Bionic tunneling robot

Abstract

The bionic tunneling robot comprises a body, a head mechanism connected with the body, a front limb mechanism and a rear limb mechanism, the front limb mechanism and the rear limb mechanism are connected to the front end and the rear end of the body respectively and used for advancing and dumping, and the head mechanism comprises an incisor assembly used for digging soil in an occlusion mode, a flexible cervical vertebra and a first driving device; one end of the flexible cervical vertebra is fixed to the incisor assembly, the other end of the flexible cervical vertebra is fixed to the end, close to the front limb mechanism, of the body, and the first driving device is installed at the end, close to the flexible cervical vertebra, of the body. The first driving device is used for driving the flexible cervical vertebra to bend so that the incisor assembly can deflect. The first driving device can drive the incisor assembly to deflect towards the periphery under the support of the flexible cervical vertebra, so that the initiative of the head mechanism is improved, and the tunneling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and more specifically, to a bionic tunneling robot. Background Art

[0002] Bionic robots are robot systems that imitate the external shape or certain functions of organisms in nature and can perform tasks similar to biological characteristics. Among them, bionic excavation robots have shown broad application prospects in the fields of urban underground pipeline construction, field detection, and post-disaster search and rescue. They are also particularly important in space soil excavation robots.

[0003] The bionic excavation robots currently on the market still face some challenges and limitations. For example, the robots have limitations in excavation efficiency, friction problems, structural compactness and energy consumption. In particular, the application needs in complex stellar soil environments have not yet been fully addressed.

[0004] Prior art CN102434196A discloses a mine disaster rescue robot with excavation function, including a conical soil drilling head, a cylindrical front body segment and a cylindrical rear body segment, the front body segment and the rear body segment are connected by a waist that can rotate on a plane; each leg is symmetrically arranged on both sides of the front body segment and the rear body segment, each leg is connected to the front body segment or the rear body segment through a hip joint composed of a revolute pair, and the end of each leg is a curved foot; the conical soil drilling head is fixedly connected to the front end of the front body segment. This prior art can adjust the leg length according to the size of the space, and has strong environmental adaptability; it can realize the excavation function in the medium of soil piles, ruins, etc. by loosening the soil with the drill bit and moving the soil with the foot, but the conical soil drilling head used for excavation has low mobility and the excavation efficiency is not ideal. Summary of the invention

[0005] The purpose of the present invention is to overcome the problem of low excavation efficiency of robots in the prior art and to provide a bionic excavation robot which has strong mobility, can quickly excavate soil in the forward direction and has high excavation efficiency.

[0006] To achieve the above-mentioned purpose, the present invention provides a bionic tunneling robot, comprising a body, a head mechanism connected to the body, and a forelimb mechanism and a hind limb mechanism respectively connected to the front and rear ends of the body and used for moving and discharging soil. The head mechanism comprises an incisor assembly for biting and digging soil, a flexible cervical vertebra and a first drive device, one end of the flexible cervical vertebra is fixed to the incisor assembly, and the other end of the flexible cervical vertebra is fixed to one end of the body close to the forelimb mechanism. The first drive device is installed at one end of the body close to the flexible cervical vertebra, and the first drive device is used to drive the flexible cervical vertebra to bend so that the incisor assembly is deflected.

[0007] In the present technical solution, the flexible cervical vertebrae provide support for the incisor assembly. At the same time, since the flexible cervical vertebrae are flexible and bendable, the flexible cervical vertebrae can guide the incisor assembly to deflect under the drive of the first drive device, so that the incisor assembly is not limited to the direction it is facing, and can swing around, thereby expanding the occlusal and digging range of the incisor assembly in the forward direction and enhancing the mobility of the head assembly. The soil dug out by the incisor assembly is discharged to the rear of the robot under the reciprocating digging of the forelimb mechanism and the hind limb mechanism. At the same time, the forelimb mechanism and the hind limb mechanism provide the robot with moving power, and realize turning, forward and backward movements through different gaits.

[0008] Preferably, in order to drive the incisor assembly to swing along the flexible cervical vertebra, the flexible cervical vertebra is provided with a plurality of parallel protrusions extending around the flexible cervical vertebra along its length direction, and the protrusions are provided with four through holes distributed in a circular array, and the first driving device includes a first driving motor and a second driving motor staggeredly installed at one end of the body, and the driving ends of the first driving motor and the second driving motor are respectively connected to the first driving shaft and the second driving shaft, and winding wheels are respectively fixed at both ends of the first driving shaft and the second driving shaft, and the incisor assembly is fixed with four driving ropes corresponding to the positions of the four through holes on each protrusion, two opposite driving ropes are connected to the two winding wheels on the first driving shaft, and the other two opposite driving ropes are connected to the two winding wheels on the second driving shaft, and the driving ropes connected to the two coaxial winding wheels are wound in opposite directions.

[0009] In the above scheme, the four driving ropes correspond to the upper, lower, left and right directions of the end faces of each protruding portion respectively, when the upper and lower two opposite driving ropes are used as the first group, the left and right two opposite driving ropes are used as the second group, wherein the first group of driving ropes is not limited to the upper and lower two opposite driving ropes, it can also be two left and right driving ropes, and the second group of driving ropes is similar, the first driving motor is used to control the movement of the first group of driving ropes, the second driving motor is used to control the movement of the second group of driving ropes, the driving ropes connected to the two coaxial winding wheels are wound in opposite directions so that when the driving end of the first driving motor drives the two winding wheels of the first driving shaft to rotate in one direction, the driving rope located at the upper end is recovered or released by the winding wheel, and the driving rope located at the lower end is recovered or released by the winding wheel. The driving rope on the left is released or recovered by the winding wheel, and under the guidance of the upper and lower through holes of each raised part, the flexible cervical vertebra bends upward or downward, and the incisor assembly swings upward or downward accordingly; when the driving end of the second driving motor drives the two winding wheels of the second driving shaft to rotate in one direction, the driving rope on the left is recovered or released by the winding wheel, and the driving rope on the right is released or recovered by the winding wheel, and under the guidance of the left and right through holes of each raised part, the flexible cervical vertebra bends to the left or right, and the incisor assembly swings to the left or right accordingly; when the driving ends of the first driving motor and the second driving motor rotate at the same time, the deflection of the flexible cervical vertebra to the left or right is superimposed on the deflection upward or downward, so as to achieve deflection without dead angle.

[0010] Preferably, in order to realize the bending function of the flexible cervical vertebra, the flexible cervical vertebra includes a plurality of vertebrae pivotally connected along a straight line, the protrusions are respectively arranged on the vertebrae, and the flexible cervical vertebra can be pulled to bend by recovering or releasing the driving rope.

[0011] Preferably, a plurality of reset springs are provided between the incisor assembly and the body, the plurality of reset springs are evenly arranged and staggered with the protrusion, one end of the reset spring is connected to the incisor assembly, and the other end of the reset spring is connected to the body, and the tensioning force of the reset spring can assist the flexible cervical vertebra to be reset so that the cones are arranged along a straight line.

[0012] Preferably, in order to realize the movement and soil discharge of the forelimb mechanism, the forelimb mechanism includes two groups, which are respectively arranged at the front ends of both sides of the trunk, and the forelimb mechanism includes a forelimb fixing frame, a forelimb connecting rod and a second driving device. The forelimb fixing frame is connected to the trunk, and the second driving device is installed on the forelimb fixing frame. The driving end of the second driving device is connected to the forelimb connecting rod, and the forelimb connecting rods on both sides can be independently controlled to move through each second driving device to achieve different gaits.

[0013] Preferably, in order to further improve the mobility of the forelimb mechanism, the forelimb fixing frame is rotatably connected to one side of the trunk, and a first servo is installed on the trunk. The rotating end of the first servo is connected to the forelimb fixing frame to drive the forelimb fixing frame to rotate, so that the two forelimbs are flipped inward or outward, the forelimbs have a larger range of motion, the soil discharge efficiency is improved, and the obstacle avoidance function can also be realized.

[0014] Preferably, in order to realize the movement and soil discharge of the hind limb mechanism, the hind limb mechanism includes two groups, which are respectively arranged at the rear ends of both sides of the trunk, and the hind limb mechanism includes a hind limb fixing frame, a hind limb connecting rod and a third driving device. The hind limb fixing frame is connected to the trunk, and the third driving device is installed on the hind limb fixing frame. The driving end of the third driving device is connected to the hind limb connecting rod, and the hind limb connecting rods on both sides can be independently controlled to move through each third driving device to achieve different gaits.

[0015] Preferably, in order to further improve the mobility of the hind limb mechanism, the hind limb fixing frame is rotatably connected to one side of the trunk, a second servo is installed on the trunk, and the rotating end of the second servo is connected to the hind limb fixing frame to drive the hind limb fixing frame to rotate, so that the two hind limbs are flipped inward or outward, and the hind limbs have a larger range of motion.

[0016] Preferably, in order to achieve the maneuverability of the incisors, the incisor assembly includes upper incisors, lower incisors, an incisor frame and a third steering gear, the incisor frame is fixed at one end of the flexible cervical vertebra, the upper incisors and the lower incisors are respectively rotatably connected to the incisor frame, the rotating end of the upper incisor is provided with a first gear tooth, the rotating end of the lower incisor is provided with a second gear tooth, the first rotating gear tooth and the second gear tooth are meshed, the rotating end of the third steering gear is connected to the rotating end of the upper incisor or the lower incisor to drive the upper incisors and the lower incisors to reciprocate and bite, the third steering gear drives the upper incisors or the lower incisors to rotate, and the upper incisors and the lower incisors are linked by the first gear tooth and the second gear tooth to ensure synchronous action and achieve bite and digging.

[0017] Preferably, the body includes a spine, a head frame, a forelimb frame, a hind limb frame, a flexible shell and a plurality of ribs, the head frame and the hind limb frame are respectively fixed at both ends of the spine, the forelimb frame is fixed at one end of the spine close to the head frame, a plurality of ribs are respectively fixed on the spine between the forelimb frame and the hind limb frame, the forelimb mechanism is connected to the forelimb frame, the hind limb mechanism is connected to the hind limb frame, one end of the flexible cervical vertebra is fixed to the head frame, the flexible shell is sleeved on the outside of the spine and wraps the head frame, forelimb frame, hind limb frame and flexible cervical vertebra, the head frame, forelimb frame and hind limb frame are respectively used to install the head mechanism, forelimb mechanism and hind limb mechanism, the ribs and the flexible shell are used together to protect internal transmission components to avoid being squeezed.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The bionic tunneling robot of the present invention supports the incisor assembly for biting and digging soil through the first driving flexible cervical vertebra. The incisor assembly can be deflected to all sides under the drive of the first driving device, thereby increasing the biting and digging surface range of the robot in the forward direction, and then cooperates with the forelimb mechanism and the hindlimb mechanism to discharge soil, thereby improving the tunneling efficiency.

[0020] 2. The head mechanism can swing through the flexible cervical vertebrae and the first drive device, which has strong mobility and a high degree of bionics.

[0021] 3. Through the different movement gaits of the forelimb mechanism and the hindlimb mechanism, the function of moving in all directions is realized, making the robot's movement more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the bionic tunneling robot of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the bionic tunneling robot behind the hidden flexible shell;

[0024] Figure 3 It is a schematic diagram of the structure of the head mechanism;

[0025] Figure 4 is a schematic structural diagram of head mechanism embodiment 2;

[0026] Figure 5 It is a schematic diagram of the structure of the flexible cervical spine;

[0027] Figure 6 It is a schematic diagram of the structure of the incisor assembly;

[0028] Figure 7 It is a schematic diagram of the forelimb structure;

[0029] Figure 8 It is a schematic diagram of the hind limb structure;

[0030] Fig. 9 This is a schematic diagram of the structure behind the body hiding the flexible shell.

[0031] In the figure: body 1; spine 11; head frame 12; forelimb frame 13; hind limb frame 14; flexible shell 15; ribs 16; head mechanism 2; incisor assembly 21; incisor frame 211; upper incisor 212; first gear 2121; lower incisor 213; second gear 2131; third steering gear 214; flexible cervical vertebra 22; vertebral body 221; protrusion 222; through hole 2221; first drive device 23; first drive motor 231; second drive motor Machine 232; first drive shaft 233; second drive shaft 234; winding wheel 235; drive rope 236; guide shaft 237; return spring 24; forelimb mechanism 3; forelimb fixing frame 31; forelimb connecting rod 32; second drive device 33; fourth servo 331; fifth servo 332; first servo 34; hind limb mechanism 4; hind limb fixing frame 41; hind limb connecting rod 42; third drive device 43; sixth servo 431; seventh servo 432; second servo 44. DETAILED DESCRIPTION

[0032] The drawings are only for illustrative purposes and cannot be construed as limiting the present invention. To better illustrate the present embodiment, 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 may be omitted in the drawings. The positional relationships described in the drawings are only for illustrative purposes and cannot be construed as limiting the present invention.

[0033] 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 the terms "upper", "lower", "left", "right", "long", "short" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0034] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0035] Embodiment 1:

[0036] like Figures 1 to 3 , Figures 5 to 9As shown, this embodiment provides a bionic tunneling robot, including a head mechanism 2 connected to a body 1, and a forelimb mechanism 3 and a hindlimb mechanism 4 respectively connected to the front and rear ends of the body 1 and used for moving and discharging soil. The head mechanism 2 includes an incisor assembly 21 for biting and digging soil, a flexible cervical vertebra 22 and a first drive device 23. One end of the flexible cervical vertebra 22 is fixed to the incisor assembly 21, and the other end of the flexible cervical vertebra 22 is fixed to an end of the body 1 close to the forelimb mechanism 3. The first drive device 23 is installed at an end of the body 1 close to the flexible cervical vertebra 22. The first drive device 23 is used to drive the flexible cervical vertebra 22 to bend so that the incisor assembly 21 is deflected.

[0037] In this embodiment, the bionic tunneling robot is based on the mole. The body 1 includes a spine 11, a head frame 12, a forelimb frame 13, a hind limb frame 14, a flexible shell 15 and a plurality of ribs 16. The head frame 12 and the hind limb frame 14 are respectively fixed at both ends of the spine 11, the forelimb frame 13 is fixed at one end of the spine 11 close to the head frame 12, and a plurality of ribs 16 are respectively fixed on the spine 11 between the forelimb frame 13 and the hind limb frame 14. The forelimb mechanism 3 is connected to the forelimb frame 13, the hind limb mechanism 4 is connected to the hind limb frame 14, one end of the flexible cervical vertebra 22 is fixed to the head frame 12, the flexible shell 15 is sleeved on the outside of the spine 11 and wraps the head frame 12, the forelimb frame 13, the hind limb frame 14 and the flexible cervical vertebra 22. The spine 11 is an arc-shaped structure that is convenient for soil discharge, and the flexible shell 15 is made of silicone.

[0038] In this embodiment, the incisor assembly 21 includes an upper incisor 212, a lower incisor 213, an incisor frame 211 and a third servo motor 214. The upper incisors 212 and the lower incisors 213 are both bucket-shaped and have teeth for digging soil at their ends. The incisor frame 211 is fixed to one end of the flexible cervical vertebra 22. The upper incisors 212 and the lower incisors 213 are rotatably connected to the incisor frame 211 respectively. The rotating end of the upper incisor 212 is provided with a first gear tooth 2121, and the rotating end of the lower incisor 213 is provided with a second gear tooth 2131. The first gear tooth 2121 and the second gear tooth 2131 are meshed. The rotating end of the third servo motor 214 is connected to the rotating end of the upper incisor 212 or the lower incisor 213 to drive the upper incisors 212 and the lower incisors 213 to reciprocate and bite.

[0039] Specifically, the flexible cervical vertebra 22 is provided with a plurality of parallel protrusions 222 extending in all directions along its length direction, and the protrusions 222 are provided with four through holes 2221 distributed in a circumferential array. The first driving device 23 includes a first driving motor 231 and a second driving motor 232 staggeredly installed at one end of the body 1, and the driving ends of the first driving motor 231 and the second driving motor 232 are respectively connected to a first driving shaft 233 and a second driving shaft 234, and the first driving shaft 233 and the second driving shaft 234 are perpendicular to each other. Winding wheels 235 are fixed to both ends of the shaft 233 and the second driving shaft 234, respectively. The incisor assembly 21 is fixed with four driving ropes 236 corresponding to the positions of the four through holes 2221 on each protrusion 222, wherein two opposite driving ropes 236 are connected to the two winding wheels 235 on the first driving shaft 233, and the other two opposite driving ropes 236 are connected to the two winding wheels 235 on the second driving shaft 234. The driving ropes 236 connected to the two coaxial winding wheels 235 are wound in opposite directions.

[0040] In this embodiment, the flexible cervical vertebra 22 is made of elastic material through 3D printing, can perform bending movements, and provide axial support for the incisor assembly 21. The first drive motor 231 and the second drive motor 232 are respectively installed on the forelimb skeleton 13, and the four through holes 2221 on each protrusion 222 are respectively arranged in the four directions of up, down, left and right. The forelimb skeleton 13 is also provided with a plurality of guide shafts 237, which provide guidance for the drive rope 236, guide the drive rope 236 to be wound around the winding wheel 235, and avoid interference between the drive ropes 236. The first drive shaft 233 is vertically arranged to drive the upper and lower drive ropes 236 wound around the winding wheel 235 to move, and the second drive shaft 234 is horizontally arranged to drive the left and right drive ropes 236 wound around the winding wheel 235 to move. The first drive shaft 233 and the second drive shaft 234 are respectively connected to the first drive motor 231 and the second drive motor 232 through a bevel gear set to realize transmission.

[0041] Specifically, the forelimb mechanism 3 includes two groups, which are respectively arranged at the front ends of both sides of the trunk 1. The forelimb mechanism 3 includes a forelimb fixing frame 31, a forelimb connecting rod 32 and a second driving device 33. The forelimb fixing frame 31 is connected to the trunk 1, and the second driving device 33 is installed on the forelimb fixing frame 31. The driving end of the second driving device 33 is connected to the forelimb connecting rod 32.

[0042] In this embodiment, the second driving device 33 includes a fourth steering gear 331 and a fifth steering gear 332 , and both ends of the forelimb connecting rod 32 are connected to the rotating ends of the fourth steering gear 331 and the fifth steering gear 332 , respectively.

[0043] Specifically, the hind limb mechanism 4 includes two groups, which are respectively arranged at the rear ends of both sides of the trunk 1. The hind limb mechanism 4 includes a hind limb fixing frame 41, a hind limb connecting rod 42 and a third driving device 43. The hind limb fixing frame 41 is connected to the trunk 1, and the third driving device 43 is installed on the hind limb fixing frame 41. The driving end of the third driving device 43 is connected to the hind limb connecting rod 42.

[0044] In this embodiment, the third driving device 43 includes a sixth steering gear 431 and a seventh steering gear 432 , and both ends of the hind limb connecting rod 42 are connected to the rotating ends of the sixth steering gear 431 and the seventh steering gear 432 , respectively.

[0045] In this embodiment, the front limb connecting rod 32 and the rear limb connecting rod 42 have the same structure and are arranged in a mirror image.

[0046] Embodiment 2:

[0047] The embodiment is similar to embodiment 1, except that, in this embodiment, Figure 4 , 5 As shown, the flexible cervical vertebra 22 includes three vertebral bodies 221 pivotally connected along a straight line, and each protrusion 222 is respectively disposed on the vertebral body 221 .

[0048] Specifically, a plurality of return springs 24 are provided between the incisor assembly 21 and the body 1 , and the plurality of return springs 24 are evenly arranged and staggered with the protrusion 222 , one end of the return spring 24 is connected to the incisor assembly 21 , and the other end of the return spring 24 is connected to the body 1 .

[0049] In this embodiment, the return spring 24 is used to keep the protrusions 222 parallel to each other, so as to assist the flexible cervical vertebra 22 in returning to its original position.

[0050] Embodiment 3:

[0051] The embodiment is similar to embodiment 1, except that, in this embodiment, Figure 2 As shown, the forelimb fixing frame 31 is rotatably connected to one side of the trunk 1, a first servo 34 is installed on the trunk 1, and a rotating end of the first servo 34 is connected to the forelimb fixing frame 31 to drive the forelimb fixing frame 31 to rotate, and the hind limb fixing frame 41 is rotatably connected to one side of the trunk 1, a second servo 44 is installed on the trunk 1, and a rotating end of the second servo 44 is connected to the hind limb fixing frame 41 to drive the hind limb fixing frame 41 to rotate.

[0052] In this embodiment, the two forelimb mechanisms 3 and the hind limb mechanisms 4 can respectively realize eversion or inversion movements to both sides through the first servo 34 and the second servo 44, thereby increasing the range of movement of the forelimb mechanisms 3 and the hind limb mechanisms 4 and making them more mobile.

[0053] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0054] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. 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 claims of the present invention.

Claims

1. A bionic excavation robot, comprising a body (1), a head mechanism (2) connected to the body (1), and a forelimb mechanism (3) and a hindlimb mechanism (4) respectively connected to the front and rear ends of the body (1) and used for moving and discharging soil, characterized in that: The head mechanism (2) comprises an incisor assembly (21) for biting and planing soil, a flexible cervical vertebra (22) and a first drive device (23), one end of the flexible cervical vertebra (22) is fixed to the incisor assembly (21), the other end of the flexible cervical vertebra (22) is fixed to an end of the body (1) close to the forelimb mechanism (3), the first drive device (23) is installed at an end of the body (1) close to the flexible cervical vertebra (22), and the first drive device (23) is used to drive the flexible cervical vertebra (22) to bend so that the incisor assembly (21) is deflected.

2. A bionic tunneling robot according to claim 1, characterized in that: The flexible cervical vertebra (22) is provided with a plurality of parallel protrusions (222) extending in all directions along its length direction, and the protrusions (222) are provided with four through holes (2221) distributed in a ring array. The first driving device (23) comprises a first driving motor (231) and a second driving motor (232) which are staggeredly installed at one end of the body (1), and the driving ends of the first driving motor (231) and the second driving motor (232) are respectively connected to a first driving shaft (233) and a second driving shaft (234), and winding wheels (235) are respectively fixed at both ends of the first driving shaft (233) and the second driving shaft (234). The incisor assembly (21) is fixed with four driving ropes (236) corresponding to the positions of the four through holes (2221) on each of the protruding parts (222), and one end of the four driving ropes (236) passes through the four through holes (2221) on each of the protruding parts (222), respectively, wherein two opposite driving ropes (236) are connected to the two winding wheels (235) on the first driving shaft (233), and the other two opposite driving ropes (236) are connected to the two winding wheels (235) on the second driving shaft (234), and the driving ropes (236) connected to the two coaxial winding wheels (235) are wound in opposite directions.

3. A bionic tunneling robot according to claim 2, characterized in that: The flexible cervical vertebra (22) comprises a plurality of vertebral bodies (221) pivotally connected along a straight line, and each of the protrusions (222) is respectively arranged on the vertebral body (221).

4. The bionic tunneling robot according to claim 3, characterized in that: A plurality of return springs (24) are provided between the incisor assembly (21) and the body (1); the plurality of return springs (24) are evenly arranged and staggered with respect to the protrusion (222); one end of the return spring (24) is connected to the incisor assembly (21), and the other end of the return spring (24) is connected to the body (1).

5. The bionic tunneling robot according to claim 1, characterized in that: The forelimb mechanism (3) comprises two groups, which are respectively arranged at the front ends of both sides of the trunk (1). The forelimb mechanism (3) comprises a forelimb fixing frame (31), a forelimb connecting rod (32) and a second driving device (33). The forelimb fixing frame (31) is connected to the trunk (1), and the second driving device (33) is installed on the forelimb fixing frame (31). The driving end of the second driving device (33) is connected to the forelimb connecting rod (32).

6. The bionic tunneling robot according to claim 5, characterized in that: The forelimb fixing frame (31) is rotatably connected to one side of the trunk (1), a first steering gear (34) is mounted on the trunk (1), and a rotating end of the first steering gear (34) is connected to the forelimb fixing frame (31) to drive the forelimb fixing frame (31) to rotate.

7. The bionic tunneling robot according to claim 1, characterized in that: The hind limb mechanism (4) comprises two groups, which are respectively arranged at the rear ends of both sides of the body (1). The hind limb mechanism (4) comprises a hind limb fixing frame (41), a hind limb connecting rod (42) and a third driving device (43). The hind limb fixing frame (41) is connected to the body (1), and the third driving device (43) is installed on the hind limb fixing frame (41). The driving end of the third driving device (43) is connected to the hind limb connecting rod (42).

8. The bionic tunneling robot according to claim 7, characterized in that: The hind limb fixing frame (41) is rotatably connected to one side of the trunk (1), a second steering engine (44) is mounted on the trunk (1), and a rotating end of the second steering engine (44) is connected to the hind limb fixing frame (41) to drive the hind limb fixing frame (41) to rotate.

9. The bionic tunneling robot according to claim 1, characterized in that: The incisor assembly (21) comprises an upper incisor (212), a lower incisor (213), an incisor frame (211) and a third steering gear (214); the incisor frame (211) is fixed to one end of the flexible cervical vertebra (22); the upper incisors (212) and the lower incisors (213) are respectively rotatably connected to the incisor frame (211); the rotating end of the upper incisors (212) is provided with a first gear tooth (2121); the rotating end of the lower incisors (213) is provided with a second gear tooth (2131); the first gear tooth (2121) and the second gear tooth (2131) are meshed; the rotating end of the third steering gear (214) is connected to the rotating end of the upper incisors (212) or the lower incisors (213) to drive the upper incisors (212) and the lower incisors (213) to reciprocate and bite.

10. A bionic tunneling robot according to any one of claims 1 to 9, characterized in that: The body (1) comprises a spine (11), a head frame (12), a forelimb frame (13), a hindlimb frame (14), a flexible shell (15) and a plurality of ribs (16); the head frame (12) and the hindlimb frame (14) are respectively fixed to the two ends of the spine (11); the forelimb frame (13) is fixed to one end of the spine (11) close to the head frame (12); a plurality of ribs (16) are respectively fixed to the spine (11) between the forelimb frame (13) and the hindlimb frame (14); the forelimb mechanism (3) is connected to the forelimb frame (13); the hindlimb mechanism (4) is connected to the hindlimb frame (14); one end of the flexible cervical vertebra (22) is fixed to the head frame (12); and the flexible shell (15) is sleeved on the outside of the spine (11) and wraps the head frame (12), the forelimb frame (13), the hindlimb frame (14) and the flexible cervical vertebra (22).

Images