A mechanical device imitating an octopus

Abstract

The present invention discloses a mechanical device imitating an octopus, which includes a tentacle mechanism, a push rod mechanism, and a mantle shell mechanism. The tentacle mechanism is arranged on the side wall of the mantle shell mechanism, the push rod mechanism is arranged inside the mantle shell mechanism, the push rod mechanism is connected to the tentacle mechanism, and the telescopic movement of the push rod mechanism can drive the up and down movement of the tentacle structure. When the push rod mechanism drives the tentacle mechanism to move up and down, the up and down movement of the tentacle mechanism drives the mantle shell mechanism to squeeze water to form a forward thrust, so as to realize the forward movement of the overall mechanical device. The present invention can be used for ocean exploration. The device can also adsorb on the bottom of a ship through the suction cups, and a cleaning mechanism can be additionally installed to clean the marine adsorbents on the bottom of the ship.

Description

Technical Field

[0001] The present invention relates to the field of marine bionic machinery, and specifically to a mechanical device of a bionic octopus. Background Art

[0002] In today's world, with the increasing progress of the level of scientific and technological development, the research field of bionic machinery has developed towards environments such as aerospace, water surface, underwater, and underground. Future bionic machinery will replace humans in environments where humans cannot work. Bionic machinery is designed and manufactured by imitating the morphological characteristics and structural advantages of organisms to create machinery with more comprehensive, more concentrated, and higher efficiency functions than organisms. Bionic machinery is not only flexible in movement but also has higher working efficiency and adaptability under complex working conditions.

[0003] The octopus, as a marine organism, has complex and flexible tentacles with many suckers distributed on them. At the root of the octopus's tentacles, there is also a special biological structure: the mantle. This mantle allows the octopus to move at high speed in the sea by squeezing seawater. The significance of bionics of the octopus lies in that the functions of its tentacles, suckers, and mantle can be replicated onto the machinery, enabling the bionic machinery to have very unique functions: being able to flexibly carry objects in complex sea areas and moving quickly. Summary of the Invention

[0004] The present invention provides a bionic octopus mechanical device, enabling the bionic machinery to move freely in a complex marine environment and also being able to complete the handling of objects.

[0005] To solve the above technical problems, the present invention provides a mechanical device of a bionic octopus,

[0006] including a tentacle mechanism, a push rod mechanism, and a mantle housing mechanism. The tentacle mechanism is arranged on the side wall of the mantle housing mechanism. The push rod mechanism is arranged inside the mantle housing mechanism. The push rod mechanism is connected to the tentacle mechanism. The telescoping of the push rod mechanism can drive the up and down movement of the tentacle structure. When the push rod mechanism drives the up and down movement of the tentacle mechanism, the up and down movement of the tentacle mechanism further drives the mantle housing mechanism to squeeze water to form a forward thrust, realizing the forward movement of the overall mechanical device.

[0007] Optionally, the tentacle mechanism includes a first tentacle segment, a second tentacle segment, a third tentacle segment, and a fourth tentacle segment. The first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment are sequentially hinged end to end. Upper wire bundlers are provided on the upper surfaces of the first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment. The upper wire bundler includes a first wire bundler, a second wire bundler, a third wire bundler, a fourth wire bundler, a fifth wire bundler, and a sixth wire bundler. The first wire bundler is provided on the fourth tentacle segment. The second wire bundler and the third wire bundler are provided on the third tentacle segment. The fourth wire bundler and the fifth wire bundler are provided on the second tentacle segment. The sixth wire bundler is provided on the first tentacle segment. A first wire bundle is provided between the first wire bundler, the second wire bundler, the third wire bundler, the fourth wire bundler, the fifth wire bundler, and the sixth wire bundler;

[0008] Lower wire bundlers are provided on the lower surfaces of the first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment. The lower wire bundler includes a lower first wire bundler, a lower second wire bundler, a lower third wire bundler, a lower fourth wire bundler, a lower fifth wire bundler, and a lower sixth wire bundler. The lower first wire bundler is provided on the first tentacle segment. The lower second wire bundler and the lower third wire bundler are provided on the second tentacle segment. The lower fourth wire bundler and the lower fifth wire bundler are provided on the third tentacle segment. The lower sixth wire bundler is provided on the fourth tentacle segment. A second wire bundle is provided between the lower first wire bundler, the lower second wire bundler, the lower third wire bundler, the lower fourth wire bundler, the lower fifth wire bundler, and the lower sixth wire bundler;

[0009] A motor, a bevel gear, a gear shaft, and a wire wheel are provided inside the lower surface of the first tentacle segment. The output shaft of the motor is connected to the bevel gear. The output shaft of the motor is used to drive the bevel gear to rotate. The bevel gear is meshed with the gear shaft, so that the bevel gear drives the gear shaft to transmit power. The gear shaft is meshed with the wire wheel, and further the gear shaft drives the wire wheel to rotate. The first wire bundle and the second wire bundle are both provided on the wire wheel;

[0010] When the wire wheel rotates clockwise, the first wire bundle is tightened from the fourth tentacle segment to the first tentacle segment, and at the same time the second wire bundle is released from the first tentacle segment to the fourth tentacle segment. Subsequently, the first wire bundle and the second wire bundle are constrained by the first wire bundler, the second wire bundler, the third wire bundler, the fourth wire bundler, the fifth wire bundler, the sixth wire bundler, the lower first wire bundler, the lower second wire bundler, the lower third wire bundler, the lower fourth wire bundler, the lower fifth wire bundler, and the lower sixth wire bundler installed on the first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment, and finally the upward bending movement of the tentacle mechanism is realized;

[0011] When the wire wheel rotates counterclockwise, the second bundle of wires is tightened from the first tentacle segment to the fourth tentacle segment, and at the same time, the first bundle of wires is released from the fourth tentacle segment to the first tentacle segment. By means of the first wire bundle device, the second wire bundle device, the third wire bundle device, the fourth wire bundle device, the fifth wire bundle device, the sixth wire bundle device, the lower first wire bundle device, the lower second wire bundle device, the lower third wire bundle device, the lower fourth wire bundle device, the lower fifth wire bundle device, and the lower sixth wire bundle device installed on the first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment, the first bundle of wires and the second bundle of wires are constrained, and finally the upward bending movement of the tentacle mechanism is realized.

[0012] Optionally, an octopus chassis is arranged inside the membrane housing mechanism, the push rod mechanism is arranged on the octopus chassis, the push rod mechanism includes a push rod fixed column, the push rod fixed column is connected with a push rod base, the push rod base is connected with a push rod, the push rod base pushes the push rod, and the push rod pushes the tentacle root segment of the tentacle mechanism.

[0013] Optionally, suction cups are arranged on the lower surfaces of the second tentacle segment, the third tentacle segment, and the fourth tentacle segment, the suction cups are connected with a suction pump, and the suction pump provides suction force for the suction cups.

[0014] Optionally, at least six groups of tentacle mechanisms are arranged, and the tentacle mechanisms are arranged in one-to-one correspondence with the push rod mechanisms.

[0015] Optionally, six holes are opened on the outer surface of the membrane housing mechanism, a bagging device is arranged in the holes, the tentacle mechanism is located inside the bagging device, and the bagging device wraps the tentacle mechanism to achieve a waterproof effect.

[0016] Advantages of the present invention

[0017] The present invention can be used for marine exploration. The device can also be adsorbed on the bottom of a ship through the suction cups, and a cleaning mechanism can be additionally installed to clean marine adsorbents on the bottom of the ship, such as barnacles and shellfish. The bionic octopus makes little noise when moving underwater, and high-tech products such as cameras and lidar can be installed on the octopus body to achieve long-term latent in the deep sea. Brief description of the drawings

[0018] Figure 1 It is a schematic structural diagram of the present invention.

[0019] Figure 2 It is a top view of the structure of the tentacle mechanism of the present invention.

[0020] Figure 3 It is a bottom view of the structure of the tentacle mechanism of the present invention.

[0021] Figure 4 It is an enlarged view of the structure of the first tentacle segment of the present invention.

[0022] Figure 5 This is an enlarged view of the structure of the push rod mechanism of the present invention.

[0023] Explanation of reference numerals in the drawings: 1 - film sleeve housing mechanism, 2 - tentacle mechanism, 3 - push rod mechanism, 4 - first tentacle segment, 5 - second tentacle segment, 6 - third tentacle segment, 7 - fourth tentacle segment, 8 - first wire bundler, 9 - second wire bundler, 10 - third wire bundler, 11 - fourth wire bundler, 12 - fifth wire bundler, 13 - sixth wire bundler, 14 - first wire bundle, 15 - lower first wire bundler, 16 - lower second wire bundler, 17 - lower third wire bundler, 18 - lower fourth wire bundler, 19 - lower fifth wire bundler, 20 - lower sixth wire bundler, 21 - second wire bundle, 22 - motor, 23 - bevel gear, 24 - gear coupling, 25 - wire wheel, 26 - octopus chassis, 27 - push rod fixing column, 28 - push rod base, 29 - push rod. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] Embodiment

[0026] As Figures 1 - 5 shown, the present invention provides a mechanical device of a bionic octopus,

[0027] including a tentacle mechanism 2, a push rod mechanism 3, and a film sleeve housing mechanism 4. The tentacle mechanism 2 is arranged on the side wall of the film sleeve housing mechanism 4, the push rod mechanism 3 is arranged inside the film sleeve housing mechanism 4, the push rod mechanism 3 is connected to the tentacle mechanism 2, the expansion and contraction of the push rod mechanism 3 can drive the up and down movement of the tentacle structure, and when the push rod mechanism 3 drives the up and down movement of the tentacle mechanism 2, the up and down movement of the tentacle mechanism 2 drives the film sleeve housing mechanism 4 to squeeze water to form a forward thrust, so as to realize the forward movement of the overall mechanical device;

[0028] The tentacle mechanism 2 includes a first tentacle segment 4, a second tentacle segment 5, a third tentacle segment 6, and a fourth tentacle segment 7. The first tentacle segment 4, the second tentacle segment 5, the third tentacle segment 6, and the fourth tentacle segment 7 are sequentially hinged end to end. Upper wire bundlers are provided on the upper surfaces of the first tentacle segment 4, the second tentacle segment 5, the third tentacle segment 6, and the fourth tentacle segment 7. The upper wire bundler includes a first wire bundler 8, a second wire bundler 9, a third wire bundler 10, a fourth wire bundler 11, a fifth wire bundler 12, and a sixth wire bundler 13. The first wire bundler 8 is provided on the fourth tentacle segment 7. The second wire bundler 9 and the third wire bundler 10 are provided on the third tentacle segment 6. The fourth wire bundler 11 and the fifth wire bundler 12 are provided on the second tentacle segment 5. The sixth wire bundler 13 is provided on the first tentacle segment 4. A first wire bundle 14 is provided between the first wire bundler 8, the second wire bundler 9, the third wire bundler 10, the fourth wire bundler 11, the fifth wire bundler 12, and the sixth wire bundler 13;

[0029] Lower wire bundlers are provided on the lower surfaces of the first tentacle segment 4, the second tentacle segment 5, the third tentacle segment 6, and the fourth tentacle segment 7. The lower wire bundler includes a lower first wire bundler 15, a lower second wire bundler 16, a lower third wire bundler 17, a lower fourth wire bundler 18, a lower fifth wire bundler 19, and a lower sixth wire bundler 20. The lower first wire bundler 15 is provided on the first tentacle segment 4. The lower second wire bundler 16 and the lower third wire bundler 17 are provided on the second tentacle segment 5. The lower fourth wire bundler 18 and the lower fifth wire bundler 19 are provided on the third tentacle segment 6. The lower sixth wire bundler 20 is provided on the fourth tentacle segment 7. A second wire bundle 21 is provided between the lower first wire bundler 15, the lower second wire bundler 16, the lower third wire bundler 17, the lower fourth wire bundler 18, the lower fifth wire bundler 19, and the lower sixth wire bundler 20;

[0030] A motor 22, a bevel gear 23, a gear shaft coupling 24, and a wire wheel 25 are provided inside the lower surface of the first tentacle segment 4. The output shaft of the motor 22 is connected to the bevel gear 23. The output shaft of the motor 22 is used to drive the bevel gear 23 to rotate. The bevel gear 23 is in meshing connection with the gear shaft coupling 24, so that the bevel gear 23 drives the gear shaft coupling 24 to transmit power. The gear shaft coupling 24 is in meshing connection with the wire wheel 25, and further the gear shaft coupling 24 drives the wire wheel 25 to rotate. The first wire bundle 14 and the second wire bundle 21 are both provided on the wire wheel 25;

[0031] Inside the sleeve film housing mechanism 4, an octopus chassis 26 is provided. The push rod mechanism 3 is arranged on the octopus chassis 26. The push rod mechanism 3 includes a push rod fixed column 27. The push rod fixed column 27 is connected to a push rod base 28. The push rod base 28 is connected to a push rod. The push rod base 28 pushes the push rod 29, and the push rod 29 pushes the root joint of the tentacle of the tentacle mechanism 2;

[0032] On the lower surfaces of the second tentacle joint 5, the third tentacle joint 6, and the fourth tentacle joint 7, suction cups are provided. The suction cups are connected to suction pumps, and the suction pumps provide suction force for the suction cups. The tentacle mechanism 2 is provided with at least six groups, and the tentacle mechanism 2 and the push rod mechanism 3 are arranged in one-to-one correspondence;

[0033] On the outer surface of the sleeve film housing mechanism 4, six holes are opened. Inside the holes, bagging devices are provided. The tentacle mechanism 2 is located inside the bagging devices, and the bagging devices wrap the tentacle mechanism 2 to achieve a waterproof effect;

[0034] During the actual operation of the present invention, first, the expansion and contraction of the push rod mechanism 3 can drive the up and down movement of the tentacle mechanism 2. When the six push rod mechanisms 3 drive the tentacle mechanism 2 to move up and down simultaneously, the up and down movement of the tentacle mechanism 2 drives the sleeve film housing mechanism 4 to squeeze water to form a forward thrust, realizing the forward movement of the overall mechanical device; when four push rod mechanisms 3 perform expansion and contraction movements and the other two adjacent push rod mechanisms 3 do not move, due to the thrust difference, the overall mechanical device will rotate towards the side of the two immobile push rod mechanisms 3, realizing the steering function of the overall machine. Secondly, two nylon lines are arranged above and below the tentacle mechanism 2 respectively, and the wire wheel 25 structure can control the winding and unwinding of the nylon lines. The pulling force during the winding and unwinding of the nylon lines can drive the forward and reverse bending of the four-section tentacle mechanism 2. Finally, a suction cup is installed on the lower part of the first three sections of the tentacles starting from the tentacle tip. The suction cup is connected to an air pump structure. The operation of the air pump can make the suction cup generate suction force. When the mechanical structure needs to grasp an object, the tentacle bends and at the same time the suction cup generates suction force to firmly grasp the object, realizing the grasping function of the mechanical structure;

[0035] When the wire wheel 25 rotates clockwise, the first bundle of wires 14 is tightened from the fourth tentacle segment 7 towards the first tentacle segment 4, and at the same time, the second bundle of wires 21 is released from the first tentacle segment 4 towards the fourth tentacle segment 7. Subsequently, by means of the first wire bundle device 8, the second wire bundle device 9, the third wire bundle device 10, the fourth wire bundle device 11, the fifth wire bundle device 12, the sixth wire bundle device 13, the lower first wire bundle device 15, the lower second wire bundle device 16, the lower third wire bundle device 17, the lower fourth wire bundle device 18, the lower fifth wire bundle device 19, and the lower sixth wire bundle device 20 installed on the first tentacle segment 4, the second tentacle segment 5, the third tentacle segment 6, and the fourth tentacle segment 7, the first bundle of wires 14 and the second bundle of wires 21 are constrained, and finally the upward bending movement of the tentacle mechanism 2 is achieved;

[0036] When the wire wheel 25 rotates counterclockwise, the second bundle of wires 21 is tightened from the first tentacle segment 4 towards the fourth tentacle segment 7, and at the same time, the first bundle of wires 14 is released from the fourth tentacle segment 7 towards the first tentacle segment 4. By means of the first wire bundle device 8, the second wire bundle device 9, the third wire bundle device 10, the fourth wire bundle device 11, the fifth wire bundle device 12, the sixth wire bundle device 13, the lower first wire bundle device 15, the lower second wire bundle device 16, the lower third wire bundle device 17, the lower fourth wire bundle device 18, the lower fifth wire bundle device 19, and the lower sixth wire bundle device 20 installed on the first tentacle segment 4, the second tentacle segment 5, the third tentacle segment 6, and the fourth tentacle segment 7, the first bundle of wires 14 and the second bundle of wires 21 are constrained, and finally the upward bending movement of the tentacle mechanism 2 is achieved.

[0037] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A mechanical device imitating an octopus, comprising a tentacle mechanism, a push rod mechanism, and a mantle shell mechanism. The tentacle mechanism is arranged on the side wall of the mantle shell mechanism, the push rod mechanism is arranged inside the mantle shell mechanism, the push rod mechanism is connected to the tentacle mechanism, and the telescoping of the push rod mechanism can drive the up-and-down movement of the tentacle structure. When the push rod mechanism drives the tentacle mechanism to move up and down, the up-and-down movement of the tentacle mechanism drives the mantle shell mechanism to squeeze water to form a forward thrust, realizing the forward movement of the overall mechanical device; The tentacle mechanism includes a first tentacle segment, a second tentacle segment, a third tentacle segment, and a fourth tentacle segment. The first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment are sequentially hinged end to end. Upper wire bundlers are arranged on the upper surfaces of the first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment. The upper wire bundler includes a first wire bundler, a second wire bundler, a third wire bundler, a fourth wire bundler, a fifth wire bundler, and a sixth wire bundler. The first wire bundler is arranged on the first tentacle segment, the second wire bundler and the third wire bundler are arranged on the second tentacle segment, the fourth wire bundler and the fifth wire bundler are arranged on the third tentacle segment, the sixth wire bundler is arranged on the fourth tentacle segment, and a first wire bundle is arranged between the first wire bundler, the second wire bundler, the third wire bundler, the fourth wire bundler, the fifth wire bundler, and the sixth wire bundler; Lower wire bundlers are arranged on the lower surfaces of the first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment. The lower wire bundler includes a lower first wire bundler, a lower second wire bundler, a lower third wire bundler, a lower fourth wire bundler, a lower fifth wire bundler, and a lower sixth wire bundler. The lower first wire bundler is arranged on the first tentacle segment, the lower second wire bundler and the lower third wire bundler are arranged on the second tentacle segment, the lower fourth wire bundler and the lower fifth wire bundler are arranged on the third tentacle segment, the lower sixth wire bundler is arranged on the fourth tentacle segment, and a second wire bundle is arranged between the lower first wire bundler, the lower second wire bundler, the lower third wire bundler, the lower fourth wire bundler, the lower fifth wire bundler, and the lower sixth wire bundler; A motor, a bevel gear, a gear shaft, and a wire wheel are arranged inside the lower surface of the first tentacle segment. The output shaft of the motor is connected to the bevel gear, and the output shaft of the motor is used to drive the bevel gear to rotate. The bevel gear is in meshing connection with the gear shaft, so that the bevel gear drives the gear shaft to transmit power, the gear shaft is in meshing connection with the wire wheel, and further the gear shaft drives the wire wheel to rotate. The first wire bundle and the second wire bundle are both arranged on the wire wheel; When the wire wheel rotates clockwise, the first bundle of wires is tightened from the fourth tentacle segment to the first tentacle segment, while the second bundle of wires is released from the first tentacle segment to the fourth tentacle segment. Subsequently, the first bundle of wires and the second bundle of wires are constrained by the first wire reel, the second wire reel, the third wire reel, the fourth wire reel, the fifth wire reel, the sixth wire reel, the lower first wire reel, the lower second wire reel, the lower third wire reel, the lower fourth wire reel, the lower fifth wire reel, and the lower sixth wire reel installed on the first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment, ultimately achieving the upward bending movement of the tentacle mechanism; When the wire wheel rotates counterclockwise, the second bundle of wires is tightened from the first tentacle segment to the fourth tentacle segment, while the first bundle of wires is released from the fourth tentacle segment to the first tentacle segment. By virtue of the first wire reel, the second wire reel, the third wire reel, the fourth wire reel, the fifth wire reel, the sixth wire reel, the lower first wire reel, the lower second wire reel, the lower third wire reel, the lower fourth wire reel, the lower fifth wire reel, and the lower sixth wire reel installed on the first tentacle segment, the second tentacle segment, the third tentacle segment, and the fourth tentacle segment, the first bundle of wires and the second bundle of wires are constrained, ultimately achieving the upward bending movement of the tentacle mechanism; An octopus chassis is arranged inside the mantle shell mechanism. The push rod mechanism is arranged on the octopus chassis. The push rod mechanism includes a push rod fixed column, the push rod fixed column is connected with a push rod base, the push rod base is connected with a push rod, the push rod base pushes the push rod, and the push rod pushes the tentacle root segment of the tentacle mechanism.

2. The mechanical device of a bionic octopus according to claim 1, wherein, Suction cups are arranged on the lower surfaces of the second tentacle segment, the third tentacle segment, and the fourth tentacle segment. The suction cups are connected with a suction pump, and the suction pump provides suction force for the suction cups.

3. The mechanical device of a bionic octopus according to claim 1, wherein, At least six groups of tentacle mechanisms are arranged, and the tentacle mechanisms and the push rod mechanisms are arranged in one-to-one correspondence.

4. The mechanical device of a bionic octopus according to claim 1, wherein, Six holes are opened on the outer surface of the mantle shell mechanism. A sleeve bag device is arranged inside the holes. The tentacle mechanism is located inside the sleeve bag device, and the sleeve bag device wraps the tentacle mechanism to achieve a waterproof effect.

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