frame (402), and the other end of the reinforcing trunk (405) is connected to the second support frame (403).

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