Bionic leech machine and control method

The invention discloses a bionic leech machine which comprises adsorption modules, a lead screw transmission module, a steering module and a control module and is characterized in that the adsorption modules are located at the head and the tail of a bionic leech, the lead screw transmission module is located in the middle of the bionic leech, and the steering module comprises a worm and gear mechanism, a planetary gear mechanism and a chassis; and the control module controls the movement of the bionic machinery. The invention relates to the field of civil bionic machinery with relatively few researches. According to the bionic leech machine, a lead screw transmission mechanism is mainly adopted to be matched with adsorption of front and rear suction cups to achieve movement, meanwhile, single-chip microcomputer control and wireless Bluetooth remote control are adopted, and gait movement of leeches is well simulated. 本发明公开了一种仿生水蛭机械，包括吸附模块、丝杆传动模块、转向模块、控制模块，其特征在于：吸附模块位于仿生水蛭的头部和尾部，所述丝杆传动模块位于仿生水蛭的中部，所述转向模块包括蜗轮蜗杆机构