A bionic tunneling robot based on the mechanism of local fluidization

Abstract

The present invention discloses a bionic tunneling robot based on the local fluidization mechanism, which includes a mounting frame. The entire execution part is driven by a main driving part on the mounting frame to vertically lift and lower. The execution part includes a connecting piece, which is fixedly installed at the output end of the main driving part. A secondary driving part is installed on the connecting piece, and the output end of the secondary driving part is connected to the working tip. The outer shell assembly includes multiple arc-shaped plates distributed circumferentially, and the multiple arc-shaped plates are connected together by at least one set of elastic components on the periphery. The connecting piece is provided with a first set of sliding support components for sliding support of the outer shell assembly. By driving the working tip to vertically lift and lower through the secondary driving part, the moving wedge block is driven to vertically move. Under the action of the inclined surface cooperation between the moving wedge-shaped protrusion and the fixed wedge block, the multiple arc-shaped plates expand radially outward or contract radially inward. The advantages of the present invention are as follows: It realizes the functions of autonomous tunneling, autonomous anchoring, and autonomous detachment on the seabed.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and particularly to a bionic tunneling robot based on the mechanism of local fluidization. Background Art

[0002] Underwater operations, especially those related to the seabed, have always been technical challenges in the fields of technology and engineering. In particular, being able to perform multiple operations such as anchoring while tunneling on the seabed can be applied in multiple fields such as the installation of underwater cables or pipelines, and the exploration and exploitation of seabed resources such as oil. Underwater robots have been increasingly widely used in this field. For example, survey equipment such as underwater unmanned vehicles can dig on the seabed and locate in ocean currents to collect samples of seabed ecology and mineral resources. Most of these underwater unmanned devices are self-powered and need to perform operations in complex environments. Therefore, there are extremely high requirements for energy consumption during tunneling and the autonomous ability of anchoring and positioning. Currently, existing underwater tunneling equipment often does not have autonomous functions, or cannot complete autonomous positioning and detachment, and cannot integrate multiple functions, having significant limitations in practical applications. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a bionic tunneling robot based on the mechanism of local fluidization to achieve the functions of autonomous tunneling, autonomous anchoring, and autonomous detachment on the seabed, meeting the requirements of autonomous operations in complex environments.

[0004] The present invention is realized through the following technical solutions:

[0005] A bionic tunneling robot based on the mechanism of local fluidization, including a mounting frame, a main driving part is installed on the mounting frame, the output end of the main driving part extends downward and is connected to an execution part, and the entire execution part is driven by the main driving part to vertically lift and lower;

[0006] The execution part includes a connecting piece, a secondary driving part, a working tip, and a housing assembly. The connecting piece is fixedly installed at the output end of the main driving part. The secondary driving part is installed on the connecting piece. The output end of the secondary driving part extends vertically downward below the housing assembly and is connected to the working tip. The housing assembly is sleeved around the secondary driving part and the connecting piece. The housing assembly includes multiple arc-shaped plates distributed circumferentially. The multiple arc-shaped plates are connected together by at least one set of elastic components on the periphery. In the natural state, the multiple arc-shaped plates jointly form a cylindrical housing. The connecting piece is provided with a first set of sliding support components. The first set of sliding support components includes multiple support sliders distributed circumferentially along the connecting piece. Each support slider extends radially outward along the connecting piece. Each arc-shaped plate is provided with a support sliding groove that slidably cooperates with the support slider. At least one moving wedge block is fixed on the output end of the secondary driving part. Each moving wedge block is provided with multiple moving wedge-shaped protrusions circumferentially. At least one set of fixed wedge blocks is provided on the inner side of the housing assembly. Each set of fixed wedge blocks includes multiple fixed wedges distributed circumferentially along the inner side of the housing assembly. The multiple moving wedge-shaped protrusions and the multiple fixed wedges are in inclined surface cooperation one by one. By driving the working tip to move vertically up and down through the secondary driving part, the working tip and the moving wedge block are driven to move vertically. Under the action of the inclined surface cooperation between the moving wedge-shaped protrusions and the fixed wedges, the multiple arc-shaped plates of the housing assembly expand radially outward or contract radially inward.

[0007] As a preferred solution of the above-mentioned robot, two moving wedge blocks are provided on the output end of the secondary driving part. The two moving wedge blocks are respectively an upper moving wedge block and a lower moving wedge block arranged up and down. The lower moving wedge block is fixedly sleeved on the output end of the secondary driving part. The upper moving wedge block is fixedly connected to the lower moving wedge block through multiple vertical connecting rods. Correspondingly, two sets of fixed wedge blocks arranged up and down are also provided on the inner side of the housing assembly. The upper and lower two sets of fixed wedge blocks correspond to the upper and lower two moving wedge blocks one by one.

[0008] As a preferred solution of the above-mentioned robot, a second set of sliding support components is provided on the secondary driving part. The second set of sliding support components has the same structural composition as the first set of sliding support components, and the second set of sliding support components is located below the first set of sliding support components.

[0009] As a preferred solution of the above-mentioned robot, the multiple arc-shaped plates are connected together by two sets of elastic components on the upper and lower peripheries.

[0010] As a preferred solution of the above-mentioned robot, the support sliding groove on the arc-shaped plate is in a "concave" shape, and the shape of the support slider matches the shape of the support sliding groove.

[0011] As a preferred solution of the above-mentioned robot, the elastic component includes multiple sections of tension springs. A screw is fixed on the outer side wall of each arc-shaped plate. The two ends of each section of tension spring are respectively fixed on the screws of two adjacent arc-shaped plates.

[0012] As a preferred solution of the above-mentioned robot, both the main driving part and the secondary driving part are electric push rods.

[0013] As a preferred solution of the above-mentioned robot, a convex rib is provided in the middle of the outer wall of the moving wedge-shaped protrusion, and a groove is opened in the middle of the inner wall of the fixed wedge block, and the convex rib and the groove are in sliding fit.

[0014] The present invention has the following advantages compared with the prior art:

[0015] The bionic tunneling robot based on the local fluidization mechanism provided by the present invention drives the entire execution part to vertically lift through the main driving part, as the main driving force for downward tunneling or upward detachment; the execution part drives the working tip and the moving wedge block to vertically move through the secondary driving part, and under the inclined plane cooperation between the moving wedge-shaped protrusion and the fixed wedge block, the axial movement is cleverly converted into a radial movement, thereby driving the multiple arc-shaped plates of the outer shell assembly to expand radially outward or contract radially inward. This movement will locally stir the soil and form a fluidized area around the execution part. Moving in the fluidized rather than static soil can reduce the moving resistance around the execution part to within its strength capacity range, and the overall shape of the shell assembly is cylindrical, which can form uniform local fluidization, maximizing the excavation efficiency, while reducing energy consumption and meeting the requirements of low energy consumption and long endurance for underwater work. In short, through the repeated execution of the radial expansion and radial contraction of the outer shell assembly of the present invention, in cooperation with the movement of the main driving part, the functions of autonomous tunneling, autonomous anchoring and autonomous detachment on the seabed are realized, and multiple functions are intelligently integrated to meet the needs of autonomous operation in complex environments. Description of the Drawings

[0016] Figure 1 is the front view of the present invention.

[0017] Figure 2 is the three-dimensional assembly drawing of the main electric push rod and the mounting bracket in the present invention.

[0018] Figure 3 is the three-dimensional view of the outer shell assembly of the execution part in the retracted state in the present invention.

[0019] Figure 4 is the three-dimensional view of the outer shell assembly of the execution part in the expanded state in the present invention.

[0020] Figure 5 is the three-dimensional view of the execution part excluding the outer shell assembly in the present invention.

[0021] Figure 6 is the three-dimensional view of a single arc-shaped plate in the present invention.

[0022] Figure 7 is Figure 5 andFigure 6 Stereogram of the assembly

[0023] Reference numerals in the figure: 1 mounting bracket, 2 main electric push rod, 3 connecting piece, 4 working tip, 5 housing assembly, 6 secondary electric push rod, 7 arc plate, 8 tension spring, 9 screw, 10 support slider, 11 support sliding groove, 12 upper moving wedge member, 13 lower moving wedge member, 14 moving wedge projection, 15 fixed wedge, 16 rib, 17 groove, 18 vertical connecting rod Specific implementation mode

[0024] The embodiments of the present invention will be described in detail below. These embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given. However, the protection scope of the present invention is not limited to the following embodiments

[0025] See Figures 1 to 7 , this embodiment discloses a bionic tunneling robot based on the local fluidization mechanism, including a mounting bracket 1. A main driving part is installed on the mounting bracket 1. The main driving part uses a main electric push rod 2. The main electric push rod 2 is installed on the mounting bracket 1. The output end of the main electric push rod 2 extends downward and is connected with an execution part. The whole execution part is driven to lift vertically by the main electric push rod 2

[0026] The execution part includes a connecting piece 3, a secondary driving part, a working tip 4, and a housing assembly 5. The connecting piece 3 adopts a bushing structure. The top end of the connecting piece 3 is fixedly installed on the output end of the main electric push rod 2. The secondary driving part uses a small secondary electric push rod 6. The secondary electric push rod 6 is installed at the bottom end of the inner hole of the connecting piece 3 and extends downward out of the connecting piece 3. The output end of the secondary electric push rod 6 extends vertically downward out of the housing assembly 5 and is connected with the working tip 4. The housing assembly 5 is sleeved around the secondary electric push rod 6 and the connecting piece 3. The housing assembly 5 includes a plurality of arc plates 7 distributed circumferentially. The plurality of arc plates 7 are wound and connected together by at least one set of elastic components on the periphery. In this embodiment, the plurality of arc plates 7 are connected together by two sets of elastic components, upper and lower, on the periphery. Each set of elastic components includes a plurality of sections of tension springs 8. A screw 9 is fixed on the outer side wall of each arc plate 7. The two ends of each section of tension spring 8 are respectively fixed on the screws 9 of adjacent two arc plates 7; both ends of each section of tension spring 8 are respectively provided with fixing rings. During installation, first, the fixing rings at the ends of the tension spring 8 are sleeved on the rod parts of the corresponding screws 9, and then the screws 9 are tightened in the threaded holes of the arc plates 7, so as to realize the fixed installation of the tension spring 8 and the arc plates 7

[0027] In the natural state, multiple arc-shaped plates 7 together enclose a cylindrical outer shell. The connecting member 3 is provided with a first set of sliding support components. The first set of sliding support components includes a plurality of support sliders 10 distributed circumferentially along the connecting member 3. Each support slider 10 extends radially outward along the connecting member 3. Each arc-shaped plate 7 is provided with a support sliding groove 11 that slidably cooperates with the support slider 10. The support sliding groove 11 on the arc-shaped plate 7 is in a "concave" shape. The outer shape of the support slider 10 matches the shape of the support sliding groove 11. By designing the support sliding groove 11 in a "concave" shape and the cross-section of the support slider 10 also being in a "concave" shape, multiple sets of guiding rib strips and guiding grooves can be formed by their mutual cooperation, which can better guide the radial sliding of the arc-shaped plate 7. The secondary electric push rod 6 is provided with a second set of sliding support components. The second set of sliding support components has the same structural composition as the first set of sliding support components, and the second set of sliding support components is located below the first set of sliding support components. Through the two sets of sliding support components, effective and stable sliding support and guidance are provided for the outer shell assembly 5, so that each arc-shaped plate 7 of the outer shell assembly 5 can only slide radially.

[0028] At least one moving wedge member is fixed on the output end of the secondary electric push rod 6. The main body of the moving wedge member is in a circular ring shape. Each moving wedge member is provided with a plurality of moving wedge-shaped protrusions 14 along the circumferential direction. At least one set of fixed wedge members is provided inside the outer shell assembly 5. Each set of fixed wedge members includes a plurality of fixed wedges 15 distributed circumferentially along the inner circumference of the outer shell assembly 5. The plurality of moving wedge-shaped protrusions 14 and the plurality of fixed wedges 15 are in inclined surface cooperation in one-to-one correspondence. Among them, a convex rib 16 is provided in the middle of the outer wall of the moving wedge-shaped protrusion 14, and a groove 17 is opened in the middle of the inner wall of the fixed wedge 15. A set of guiding cooperation members is formed by the sliding cooperation of the convex rib 16 and the groove 17, which can better guide between the fixed wedge 15 and the moving wedge-shaped protrusion 14, prevent the two from being misaligned, and thus better guide the relative movement between the outer shell assembly 5 and the output end of the secondary electric push rod 6, ensuring that the two move relative to each other on the correct track. By driving the working tip 4 to move vertically up and down through the secondary electric push rod 6, the working tip 4 and the moving wedge member are driven to move vertically. Under the action of the inclined surface cooperation between the moving wedge-shaped protrusion 14 and the fixed wedge 15, the multiple arc-shaped plates 7 of the outer shell assembly 5 expand radially outward or contract radially inward.

[0029] In this embodiment, two moving wedges are provided on the output end of the secondary electric push rod 6, and the two moving wedges are respectively an upper moving wedge 12 and a lower moving wedge 13 arranged up and down, and the lower moving wedge 13 is fixedly sleeved on the output end of the secondary electric push rod 6, and the upper moving wedge 12 is fixedly connected to the lower moving wedge 13 through a plurality of vertical connecting rods 18. Correspondingly, two groups of fixed wedges arranged up and down are also provided on the inner side of the housing component 5, and the upper and lower groups of fixed wedges correspond to the upper and lower moving wedges one by one. The two moving wedges are provided to cooperate with the two groups of fixed wedges respectively, so that the relative movement of the two can be smoother.

[0030] The working principle of the bionic tunneling robot provided in this embodiment is as follows:

[0031] A. Complete the excavation work

[0032] When the robot starts to dig downward, the main electric push rod 2 is started, so that the entire actuator is pushed downward, and the secondary electric push rod 6 is started at the same time. The working tip 4 connected to the output end of the secondary electric push rod 6 also moves downward, and the two moving wedge pieces fixed to the output end of the secondary electric push rod 6 also move downward. In the process of the two moving wedge pieces moving downward, through the action of the inclined surface cooperation between the moving wedge-shaped protrusion 14 and the fixed wedge block 15, each arc plate 7 moves radially outward to open the shell assembly 5. When the shell assembly 5 is opened to the maximum limit, the secondary electric push rod 6 moves in the opposite direction to retract the working tip 4 and the two moving wedge pieces upward. Under the action of the two groups of elastic components, the shell assembly 5 is retracted inward to its original position. This expansion and contraction movement will locally stir the soil and form a uniform local fluidization area around the actuator. This area behaves more like a viscous liquid than a solid particle. When the actuator moves downward through this area, it is like passing through any other Newtonian fluid with little resistance. This means that when the robot is digging downward, there will only be a constant resistance related to the depth, which greatly reduces the resistance faced during excavation, improves excavation efficiency, and reduces energy consumption. The secondary electric push rod 6 repeats this action throughout the excavation process.

[0033] B. Complete anchoring work

[0034] When the actuator is completely inserted into the soil, the secondary electric push rod 6 is started, and the housing assembly 5 is expanded to the maximum through the movement coordination of the moving wedge and the fixed wedge. At this time, the contact area between the robot and the soil is the largest, which effectively enhances the anchoring force and greatly improves the anchoring efficiency of the robot.

[0035] C. Complete the self-desorption operation

[0036] When the actuator of the robot wants to detach from the soil, the main electric push rod 2 moves in the reverse direction to pull the actuator upward, while the secondary electric push rod 6 repeats the actions during the tunneling process to reduce the resistance faced by the robot during ascent, thus enabling easy detachment.

[0037] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A bionic tunneling robot based on the local fluidization mechanism, including a mounting frame (1). Characterized in that: A main driving part is installed on the mounting frame (1), the output end of the main driving part extends downward and is connected to an execution part, and the whole execution part is driven by the main driving part to vertically lift and lower. The execution part includes a connecting piece (3), a secondary driving part, a working tip (4), and a housing assembly (5). The connecting piece (3) is fixedly installed on the output end of the main driving part. The secondary driving part is installed on the connecting piece (3). The output end of the secondary driving part vertically extends downward below the housing assembly (5) and is connected to the working tip (4). The housing assembly (5) is sleeved around the secondary driving part and the connecting piece (3). The housing assembly (5) includes multiple arc-shaped plates (7) distributed circumferentially. The multiple arc-shaped plates (7) are connected together by at least one set of elastic components on the periphery. In the natural state, the multiple arc-shaped plates (7) jointly enclose a cylindrical housing. A first set of sliding support components is provided on the connecting piece (3). The first set of sliding support components includes multiple support sliders (10) distributed circumferentially along the connecting piece (3). Each support slider (10) extends radially outward along the connecting piece (3). Each arc-shaped plate (7) is provided with a support sliding groove (11) slidably matched with the support slider (10). At least one moving wedge block is fixed on the output end of the secondary driving part. Each moving wedge block is provided with multiple moving wedge-shaped protrusions (14) along the circumferential direction. At least one set of fixed wedge blocks is provided on the inner side of the housing assembly (5). Each set of fixed wedge blocks includes multiple fixed wedges (15) distributed circumferentially along the inner side of the housing assembly (5). The multiple moving wedge-shaped protrusions (14) and the multiple fixed wedges (15) are in inclined surface fit one by one. By driving the working tip (4) to vertically lift and lower through the secondary driving part, the working tip (4) and the moving wedge block are driven to vertically move. Under the action of the inclined surface fit between the moving wedge-shaped protrusion (14) and the fixed wedge (15), the multiple arc-shaped plates (7) of the housing assembly (5) expand radially outward or contract radially inward.

2. A bionic tunneling robot based on the local fluidization mechanism according to claim 1. Characterized in that: Two moving wedge blocks are provided on the output end of the secondary driving part. The two moving wedge blocks are respectively an upper moving wedge block (12) and a lower moving wedge block (13) arranged up and down. The lower moving wedge block (13) is fixedly sleeved on the output end of the secondary driving part. The upper moving wedge block (12) is fixedly connected to the lower moving wedge block (13) through multiple vertical connecting rods (18). Correspondingly, two sets of fixed wedge blocks arranged up and down are also provided on the inner side of the housing assembly (5). The upper and lower two sets of fixed wedge blocks correspond to the upper and lower two moving wedge blocks one by one.

3. A bionic tunneling robot based on the local fluidization mechanism according to claim 1. Characterized in that: A second set of sliding support components is provided on the secondary driving part. The second set of sliding support components has the same structural composition as the first set of sliding support components, and the second set of sliding support components is located below the first set of sliding support components.

4. A bionic tunneling robot based on the local fluidization mechanism according to claim 1, characterized in that: Multiple pieces of the arc-shaped plates (7) are connected together by two sets of upper and lower elastic components on the periphery.

5. A bionic tunneling robot based on the local fluidization mechanism according to claim 1, characterized in that: The support sliding groove (11) on the arc-shaped plate (7) is in a "concave" shape, and the outer shape of the support slider (10) matches the shape of the support sliding groove (11).

6. A bionic tunneling robot based on the local fluidization mechanism according to claim 1, characterized in that: The elastic component includes multiple sections of tension springs (8). A screw (9) is fixed on the outer side wall of each arc-shaped plate (7), and both ends of each section of tension spring (8) are respectively fixed on the screws (9) of two adjacent arc-shaped plates (7).

7. A bionic tunneling robot based on the local fluidization mechanism according to claim 1, characterized in that: Both the main driving part and the secondary driving part are electric push rods.

8. A bionic tunneling robot based on the local fluidization mechanism according to claim 1, characterized in that: A convex rib (16) is provided in the middle of the outer wall of the moving wedge-shaped protrusion (14), and a groove (17) is opened in the middle of the inner wall of the fixed wedge block (15), and they are in sliding fit through the convex rib (16) and the groove (17).

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