Pneumatic type gravel pile terrain self-adaptive anchoring mechanism imitating plant root sheaths
By using a pneumatic anchoring mechanism that mimics plant root sheaths, the detector is efficiently anchored on loose gravel piles under high-pressure nitrogen driven by flexible secondary roots. This solves the problem that existing anchoring mechanisms are difficult to adapt to loose gravel piles under microgravity conditions, and provides strong anchoring force and self-adaptive capability.
Patent Information
- Application Number
- CN202511668964.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-14
- Publication Date
- 2026-02-10
AI Technical Summary
Existing probe anchoring mechanisms are difficult to reliably anchor on loose, rubble-laden terrain on asteroid surfaces, especially under microgravity conditions where they are ill-suited to the loose, discontinuous nature of the terrain.
The pneumatic anchoring mechanism, which mimics plant root sheaths, utilizes multiple flexible secondary roots driven by high-pressure nitrogen to penetrate and unfold in loose media, forming an anchoring structure that closely adheres to the surrounding gravel. Combined with the design of foot pads and main root drill bits, it provides strong anchoring force.
It achieves efficient and reliable anchoring of the probe on loose gravel terrain, protects the probe structure, adapts to microgravity environment, and provides strong anchoring force and self-adaptation capability.
Smart Images
Figure CN121493293A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of detector anchoring technology, specifically to a pneumatic, terrain-adaptive anchoring mechanism for gravel piles that mimics plant root sheaths. Background Technology
[0002] As primordial remnants from the early formation of the solar system, asteroids contain a wealth of material composition and structural features of the early solar system, holding unique scientific significance for understanding planetary formation and the mechanisms of life's origin. In recent years, countries worldwide have launched asteroid exploration missions, attempting to obtain crucial scientific data through in-situ analysis and sample return. However, accompanying the significant scientific value of asteroids is their unique physical environment. Due to their small size and low mass, asteroid surfaces operate under microgravity conditions, making it difficult for probes to reliably attach using their own weight. Further complicating matters, many asteroid surfaces are not intact rock formations but rather "rubble piles" composed of loose particles, gravel, and rock fragments, greatly increasing the difficulty of landing and sampling operations. Achieving effective anchoring on such loose, deformable granular surfaces has become a core technological bottleneck for probes conducting in-situ exploration and sampling missions. Therefore, developing efficient anchoring mechanisms suitable for granular surfaces under microgravity environments is crucial for enhancing asteroid exploration capabilities.
[0003] Currently, existing detector anchoring mechanisms are mostly designed for large, continuous rocks, such as harpoon and claw-type anchors. Although they have high structural rigidity, they are difficult to adapt to the loose and discontinuous characteristics of the surface of a rock pile. Therefore, there is an urgent need to provide an adaptive anchoring mechanism that can quickly penetrate and reliably anchor in loose media to achieve efficient anchoring of the detector. Summary of the Invention
[0004] Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a pneumatic, terrain-adaptive anchoring mechanism for gravel piles that mimics plant root sheaths, solving the problem that the anchoring structure of the detector is difficult to adapt to the loose and discontinuous characteristics of the gravel pile surface.
[0005] Technical solution To achieve the above objectives, the present invention provides the following technical solution: a pneumatic, terrain-adaptive anchoring mechanism for gravel piles, mimicking plant root sheaths, comprising multiple landing buffer legs fixed to the lower end of the probe body, and further comprising: The foot pad is a hollow hemispherical structure. The upper end of the foot pad is fixedly connected to the lower end of the landing cushion leg. The lower end of the foot pad is fixedly connected to a pipe. The main root drill bit is installed inside the pipe. Multiple flexible secondary roots are set inside the main root drill bit. Driven by compressed gas, the flexible secondary roots can extend out of the main root drill bit and together with the main root drill bit form an anchoring mechanism that mimics a plant root sheath. The drive mechanism is provided in two sets symmetrically installed on both sides of the pipeline. After the foot pad contacts the surface medium, the main root drill bit is driven to penetrate into the loose surface medium by linear motion, thereby completing the drilling action. The gas channel, which is located inside the pipe, is used to supply gas to the flexible secondary root installed inside the main root drill bit. The flexible secondary root has a hollow structure. When compressed gas is filled in, the flexible secondary root extends outward, similar to the growth process of plant root sheaths. This allows the anchoring mechanism to fit tightly against the surrounding gravel after it is deployed, providing a strong final anchoring force for the detector body.
[0006] As a further description of the above technical solution, the main root drill bit is a hollow conical structure, and multiple guide rails for limiting and guiding the free extension of the flexible secondary root are fixedly connected inside. The guide rails are tubular structures, and the flexible secondary root is hidden inside the guide rail after retraction. One end of the guide rail is fixedly connected to a gas conduit communicating with a gas channel.
[0007] As a further description of the above technical solution, the gas channel includes an elastic spiral tube, the lower end of which is fixedly connected to a connecting disc, the upper end of which is fixedly connected to a cover plate, the side wall of which is provided with a recessed portion, the upper end of which is connected to the recessed portion, the connecting disc being fixed to the upper end of the cover plate and forming a flow channel for injecting gas into multiple gas conduits with the recessed portion, and the upper end of which can pass through the foot pad to connect to external compressed gas.
[0008] As a further description of the above technical solution, the upper end of the foot pad is provided with a connecting part, the connecting part is provided with a groove, the lower end of the landing buffer leg is fixedly connected with a fixing plate, the fixing plate is connected to the foot pad through the connecting part, the landing buffer leg is a tubular structure, and one end is provided with a through hole communicating with the groove.
[0009] As a further description of the above technical solution, the surface of the flexible secondary root is a corrugated structure, which allows it to extend during air injection and simultaneously enhances the anchoring force.
[0010] As a further description of the above technical solution, the sidewall of the flexible secondary root is provided with a plurality of protrusion structures, which are arranged on the protruding part of the corrugated structure to further increase the contact area with the crushed stone and improve the anchoring force. A conical block is installed at the free end of the flexible secondary root to assist the extension of the flexible secondary root.
[0011] As a further description of the above technical solution, the bottom of the foot pad is provided with a number of auxiliary claws that can achieve initial fixation. The bottom of the foot pad is provided with an installation port, and an end cap is fixedly connected to the installation port. The center of the end cap is fixedly connected to the lower end of the pipe. The upper end of the pipe is a sealed structure and abuts against the inner wall of the foot pad.
[0012] As a further description of the above technical solution, the driving mechanism includes a pipe and protective covers symmetrically installed on both sides of the pipe. A screw is rotatably connected to each of the two protective covers via a sealed bearing. A right-angle bracket is threaded onto the wall of the screw. An opening is provided on the side wall of the pipe. The right-angle bracket passes through the opening and is fixedly connected to the upper end of the main root drill bit. A motor is fixedly connected inside the foot pad. The output end of the motor extends into the protective cover and is fixedly connected to a worm gear. The worm gear meshes with a worm wheel, and the worm wheel is fixed to the wall of the screw.
[0013] As a further description of the above technical solution, a partition is fixedly connected inside the protective cover, and the partition is rotatably connected to the rod wall of the lead screw through a sealed bearing assembly.
[0014] Beneficial effects Compared with the prior art, the present invention provides a pneumatic, terrain-adaptive anchoring mechanism for gravel piles that mimics plant root sheaths, and has the following beneficial effects: 1. The anchoring device in this design extends from the foot end, which is simpler and meets the requirements of lightweight design. The numerous roots provide sufficient anchoring force even on gravelly surfaces. For the soft, microgravity-laden asteroid surface, this design replaces the traditional rigid mechanism with a plant-root sheath structure. This design not only protects the probe structure through cushioning but also adaptively penetrates the surface, thus reliably providing the required anchoring force.
[0015] 2. The anchoring mechanism integrates a triple system to ensure anchoring force. First, the claw structure on the edge of the foot pad can achieve initial fixation. Then, the conical spiral hidden in the drill bit extends out pneumatically. The surface of these flexible secondary roots is covered with protrusions. After the main root is extended and drilled into the granular medium, it can closely fit the surrounding gravel, thus providing a strong final anchoring force. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the structure of a pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking plant root sheaths, proposed in this invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking plant root sheaths, proposed in this invention. Figure 2 ; Figure 3 This is a schematic diagram of the foot pad structure in a pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile that mimics plant root sheaths, as proposed in this invention. Figure 4 This is a cross-sectional view of the protrusion in a pneumatic crushed stone pile terrain adaptive anchoring mechanism that mimics plant root sheaths, as proposed in this invention. Figure 5This is a schematic diagram of the structure of the pneumatic crushed stone pile terrain adaptive anchoring mechanism that mimics plant root sheaths proposed in this invention, when the main root drill bit extends out of the foot pad. Figure 6 This is a schematic diagram of the main root drill bit in a pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile that mimics plant root sheaths, as proposed in this invention. Figure 1 ; Figure 7 This is a schematic diagram of the main root drill bit in a pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile that mimics plant root sheaths, as proposed in this invention. Figure 2 ; Figure 8 This is a cross-sectional view of the main root drill bit in a pneumatic crushed stone pile terrain adaptive anchoring mechanism that mimics plant root sheaths, as proposed in this invention. Figure 9 This is a diagram showing the effect of flexible secondary roots retracting into the main root drill bit in a pneumatic crushed stone pile terrain adaptive anchoring mechanism that mimics plant root sheaths, as proposed in this invention. Figure 10 This is a diagram showing the effect of a flexible secondary root extending out of the main root drill bit in a pneumatic crushed stone pile terrain adaptive anchoring mechanism that mimics plant root sheaths, as proposed in this invention. Figure 11 This is a schematic diagram of the protruding point structure on the flexible secondary root in a pneumatic crushed stone pile terrain adaptive anchoring mechanism that mimics plant root sheaths, as proposed in this invention.
[0017] In the diagram: 1. Main body of the detector; 2. Landing buffer leg; 3. Foot pad; 4. Fixing plate; 5. Main root drill bit; 6. Auxiliary claw; 7. Gas duct; 8. Flexible secondary root; 9. Guide rail; 10. Protrusion structure; 11. Protective cover; 12. Elastic spiral tube; 13. Right-angle frame; 14. Screw; 15. Motor; 16. Worm gear; 17. Worm wheel; 18. End cap; 19. Partition plate; 20. Cover plate; 21. Groove; 22. Flow channel; 23. Connecting plate. Detailed Implementation
[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0019] Example: See attached document Figure 1-11This invention proposes a pneumatic, terrain-adaptive anchoring mechanism for gravel piles, mimicking the root sheath of plants. Utilizing the anchoring mechanism of plant roots in loose media, the mechanism uses high-pressure nitrogen to drive the anchor claws (main root drill bit 5 and flexible secondary root 8) to achieve rapid penetration and reliable anchoring in loose media. Especially when combined with a lightweight air source (nitrogen) and controllable valves, the pneumatic system balances output force with structural compactness. Furthermore, the pneumatic drive method demonstrates promising application prospects due to its advantages of fast response, high output force, and light weight. The specific solution of this technology is as follows: it includes multiple landing buffer legs 2 fixed to the lower end of the detector body 1. like Figure 1 As shown, three landing buffer legs 2 are evenly arranged at the lower end of the detector body 1 to provide sufficient basic stability. Foot pads 3 are installed at the lower end of each landing buffer leg 2. The foot pads 3 are hollow hemispherical structures. The upper end of the foot pads 3 is fixedly connected to the lower end of the landing buffer leg 2. A pipe is fixedly connected to the lower end of the foot pads 3. A main root drill bit 5 is installed in the pipe. Multiple flexible secondary roots 8 are set inside the main root drill bit 5. Under the drive of compressed gas, the flexible secondary roots 8 can extend out of the main root drill bit 5 and together with the main root drill bit 5 form an anchoring mechanism that mimics the root sheath of a plant. like Figure 5 and Figure 10 As shown, when the main root drill bit 5 is directly pushed downwards, it penetrates the loose medium on the satellite surface, thus completing the drilling action. Gas channels located within the foot pad 3, and air cylinder channels located within pipes, supply gas to the flexible secondary roots 8 installed inside the main root drill bit 5. The flexible secondary roots 8 have a hollow structure; when compressed gas is introduced, they extend outwards, similar to the growth process of plant root sheaths. This allows the anchoring mechanism to tightly adhere to the surrounding debris after unfolding, providing a strong final anchoring force for the probe body 1. After the main root drill bit 5 enters the satellite surface, high-pressure nitrogen gas (which can be stored inside the probe body 1) is introduced into the flexible secondary roots 8 through the gas channels. At this time, the flexible secondary roots 8 inflate, causing "secondary roots to grow." Combined with the main root drill bit 5, this forms a plant root structure, further increasing the contact area with debris and enhancing the anchoring force.
[0020] The specific technical solution is as follows: The main root drill bit 5 is a hollow conical structure, and multiple guide rails 9 are fixedly connected inside at an incline to limit and guide the free extension of the flexible secondary root 8. The guide rails 9 are tubular structures, and the flexible secondary root 8 is hidden inside the guide rails 9 after it retracts. One end of the guide rail 9 is fixedly connected to a gas conduit 7 that communicates with the gas channel.
[0021] To allow for gas injection within the flexible secondary root 8, the gas channel designed in this technical solution includes an elastic spiral tube 12. A connecting disc 23 is fixedly connected to the lower end of the elastic spiral tube 12. A cover plate 20 is fixedly connected to the upper end of the main root drill bit 5. A recessed portion is provided on the side wall of the cover plate 20. The upper end of the gas conduit 7 communicates with the recessed portion. The connecting disc 23 is fixed to the upper end of the cover plate 20 and forms a guide channel 22 for injecting gas into multiple gas conduits 7 together with the recessed portion. The upper end of the elastic spiral tube 12 can pass through the foot pad 3 to connect to external compressed gas. A connecting portion is provided at the upper end of the foot pad 3. A groove 21 is provided at the connecting portion. A fixing plate 4 is fixedly connected to the lower end of the landing buffer leg 2. The fixing plate 4 is connected to the foot pad 3 through the connecting portion. The landing buffer leg 2 is a tubular structure, and one end has a through hole communicating with the groove 21. Nitrogen cylinders can be directly connected to landing buffer legs 2 via pipes. The sealed connection structure allows nitrogen to enter the flexible spiral pipe 22. In addition, for sealing and pressure requirements, compressed nitrogen can be transported through pipes passing through landing buffer legs 2.
[0022] To increase the friction between the flexible root and the medium, this technical solution designs the surface of the flexible root 8 as a corrugated structure. The corrugated structure with concave and convex features allows for expansion during air injection, while the surface texture enhances the anchoring force. The sidewall of the flexible root 8 is provided with multiple protrusion structures 10, which are located on the raised parts of the corrugated structure to further increase the contact area with the gravel and enhance the anchoring force. A conical block is installed at the free end of the flexible root 8 to assist in the expansion of the flexible root 8. Several auxiliary claws 6 are axially provided at the bottom of the foot pad 3 to achieve initial fixation. The bottom of the foot pad 3 is provided with an installation port, and an end cap 18 is fixedly connected to the installation port. The center of the end cap 18 is fixedly connected to the lower end of the pipe, and the upper end of the pipe is a sealed structure that abuts against the inner wall of the foot pad 3.
[0023] As described in the above technical solution, the initial state of the adaptive anchoring mechanism is as follows: Figure 1 As shown in the diagram. When the probe body 1 initially contacts the rocky surface via the landing buffer legs 2, the hemispherical shape of the foot pads 3 effectively prevents sinking. Simultaneously, a ring of auxiliary claws 6 is attached to initially secure the probe, facilitating the extension of subsequent mechanisms. Once the foot pads 3 are initially secured to the rocky surface by the auxiliary claws 6, the internal drive mechanism is activated, moving linearly to directly propel the main root drill bit 5 downwards, penetrating the loose medium on the planetary surface, thus completing the drilling action. The internal structure of the main root drill bit 5 is as follows: Figure 8 and Figure 9 As shown, the gas conduit 7 is used to inflate the flexible secondary root 8 after the main root drill bit 5 enters the rock layer, causing the flexible secondary root 8 to grow. The flexible secondary root 8 expands and extends outward, similar to the process of plant root sheath growth. The extended state of the secondary root is as follows: Figure 10 As shown, the surface of the flexible secondary root 8 is covered with a ring of raised dot structures 10, as... Figure 11As shown, this is used to further increase the contact area with the crushed stone and improve the anchoring force; This design mimics the structure of plant root sheaths, drawing on the advantages of the flexible structure of plant root sheaths in anchoring in complex terrain (especially gravel piles) as follows: 1. This anchoring mechanism integrates a triple system to ensure anchoring force. First, the auxiliary claw spikes 6 on the edge of the foot pad 3 provide initial fixation. Subsequently, the flexible secondary roots 8 hidden within the main root drill bit 5 are inflated with compressed nitrogen gas to pneumatically extend the flexible secondary roots 8. These flexible secondary roots 8 have protrusion structures 10 on their surfaces. After the main root drill bit 5 is extended, they drill into the granular medium and finally adhere tightly to the surrounding gravel, thus providing a strong final anchoring force. At this point, the main root drill bit 5 and the extended flexible secondary roots 8 together form a plant root sheath structure, allowing the foot pad 3 to be securely fixed.
[0024] 2. The anchoring device is made of flexible material, which avoids rigid impact with the rock layer and protects the detector as a whole. The flexible secondary root 8 has a conical block at the end that guides it to grow downward in the gaps of the gravel pile. The flexible plant root sheath drill rod is different from rigid materials. It can adapt its movement trajectory and extension posture in the gravel pile terrain. When it encounters obstacles, such as hard objects like rocks, it can change its linear movement to a movement trajectory with a certain curvature. This makes the flexible replica 8 more adaptable and more suitable for working under weak gravity conditions.
[0025] 3. The flexible auxiliary root 8 is driven by high-pressure gas, which makes it lighter and easier to control while ensuring power. Secondly, the flexible auxiliary root 8 is in underdriven mode. The four nitrogen-filled flexible auxiliary roots 8 operate independently without interfering with each other. When the extension of one branch is blocked, it will not affect the extension of the other branches.
[0026] The technical solution for the drive mechanism designed in this technical solution is as follows; Two sets of drive mechanisms are symmetrically installed on both sides of the pipeline. After the foot pad 3 contacts the star surface medium, the main root drill bit 5 is driven to penetrate into the loose star surface medium in a linear motion manner, thereby completing the drilling action. The specific solution involves a pipe and protective covers 11 symmetrically installed on both sides of the pipe. Each protective cover 11 has a screw 14 rotatably connected to it via a sealed bearing assembly. A right-angle bracket 13 is threaded onto the wall of the screw 14. An opening is provided on the side wall of the pipe, through which the right-angle bracket 13 passes and is fixedly connected to the upper end of the main root drill bit 5. A motor 15 is fixedly connected inside the foot pad 3. The output end of the motor 15 extends into the protective cover 11 and is fixedly connected to a worm gear 16. The worm gear 16 meshes with a worm wheel 17, which is fixed to the wall of the screw. A partition 19 is fixedly connected inside the protective cover 11, and the partition 19 is rotatably connected to the wall of the screw via a sealed bearing assembly.
[0027] The drive mechanism is highly efficient and has self-locking characteristics. While ensuring that the torque of the motor 15 can be amplified, the entire structure will not reverse. This allows the driven main root drill bit 5 to enter the space surface medium stably, providing anchoring force for the intermediate layer. When the flexible secondary root 8 extends under air pressure, it absorbs the reverse force, allowing the flexible secondary root 8 to continue to penetrate deeper into the space surface medium to achieve "growth" and complete deep anchoring.
[0028] It should be noted that the term "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A pneumatic, terrain-adaptive anchoring mechanism for a rock pile, mimicking plant root sheaths, comprising multiple landing buffer legs (2) fixed to the lower end of the probe body (1), characterized in that, Also includes: Foot pad (3), the foot pad (3) is a hollow hemispherical structure. The upper end of the foot pad (3) is fixedly connected to the lower end of the landing buffer leg (2). The lower end of the foot pad (3) is fixedly connected to a pipe. The main root drill bit (5) is installed in the pipe. The main root drill bit (5) is provided with multiple flexible secondary roots (8). Under the drive of compressed gas, the flexible secondary roots (8) can extend out of the main root drill bit (5) and together with the main root drill bit (5) form an anchoring mechanism that mimics the root sheath of a plant. The drive mechanism is provided with two sets of symmetrically installed on both sides of the pipeline. After the foot pad (3) contacts the star surface medium, the main root drill bit (5) is driven to penetrate into the loose star surface medium by linear motion, thereby completing the drilling action. The gas channel, which is set inside the pipe, is used to supply gas to the flexible secondary root (8) installed inside the main root drill bit (5). The flexible secondary root (8) is a hollow structure. When compressed gas is filled in, the flexible secondary root (8) extends outward, similar to the growth process of plant root sheaths, so that the anchoring mechanism can fit tightly against the surrounding gravel after it is unfolded, providing a strong final anchoring force for the detector body (1).
2. The pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking plant root sheaths, as described in claim 1, is characterized in that: The main root drill bit (5) is a hollow conical structure, and multiple guide rails (9) are fixedly connected inside at an incline to limit and guide the free extension of the flexible secondary root (8). The guide rail (9) is a tubular structure. The flexible secondary root (8) is hidden inside the guide rail (9) after it retracts. One end of the guide rail (9) is fixedly connected to a gas conduit (7) that communicates with the gas channel.
3. The pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking plant root sheaths, as described in claim 2, is characterized in that: The gas channel includes an elastic spiral tube (12), the lower end of which is fixedly connected to a connecting plate (23), the upper end of the main root drill bit (5) is fixedly connected to a cover plate (20), the side wall of the cover plate (20) is provided with a recessed part, the upper end of the gas conduit (7) is connected to the recessed part, the connecting plate (23) is fixed to the upper end of the cover plate (20) and forms a guide channel (22) for injecting gas into multiple gas conduits (7) with the recessed part, and the upper end of the elastic spiral tube (12) can pass through the foot pad (3) to connect to external compressed gas.
4. The pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking a plant root sheath, as described in claim 3, is characterized in that: The upper end of the foot pad (3) is provided with a connecting part, and the connecting part is provided with a groove (21). The lower end of the landing buffer leg (2) is fixedly connected with a fixing plate (4). The fixing plate (4) is connected to the foot pad (3) through the connecting part. The landing buffer leg (2) is a tubular structure, and one end is provided with a through hole communicating with the groove (21).
5. The pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking plant root sheaths, as described in claim 1, is characterized in that: The surface of the flexible secondary root (8) is corrugated, and the corrugated structure with concave and convex features allows it to extend during air injection, while also increasing the anchoring force.
6. The pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking plant root sheaths, as described in claim 5, is characterized in that: The sidewall of the flexible sub-root (8) is provided with a plurality of protrusion structures (10). The protrusion structures (10) are provided on the protruding part of the corrugated structure to further increase the contact area with the crushed stone and improve the anchoring force. A conical block is installed at the free end of the flexible sub-root (8) to assist the extension of the flexible sub-root (8).
7. The pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking a plant root sheath, as described in claim 1, is characterized in that: The bottom of the foot pad (3) is provided with a number of auxiliary claws (6) that can achieve initial fixation. The bottom of the foot pad (3) is provided with an installation port. An end cap (18) is fixedly connected to the installation port. The center of the end cap (18) is fixedly connected to the lower end of the pipe. The upper end of the pipe is a sealed structure and abuts against the inner wall of the foot pad (3).
8. The pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking plant root sheaths, as described in claim 1, is characterized in that: The drive mechanism includes a pipe and protective covers (11) symmetrically installed on both sides of the pipe. Each of the two protective covers (11) is rotatably connected to a screw (14) through a sealed bearing. A right-angle bracket (13) is threaded onto the wall of the screw (14). An opening is provided on the side wall of the pipe. The right-angle bracket (13) passes through the opening and is fixedly connected to the upper end of the main root drill bit (5). A motor (15) is fixedly connected inside the foot pad (3). The output end of the motor (15) extends into the protective cover (11) and is fixedly connected to a worm gear (16). The worm gear (16) meshes with a worm wheel (17). The worm wheel (17) is fixed on the wall of the screw.
9. The pneumatic, terrain-adaptive anchoring mechanism for a crushed stone pile, mimicking plant root sheaths, as described in claim 8, is characterized in that: A partition (19) is fixedly connected inside the protective cover (11), and the partition (19) is rotatably connected to the rod wall of the lead screw through a sealed bearing assembly.