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.
本发明公开了一种仿生掘进机器人,包括躯体、与所述躯体连接的头部机构以及分别连接于所述躯体前后两端并用于行进和排土的前肢机构和后肢机构,所述头部机构包括用于咬合刨土的门齿组件、柔性颈椎以及第一驱动装置,所述柔性颈椎的一端与所述门齿组件固定,所述柔性颈椎的另一端与所述躯体靠近所述前肢机构的一端固定,所述第一驱动装置安装在所述躯体靠近所述柔性颈椎的一端,所述第一驱动装置用于驱动所述柔性颈椎弯曲以使所述门齿组件发生偏转。本发明能通过第一驱动装置驱动门齿组件在柔性颈椎的支撑下向四周偏转,增加头部机构的能动性,提升掘进效率。
Bionic tunneling robot
一种仿生掘进机器人
2024-12-20
Patent
Electronic Resource
Chinese
Bionic tunneling robot based on local fluidization mechanism
European Patent Office | 2022
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