A sensor self-displacement burying micro robot based on bionic peristalsis

Abstract

The present application relates to geotechnical engineering monitoring technical field, disclose a kind of sensor self-displacement burying micro robot based on bionical peristalsis, including sensor push system, the side of sensor push system is connected with telescopic displacement system, and the side of telescopic displacement system and sensor push system away from each other is equipped with extrusion counterforce system.The present application realizes soil minimally invasive drilling and sensor pre-burying operation, reduces the interference to soil, improves soil detection accuracy;Combined with inertial navigation and program control, the accurate control of burying depth, plane position and sensor attitude can be realized, the accurate pre-burying of detection sensor is realized;Adopt bionical peristalsis mechanism to make it have very strong obstacle and through loose medium capacity, suitable for a variety of complex geological conditions;Integrates autonomous travel, accurate release, autonomous recycling function, realizes the full-process automation of sensor burying;Energy utilization efficiency is high, and almost no earthwork and noise is generated during the whole burying process, realizes green geotechnical engineering monitoring.

Description

Technical Field

[0001] This invention relates to the field of geotechnical engineering monitoring technology, and in particular to a micro-robot for sensor self-displacement installation based on biomimetic peristalsis. Background Technology

[0002] In civil engineering health monitoring (such as slopes, dams, and bridge foundations), various sensors (such as earth pressure cells, displacement gauges, and humidity sensors) need to be embedded within the soil to obtain crucial data. Traditional embedding methods mainly rely on pre-drilling trenches and holes, followed by manual placement, or the use of heavy machinery to press them in. These methods have significant drawbacks:

[0003] Severe soil disturbance: Large-scale excavation or drilling can severely damage the structure and stress state of the original soil, resulting in distorted monitoring data that cannot reflect the true working conditions.

[0004] Poor installation accuracy: It is difficult to accurately control the final attitude, depth and planar position of the sensor.

[0005] Limited applicability: Construction cannot be carried out in confined spaces or under existing structures (such as under bridge piers).

[0006] Low efficiency and high cost: requires a large amount of manpower and machinery.

[0007] Although some small drilling equipment has emerged, they mostly employ rotary or impact drilling methods, resulting in significant vibration, inflexible directional control, and an inability to solve the problem of precise positioning and fixation of sensors during the installation process. Therefore, a biomimetic peristaltic self-displacement microrobot for sensor installation is proposed. Summary of the Invention

[0008] To address the technical problems existing in the prior art, this invention provides a biomimetic peristaltic sensor self-displacement embedding microrobot.

[0009] The present invention is achieved by the following technical solution: a sensor self-displacement embedding micro-robot based on biomimetic peristalsis, including a sensor ejection system, a telescopic displacement system connected to one side of the sensor ejection system, a compression reaction system installed on the side of the telescopic displacement system and the sensor ejection system that are far apart from each other, and a rotary jacking system installed on the side of the two sets of compression reaction systems that are far apart from each other.

[0010] The sensor ejection system includes a housing with a tray inside. The top of the tray has a placement slot for placing the sensor. The placement slot holds the sensor for detection. A conveying mechanism for transporting the sensor is installed on the top of the tray. A clamping mechanism for holding the sensor is connected to the bottom of the conveying mechanism. A first channel for the sensor to extend is opened on the top of the housing. A closing mechanism for closing the housing is sleeved on the first channel. An ejection mechanism that is fixed to the tray is installed at one end of the first channel that extends into the housing.

[0011] The telescopic displacement system includes a first side plate fixedly connected to an adjacent box and a second side plate fixedly connected to an adjacent rotary jacking system. A telescopic unit and a stabilizing unit are connected between the first side plate and the second side plate. A flexible layer with an annular structure is installed at the ends of the first side plate and the second side plate. A navigation module for detecting the robot's position is fixedly connected to the first side plate.

[0012] As a further improvement to the above solution, the extrusion reaction system includes a pressure box fixedly connected to an adjacent box or a second side plate. A horizontal plate is fixedly connected inside the pressure box. A drive unit is fixedly connected to both sides of the horizontal plate. A reaction plate is fixedly connected to the output end of the drive unit. A flexible membrane is fixedly connected to the other side of the reaction plate. The pressure box has a second channel, and the flexible membrane is fixedly connected to the second channel. A pressure sensor is embedded in the reaction plate.

[0013] As a further improvement to the above solution, the rotary jacking system includes a power box fixedly connected to the extrusion reaction system, a power shaft rotatably sleeved at the other end of the power box, a motor for providing power to the power shaft installed inside the power box, a rotating cone slidably connected to the outside of the power box fixedly sleeved on the outer ring of the power shaft, and a helical blade fixedly sleeved on the other end of the rotating cone.

[0014] As a further improvement to the above solution, the conveying mechanism includes a guide rod fixedly connected to the housing, a lead screw provided on one side of the guide rod, the lead screw being rotatably connected to the housing with a bearing seat, a motor fixedly connected to the housing at one end of the lead screw, a movable plate slidably connected to the guide rod being threaded onto the outer ring of the lead screw, a second drive unit vertically arranged along the length direction of the guide rod being installed at the bottom of the movable plate, and a third drive unit fixedly connected to the clamping mechanism being installed at the bottom of the second drive unit.

[0015] As a further improvement to the above solution, the clamping mechanism includes a support plate fixedly connected to the bottom output end of the conveying mechanism, an array of grippers arranged on the outer side of the support plate, and a drive unit four fixedly connected to the support plate installed on the top of the grippers.

[0016] As a further improvement to the above solution, the sealing mechanism includes a sealing plate that is sleeved with the first channel. A connecting seat is installed at one end of the sealing plate that extends into the box. A rotating shaft is rotatably sleeved on the connecting seat. A U-shaped bracket is movably sleeved on the rotating shaft. A motor is installed on one side of the bracket and fixedly connected to the rotating shaft. A push plate is fixedly connected to the inner wall of the box and slidably connected to the bracket. A drive unit is installed at the bottom of the push plate and fixedly connected to the inner wall of the box.

[0017] As a further improvement to the above solution, the ejection mechanism includes a drive unit six fixedly connected to the pallet. A feeding plate is fixedly connected to the top output end of the drive unit six. An adjustment plate with an annular structure is provided at the bottom of the feeding plate. A drive unit seven is fixedly connected between the adjustment plate and the feeding plate. A positioning plate distributed in an annular pattern is fixedly connected to the top of the adjustment plate. The positioning plate and the feeding plate are slidably sleeved. The feeding plate has a positioning hole through which the positioning plate extends.

[0018] As a further improvement to the above solution, the stabilizing unit includes a sleeve fixedly connected to the first side plate, and a sleeve rod fixedly connected to the second side plate is slidably sleeved at the other end of the sleeve.

[0019] As a further improvement to the above scheme, the front end of the power shaft is a conical structure, the rotating cone is a conical structure, and the power box is a cylindrical structure.

[0020] As a further improvement to the above solution, the cross-section of the box body, the first side plate, and the second side plate are all circular.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. The present invention adopts a creeping forward method that minimizes soil disturbance, preserves the mechanical properties of the original soil to the greatest extent, ensures the authenticity and reliability of monitoring data, realizes minimal soil drilling and sensor pre-embedding operations, reduces interference with the soil, and improves the accuracy of soil detection.

[0023] 2. This invention combines inertial navigation and program control to achieve precise control over the burial depth, planar position, and sensor attitude, thus enabling accurate pre-embedding of the detection sensor.

[0024] 3. This invention employs a biomimetic peristalsis mechanism, giving it a strong ability to overcome obstacles and pass through loose media, making it suitable for various complex geological conditions.

[0025] 4. This invention integrates autonomous movement, precise release, and autonomous retrieval functions, realizing full automation of the sensor installation process.

[0026] 5. This invention has high energy utilization efficiency, and the entire burial process generates almost no earthwork or noise, making it applicable to green geotechnical engineering monitoring. Attached Figure Description

[0027] Figure 1 A schematic diagram of a microrobot for self-displacement sensor embedding based on biomimetic peristalsis, provided by the present invention;

[0028] Figure 2 A schematic diagram of the sensor ejection system provided by the present invention;

[0029] Figure 3 This is a schematic diagram of the rotary jacking system provided by the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the telescopic displacement system provided by the present invention.

[0031] Explanation of key symbols:

[0032] 1. Sensor ejection system; 2. Telescopic displacement system; 3. Extrusion reaction system; 4. Rotary jacking system; 11. Housing; 12. Pallet; 13. Placement slot; 14. Sensor; 15. Conveying mechanism; 16. Clamping mechanism; 17. First channel; 18. Closing mechanism; 19. Ejection mechanism; 21. Second side plate; 22. First side plate; 23. Telescopic unit; 24. Flexible layer; 25. Stabilizing unit; 26. Navigation module; 41. Power box; 42. Power shaft; 43. Rotating cone; 44. Helical blade; 45. Motor. Detailed Implementation

[0033] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0034] Example 1:

[0035] Please combine Figures 1-4 This embodiment of a biomimetic peristaltic sensor self-displacement embedding micro-robot includes a sensor ejection system 1. One side of the sensor ejection system 1 is connected to a telescopic displacement system 2. Both the telescopic displacement system 2 and the sensor ejection system 1 are equipped with a compression reaction system 3 on the side away from each other. Both sets of compression reaction systems 3 are equipped with a rotary jacking system 4 on the side away from each other.

[0036] The sensor ejection system 1 includes a housing 11, inside which is a tray 12. The top of the tray 12 has a placement slot 13 for placing the sensor. The placement slot 13 holds the sensor 14 for detection. A conveying mechanism 15 for conveying the sensor 14 is installed on the top of the tray 12. A clamping mechanism 16 for clamping the sensor 14 is connected to the bottom of the conveying mechanism 15. A first channel 17 for the sensor 14 to extend out is opened on the top of the housing 11. A closing mechanism 18 for closing the housing 11 is sleeved on the first channel 17. An ejection mechanism 19 fixed to the tray 12 is installed at one end of the first channel 17 that extends into the housing 11.

[0037] The telescopic displacement system 2 includes a first side plate 22 fixedly connected to the adjacent box 11 and a second side plate 21 fixedly connected to the adjacent rotary jacking system 4. A telescopic unit 23 and a stabilizing unit 25 are connected between the first side plate 22 and the second side plate 21. A flexible layer 24 with an annular structure is installed at the ends of the first side plate 22 and the second side plate 21. A navigation module 26 for detecting the robot's position is fixedly connected to the first side plate 22.

[0038] Preliminary preparations and parameter settings:

[0039] Before using the robot, based on the target burial depth and soil density, key parameters are preset through the robot's internal controller; the extension frequency of the drive unit 1 of the extrusion reaction system 3 and the single extension stroke of the reaction plate are determined according to the plan requirements to ensure that a stable frictional reaction force is generated between the flexible membrane and the soil.

[0040] Place the sensor 14 to be buried on the support plate 12. When the sensor 14 is pushed out for installation, detect the pressure of the pressure sensor on the reaction plate on both sides of the pressure box. Adjust the extension force of the reaction plate on both sides based on the feedback data of the pressure sensor. If the robot is detected to tilt to one side, increase the extension length of the reaction plate on the other side until the pressure difference between the two sides is less than 5%, ensuring that the robot axis coincides with the drilling axis, which is convenient for pushing the sensor 14 into the soil later.

[0041] Automatically descend underground to the target location:

[0042] After the robot is started, the rotary jacking system 4 works first; the motor 45 drives the spiral blade 44 to rotate, which, together with the rotating cone 43, cuts and crushes the soil in front, and discharges the crushed soil to both sides to reduce the jacking resistance; the extrusion reaction system 3 starts simultaneously, the reaction plate on the left extends at a preset frequency to extrude the flexible membrane and the soil to form an anchor point, the reaction plate on the right retracts, the telescopic unit 23 of the telescopic displacement system 2 retracts, and pulls the robot to the left (downward direction) to move forward in a worm-like motion.

[0043] During the journey, the robot's navigation module 26 (which uses an inertial navigation module) collects position data in real time. When it detects that it is about to reach the target depth, the system automatically reduces the rotation speed of the rotary jacking system 4 and reduces the moving step size of the telescopic displacement system 2 to ensure accurate arrival at the target position.

[0044] Sensors are being installed and buried:

[0045] Upon reaching the target position, the rotary jacking system 4 and the telescopic displacement system 2 cease operation, while the extrusion reaction system 3 maintains the extended reaction plates on both sides, fixing the robot in the current soil position. The sensor ejection system 1 ejects the carried sensor 14 from inside the robot until the sensor 14 is completely embedded in the surrounding soil. During the ejection process, the discharge plate of the sensor ejection system 1 is flush with the soil surface, completing the embedding. After embedding, the system confirms its normal operation through the feedback signal of the sensor 14. Subsequently, the discharge plate retracts to the initial position, and the sealing plate seals the sensor ejection system 1.

[0046] Robotic automatic recycling:

[0047] During the recovery phase, the system adjusts its parameters: the extension and retraction frequency of the right-side reaction plate of the extrusion reaction system 3 is adjusted, and the left-side reaction plate retracts; the extension and retraction unit 23 of the extension and retraction displacement system 2 is activated, driving the robot to move to the right (upward direction);

[0048] The rotary jacking system 4 maintains a low rotation speed to assist in clearing loose soil in the upward path, while the navigation module 26 guides the robot back along the original path in real time. When the system detects that the robot is about to reach the ground, it reduces its speed until the top of the robot emerges from the ground, completing the retrieval.

[0049] Example 2:

[0050] Based on Embodiment 1, this embodiment is further improved in that: the extrusion reaction system 3 includes a pressure box fixedly connected to the adjacent box 11 or the second side plate 21, a horizontal plate fixedly connected inside the pressure box, a drive unit 1 fixedly connected to both sides of the horizontal plate, a reaction plate fixedly connected to the output end of the drive unit 1, a flexible membrane fixedly connected to the other side of the reaction plate, a second channel opened in the pressure box, and the flexible membrane fixedly connected to the second channel, and a pressure sensor embedded in the reaction plate;

[0051] The rotary jacking system 4 includes a power box 41 fixedly connected to the extrusion reaction system 3. A power shaft 42 is rotatably sleeved at the other end of the power box 41. A motor 45 for providing power to the power shaft 42 is installed inside the power box 41. A rotating cone 43 that is slidably connected to the outside of the power box 41 is fixedly sleeved on the outer ring of the power shaft 42. A spiral blade 44 that is fixedly sleeved on the outer ring of the power shaft 42 is installed at the other end of the rotating cone 43.

[0052] The conveying mechanism 15 includes a guide rod fixedly connected to the housing 11. A lead screw is provided on one side of the guide rod. The lead screw is rotatably connected to the housing 11 along with a bearing seat. A motor fixedly connected to the housing 11 is installed at one end of the lead screw. A movable plate that is slidably connected to the guide rod is threaded onto the outer ring of the lead screw. A second drive unit is installed at the bottom of the movable plate, which is perpendicular to the length of the guide rod. A third drive unit fixedly connected to the clamping mechanism 16 is installed at the bottom of the second drive unit.

[0053] The clamping mechanism 16 includes a support plate fixed to the bottom output end of the conveying mechanism 15, and an array of clamping claws arranged on the outside of the support plate. A drive unit four fixed to the support plate is installed on the top of the clamping claws.

[0054] The closing mechanism 18 includes a closing plate that is sleeved with the first channel 17. A connecting seat is installed at one end of the closing plate that extends into the box 11. A rotating shaft is rotatably sleeved on the connecting seat. A U-shaped bracket is movably sleeved on the rotating shaft. A motor is installed on one side of the bracket and fixedly connected to the rotating shaft. A push plate is fixedly connected to the inner wall of the box 11 and slidably connected to the bracket. A drive unit is installed at the bottom of the push plate and fixedly connected to the inner wall of the box 11.

[0055] The ejection mechanism 19 includes a drive unit six fixedly connected to the support plate 12. A feeding plate is fixedly connected to the top output end of the drive unit six. An adjustment plate with an annular structure is provided at the bottom of the feeding plate. A drive unit seven is fixedly connected between the adjustment plate and the feeding plate. A positioning plate distributed in an annular pattern is fixedly connected to the top of the adjustment plate. The positioning plate and the feeding plate are slidably sleeved. The feeding plate has a positioning hole through which the positioning plate extends.

[0056] The stabilizing unit 25 includes a sleeve fixedly connected to the first side plate 22, and a sleeve rod fixedly connected to the second side plate 21 is slidably sleeved at the other end of the sleeve; the front end of the power shaft 42 is a conical structure, the rotating cone 43 is a conical structure, and the power box 41 is a cylindrical structure; the cross-section of the box body 11, the first side plate 22, and the second side plate 21 are all circular structures.

[0057] Example 3:

[0058] This embodiment is further improved on the basis of embodiment 1 in that: the controller, battery and wireless transceiver robot are installed inside the housing 11. The telescopic unit 23, drive unit 1, drive unit 2, drive unit 3, drive unit 4, drive unit 5, drive unit 6 and drive unit 7 all adopt push rod motors. The controller is connected to motor 45, motor 2, pressure sensor, sensor 14, navigation module 26, battery and wireless transceiver robot.

[0059] Example 4:

[0060] Drill-assisted installation in confined spaces (such as under bridge piers):

[0061] For scenarios such as under bridge piers and tunnel sidewalls where direct excavation is not possible, the process of "pre-drilling - robot insertion - precise adjustment - sensor installation" solves the problem of sensor deployment in special spaces.

[0062] 1. Preliminary drilling and site preparation:

[0063] Based on the dimensions of the working space under the bridge pier, a small handheld drilling device should be selected. The drilling diameter should be 5mm larger than the robot's maximum outer diameter, and the drilling depth should be determined according to the target burial location.

[0064] After drilling is completed, use an air gun to clean the remaining soil and dust inside the hole to avoid affecting the robot's movement; at the same time, install a guide sleeve at the hole opening to ensure that the robot can enter along the drilling axis and prevent deviation.

[0065] 2. Robot entry and attitude calibration:

[0066] The robot, pre-installed with sensor 14, is inserted into the borehole using a guide sleeve. The extrusion reaction system 3 is activated, and the reaction plates on both sides are extended simultaneously to make the flexible membrane fit tightly against the inner wall of the borehole, temporarily fixing the robot 10cm deep inside the hole to prevent it from sliding down due to gravity.

[0067] Attitude calibration involves adjusting the extension force of the reaction plates on both sides based on feedback data from pressure sensors mounted on the robot: if the robot is detected to be tilting to one side, the extension length of the reaction plate on the other side is increased until the pressure difference between the two sides is less than 5%, ensuring that the robot axis coincides with the drilling axis.

[0068] 3. Precise movement within the borehole and sensor installation:

[0069] After calibration, the robot is controlled to move within the hole according to the peristaltic forward movement principle described in Example 1. Since the borehole has been pre-formed, the rotary jacking system 4 only needs to rotate at a low speed, mainly to stabilize the direction of travel. The movement is achieved primarily through the cooperation of the extrusion reaction system 4 and the telescopic displacement system 2.

[0070] When the inertial navigation module detects that the robot has reached the target position inside the borehole, the compression reaction system 3 remains anchored, and the sensor ejection system ejects the sensor 14 according to the preset procedure, embedding it into the soil around the borehole.

[0071] 4. Robotic Retrieval and Borehole Sealing:

[0072] After the sensor 14 is installed and confirmed to be working properly, the robot is controlled to return along the borehole according to the retrieval process in Example 1 until it is taken out from the borehole.

[0073] After the robot is removed, the drill holes are sealed with cement mortar that matches the soil composition. During the sealing process, the mortar is filled in layers, and each layer is vibrated and compacted to avoid voids and ensure the integrity of the soil around the bridge pier foundation.

[0074] This invention employs a creeping movement method that minimizes soil disturbance, preserving the original mechanical properties of the soil to the greatest extent possible, ensuring the authenticity and reliability of monitoring data. It enables minimally invasive soil drilling and sensor pre-embedding, reducing interference with the soil and improving soil detection accuracy. Combined with inertial navigation and program control, it allows for precise control of burial depth, planar position, and sensor attitude, achieving accurate pre-embedding of the detection sensor. The biomimetic creeping mechanism provides it with strong obstacle-crossing and loose-medium capabilities, making it suitable for various complex geological conditions. It integrates autonomous movement, precise release, and autonomous retrieval functions, achieving full automation of the sensor burial process. It boasts high energy efficiency, and the entire burial process generates almost no soil excavation or noise, making it a green geotechnical engineering monitoring solution.

[0075] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A biomimetic peristaltic sensor self-displacement embedded microrobot, characterized in that, It includes a sensor ejection system, one side of which is connected to a telescopic displacement system. On the sides of the telescopic displacement system and the sensor ejection system that are far apart from each other, a compression reaction system is installed. On the sides of the two compression reaction systems that are far apart from each other, a rotary jacking system is installed. The sensor ejection system includes a housing with a tray inside. The top of the tray has a placement slot for placing the sensor. The placement slot holds the sensor for detection. A conveying mechanism for transporting the sensor is installed on the top of the tray. A clamping mechanism for holding the sensor is connected to the bottom of the conveying mechanism. A first channel for the sensor to extend is opened on the top of the housing. A closing mechanism for closing the housing is sleeved on the first channel. An ejection mechanism that is fixed to the tray is installed at one end of the first channel that extends into the housing. The telescopic displacement system includes a first side plate fixedly connected to an adjacent box and a second side plate fixedly connected to an adjacent rotary jacking system. A telescopic unit and a stabilizing unit are connected between the first side plate and the second side plate. A flexible layer with an annular structure is installed at the ends of the first side plate and the second side plate. A navigation module for detecting the robot's position is fixedly connected to the first side plate. The extrusion reaction system includes a pressure box fixedly connected to an adjacent box or a second side plate. A horizontal plate is fixedly connected inside the pressure box. A drive unit is fixedly connected to both sides of the horizontal plate. A reaction plate is fixedly connected to the output end of the drive unit. A flexible membrane is fixedly connected to the other side of the reaction plate. The pressure box has a second channel, and the flexible membrane is fixedly connected to the second channel. A pressure sensor is embedded in the reaction plate. The rotary jacking system includes a power box fixedly connected to the extrusion reaction system. A power shaft is rotatably sleeved at the other end of the power box. A motor for providing power to the power shaft is installed inside the power box. A rotating cone that is slidably connected to the outside of the power box is fixedly sleeved on the outer ring of the power shaft. A spiral blade that is fixedly sleeved on the other end of the rotating cone is installed on the outer ring of the power shaft. The conveying mechanism includes a guide rod fixed to the box body, a lead screw on one side of the guide rod, the lead screw being rotatably connected to the box body through a bearing seat, a motor fixed to the box body installed at one end of the lead screw, a movable plate that is slidably sleeved with the guide rod on the outer ring of the lead screw, a second drive unit that is vertically arranged along the length of the guide rod installed at the bottom of the movable plate, and a third drive unit that is fixed to the clamping mechanism installed at the bottom of the second drive unit. The clamping mechanism includes a support plate fixedly connected to the bottom output end of the conveying mechanism. An array of grippers is provided on the outer side of the support plate, and a drive unit four fixedly connected to the support plate is installed on the top of the grippers.

2. The biomimetic peristalsis-based sensor self-displacement embedded microrobot as described in claim 1, characterized in that, The sealing mechanism includes a sealing plate that is sleeved with the first channel. A connecting seat is installed at one end of the sealing plate that extends into the box. A rotating shaft is rotatably sleeved on the connecting seat. A U-shaped bracket is movably sleeved on the rotating shaft. A motor is installed on one side of the bracket and fixedly connected to the rotating shaft. A push plate is fixedly connected to the inner wall of the box and slidably connected to the bracket. A drive unit is installed at the bottom of the push plate and fixedly connected to the inner wall of the box.

3. The biomimetic peristalsis-based sensor self-displacement embedding microrobot as described in claim 1, characterized in that, The ejection mechanism includes a drive unit six fixedly connected to the pallet. A feeding plate is fixedly connected to the top output end of the drive unit six. An adjustment plate with an annular structure is provided at the bottom of the feeding plate. A drive unit seven is fixedly connected between the adjustment plate and the feeding plate. A positioning plate distributed in an annular pattern is fixedly connected to the top of the adjustment plate. The positioning plate is slidably sleeved with the feeding plate. The feeding plate has a positioning hole through which the positioning plate extends.

4. The biomimetic peristalsis-based sensor self-displacement embedded microrobot as described in claim 1, characterized in that, The stabilizing unit includes a sleeve fixedly connected to the first side plate, and a sleeve rod fixedly connected to the second side plate is slidably sleeved at the other end of the sleeve.

5. A biomimetic peristalsis-based sensor self-displacement embedded microrobot as described in claim 1, characterized in that, The front end of the power shaft is conical, the rotating cone is conical, and the power box is cylindrical.

6. A biomimetic peristalsis-based sensor self-displacement embedded microrobot as described in claim 1, characterized in that, The cross-section of the box body, the first side plate, and the second side plate are all circular.

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