A bionic bristle robot in a tube

Abstract

The invention discloses an in-pipe bionic bristle robot, which relates to the technical field of pipeline transportation robots. The robot mainly comprises a frame, a transmission mechanism, a cam and a bent movable part arranged on the frame. The transmission mechanism is used to drive a plurality of cams to rotate synchronously, and the synchronous rotation of the plurality of cams will drive a plurality of bent movable parts to swing synchronously. Since a plurality of bionic bristles are arranged on the surface of a force-applying section of the bent movable part, and the layout, structure and size of the plurality of bionic bristles are similar to those of the bristles of underwater pipe-dwelling organisms, the swing of the plurality of bent movable parts is equivalent to reproducing the efficient motion state of the underwater pipe-dwelling organisms, so that the in-pipe bionic bristle robot can achieve efficient movement on the inner wall of a mineral pipe, effectively solving the difficulties existing in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline transportation robots, and in particular to an in-pipe bionic bristle robot. Background Art

[0002] Pipeline transportation is a mode of transportation that uses pipelines as a means of transportation to transport liquid or gas materials over long distances. Through pipeline transportation, materials can be directly transferred from the production site to the market, with large transportation volume, low cost, strong continuity, and safety and reliability. Materials suitable for pipeline transportation include coal, oil, natural gas, etc. Pipeline transportation is a special component of trunk transportation in the unified transportation network.

[0003] For pipeline transportation, due to the particularity of the transported materials, high requirements are placed on the airtightness, stability and safety of the transportation pipeline. However, with the increase in service life, aging and corrosion of the pipeline are inevitable, which leads to an increased risk of pipeline failure. In order to extend the service life of the pipeline, the pipeline must be inspected, repaired and cleaned. However, the pipeline is deep and difficult to enter, and there are many complex and toxic substances inside the pipeline. In addition, due to the narrow diameter of the pipe, the manual cleaning and maintenance tasks are heavy, the cost is high, and there are great safety hazards. Considering a variety of factors, the in-pipe robot came into being.

[0004] At present, the main walking modes of pipeline robots include wheeled, tracked, creeping and multi-legged. Wheeled in-pipe robots rely on driving wheels to walk, with flexible movement and fast speed, but poor obstacle crossing ability; crawler in-pipe robots are suitable for large-diameter pipelines, but poor turning ability; creeping in-pipe robots simplify the walking mechanism and are suitable for small-diameter pipelines; multi-legged in-pipe robots are flexible and have good obstacle crossing and turning abilities, but the mechanism and control are complex.

[0005] However, no matter which of the above-mentioned walking methods is adopted, the existing pipeline robots are difficult to cope with the situation that the inner wall of the mineral pipe is smooth and covered with mucus, which makes the working efficiency too low; therefore, researching a pipe crawling robot with a simple structure and high working efficiency is an urgent problem that needs to be solved. Summary of the invention

[0006] The purpose of the present invention is to provide an in-tube bionic bristle robot to solve the problem that the existing in-tube robots cannot move efficiently on the inner wall of a mineral tube.

[0007] In order to solve the above technical problems, the present invention provides an in-tube bionic bristle robot, comprising a frame, a cam, a transmission mechanism and a bent movable part; along the length direction of the frame, a plurality of the cams and a plurality of the bent movable parts are arranged on opposite sides of the frame; the plurality of cams are rotatably connected to the frame in a self-rotating manner; the transmission mechanism is transmission-connected to the plurality of cams, and the transmission mechanism is used to drive the plurality of cams to rotate synchronously; the bent movable part comprises a force-bearing section and a force-applying section that are connected to each other, and the surface of the force-applying section for applying force to the outside to generate a driving force is provided with a plurality of bionic bristles, the length of the bionic bristles is 2 microns to 4 microns, and the diameter of the bionic bristles is 0.5 microns to 1.5 microns; the bending parts of the plurality of the bent movable parts are rotatably connected to the frame, and the force-bearing sections of the plurality of the bent movable parts are respectively used to abut against the corresponding plurality of the cams, so that the plurality of the bent movable parts swing cyclically under the drive of the plurality of the cams.

[0008] In one embodiment, the force-bearing section is bent, the bending part of the force-bearing section is the bending part of the bent movable part, and the end of the force-applying section is rotatably connected to the end of the force-bearing section.

[0009] In one embodiment, the force-bearing section is L-shaped, and the force-applying section is straight.

[0010] In one of the embodiments, a baffle is provided at the end of the force-applying section for rotational connection, and the extending direction of the baffle is consistent with the direction of the end of the force-applying section for rotational connection.

[0011] In one of the embodiments, the end of the force-applying section away from its own rotational connection is provided with a force-applying inclined surface, and a plurality of the bionic bristles are arranged on the force-applying inclined surface.

[0012] In one embodiment, the bionic bristles are spike-shaped, and the roots of the bionic bristles are connected and fixed to the force-applying section.

[0013] In one embodiment, a plurality of the bionic bristles are arranged in an array on the surface of the force-applying section, and the plurality of the bionic bristles are inclined in the same direction on the surface of the force-applying section; and the bionic bristles include a tip section and a root section that are connected to each other, and the root section is connected and fixed to the surface of the force-applying section, and the narrowing amplitude of the root section from the root section to the tip section is smaller than the narrowing amplitude of the tip section.

[0014] In one embodiment, the frame includes a first plate frame and a second plate frame, each of the first plate frame and the second plate frame is provided with a plurality of hollow areas, the first plate frame and the second plate frame are arranged opposite to each other, and the cam, the transmission mechanism and the bending movable part are provided between the first plate frame and the second plate frame.

[0015] In one embodiment, the transmission mechanism includes a plurality of power output gears, and the plurality of power output gears are respectively connected to the plurality of cams to form a coaxial synchronous rotation structure, and the transmission mechanism is used for gear transmission of the plurality of power output gears to rotate synchronously.

[0016] In one embodiment, the transmission mechanism further includes a driving shaft, a driving gear and a gear transmission unit; the driving shaft is used to rotate under the drive of the transmission mechanism; multiple driving gears are separated and arranged on the driving shaft to form a synchronously rotating structure; the gear transmission units are meshed on both sides of the multiple driving gears, and the multiple gear transmission units are respectively meshed with the multiple power output gears for transmission.

[0017] The beneficial effects of the present invention are as follows:

[0018] Underwater tube-dwelling organisms live in self-made mineral tubes to protect themselves and avoid natural enemies. The inner wall of the mineral tube is smooth and covered with mucus. However, the tube-dwelling organisms can achieve efficient movement on this smooth surface simply by swinging their own bristles.

[0019] Therefore, the present invention simulates the movement mechanism of the bristles of underwater tube-dwelling organisms, and arranges the bent movable part to include a force-bearing section and a force-applying section that are connected to each other. The force-applying section is used to apply force to the outside to generate a driving force, and a plurality of bionic bristles are provided on the surface. The length of the bionic bristles is 2 microns to 4 microns, and the diameter of the bionic bristles is 0.5 microns to 1.5 microns, so as to achieve the simulation and reproduction of the bristles of underwater tube-dwelling organisms. Therefore, when the force-bearing sections of the plurality of bent movable parts are respectively used to abut against the corresponding plurality of cams, so that the plurality of bent movable parts swing cyclically under the drive of the plurality of cams, the movement state of the underwater tube-dwelling organisms can be reproduced, so as to achieve efficient movement on the inner wall of the mineral tube, and effectively solve the difficulties existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the structure provided by an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 A schematic diagram of the first plate frame structure;

[0023] Figure 3 yes Figure 1 A schematic diagram of the second plate frame structure;

[0024] Figure 4 yes Figure 1 A schematic diagram of the front view structure of

[0025] Figure 5 yes Figure 1 Schematic diagram of the transmission mechanism structure;

[0026] Figure 6 yes Figure 5 A schematic diagram of the enlarged structure of part A;

[0027] Figure 7 The embodiment of the present invention provides a rotating state of the bending movable member. Figure 1 ;

[0028] Figure 8 The embodiment of the present invention provides a rotating state of the bending movable member. Figure 2 ;

[0029] Fig. 9 The embodiment of the present invention provides a rotating state of the bending movable member. Figure 3 ;

[0030] Fig.10 yes Figure 7 Schematic diagram of the force application section structure;

[0031] Fig.11 yes Fig.10 A schematic diagram of the enlarged structure of part B;

[0032] Fig.12 It is a schematic diagram of the setae structure of underwater tube-dwelling organisms;

[0033] Fig.13 It is a schematic diagram of the bionic bristle structure provided by an embodiment of the present invention.

[0034] The reference numerals are as follows:

[0035] 10. Frame; 11. First plate frame; 111. First horizontal plate; 112. First vertical plate; 12. Second plate frame; 121. Second horizontal plate; 122. Second vertical plate; 13. Hollow area;

[0036] 20. Cam;

[0037] 30. Transmission mechanism; 31. Power output gear; 32. Driving shaft; 33. Driving gear; 34. Gear transmission unit; 341. First reversing gear; 342. Second reversing gear; 343. Driven gear;

[0038] 40. bent movable part; 41. force-bearing section; 411. first ear plate; 42. force-applying section; 421. second ear plate; 422. force-applying inclined plane; 43. bionic bristle; 431. tip section; 432. root section; 44. pin; 45. baffle;

[0039] 51. First rotating shaft; 52. Second rotating shaft; 53. Third rotating shaft; 54. L-shaped shaft. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0041] The application environment of pipeline robots is relatively harsh. For example, the inner wall of a mineral tube is smooth and covered with mucus. The pipeline robot's forward efficiency in this environment is low. Although technical personnel in this field have been committed to studying new ways of movement to improve the forward efficiency, they have not been able to find a better entry point for improvement. Biomimetic technology provides a new research direction for this technical problem.

[0042] The improvement of the present invention is inspired by underwater tube-dwelling organisms, because the living environment of underwater tube-dwelling organisms is very similar to the application environment of pipeline robots, but they can move efficiently in such a harsh environment. Therefore, if this movement mechanism can be transferred to the pipeline robot, it can provide important help to improve the movement efficiency of the pipeline robot.

[0043] Research has shown that underwater tube-dwelling organisms live in self-made mineral tubes to protect themselves and avoid natural enemies. Although the inner walls of the mineral tubes in which they live are smooth and covered with mucus, the underwater tube-dwelling organisms can achieve efficient movement in this environment solely by relying on the swinging of their own bristles. In other words, the rational use of bristles is the secret of the underwater tube-dwelling organisms' ability to move efficiently.

[0044] Therefore, the present invention applies the bristle application mechanism of the underwater tube-dwelling organisms to the pipeline robot, and develops a bionic bristle robot in a tube, the implementation of which is as follows: Figure 1 As shown, it mainly includes a frame 10, a cam 20, a transmission mechanism 30 and a bent movable part 40. The bionic bristle robot in the tube achieves the reproduction of the movement mode of underwater tube-dwelling organisms by controlling the mutual cooperation of various main components.

[0045] Regarding the frame 10, Figure 1As shown, the frame 10 is similar to the outer shell of a general pipeline robot, and its main function is to realize the installation, fixation and protection of various components of the bionic bristle robot in the tube; so this embodiment sets the frame 10 to be rectangular, and the cam 20, the transmission mechanism 30 and the bent movable part 40 are all arranged inside the frame 10, but because the bent movable part 40 needs to apply force to the outside to drive the bionic bristle robot in the tube to move forward, the force-applying part of the bent movable part 40 will be exposed outside the frame 10.

[0046] Regarding the setting of the rack 10, the following points should be noted:

[0047] First, in order to simulate the multi-legged active structure of underwater tube-dwelling organisms, this embodiment arranges a plurality of cams 20 and a plurality of bent movable members 40 along the length direction of the frame 10 on opposite sides of the frame 10; for example, Figure 1 Taking the direction shown as a reference, a plurality of cams 20 are arranged into two rows in a separated arrangement from top to bottom, and the two rows of cams 20 are respectively arranged on the left and right sides of the frame 10. Similarly, a plurality of bent movable parts 40 are also arranged into two rows in a separated arrangement from top to bottom, and the two rows of bent movable parts 40 are also respectively arranged on the left and right sides of the frame 10, and the plurality of bent movable parts 40 on the left side will be respectively arranged on the left sides of the plurality of left cams 20, and the plurality of bent movable parts 40 on the right side will be respectively arranged on the right sides of the plurality of right cams 20, so as to ensure that the left and right sides of the bionic bristle robot in the tube can generate forward driving force.

[0048] Second, underwater tube-dwelling organisms have another important feature—they are light in weight. Therefore, in order to better reproduce the efficient movement of underwater tube-dwelling organisms, it is particularly important to reduce the overall weight of the bionic bristle robot in the tube, and reducing the weight of the frame 10 is a preferred way to achieve this effect; specifically, Figures 1 to 3 As shown, the frame 10 of this embodiment includes a first plate frame 11 and a second plate frame 12, and a plurality of hollow areas 13 are provided on the first plate frame 11 and the second plate frame 12. Therefore, this embodiment utilizes the provision of a plurality of hollow areas 13 to greatly reduce the weight of the frame 10, and to ensure that other components can still be stably installed, this embodiment further arranges the first plate frame 11 and the second plate frame 12 relative to each other, and a cam 20, a transmission mechanism 30 and a bending movable part 40 are provided between the first plate frame 11 and the second plate frame 12, that is, the first plate frame 11 and the second plate frame 12 are utilized to fix and protect each component.

[0049] It should be pointed out that there is no special restriction on the setting method of the hollow area 13, such as unlimited number, unlimited setting position, unlimited setting shape, and even each hollow area 13 can be set in different ways. However, the premise of all setting methods is to ensure that the frame 10 has sufficient mechanical strength, that is, to ensure that the frame 10 can still maintain a stable structure after setting multiple hollow areas 13, and to achieve the firm installation of related components.

[0050] Third, to achieve the setting of the hollow area 13, the relevant plate can be directly hollowed out. However, in order to avoid the hollowing operation from possibly damaging the plate, this embodiment uses assembly of plates to achieve the setting of the hollow area 13.

[0051] like Figure 2 As shown, at this time, the first plate frame 11 includes a first horizontal plate 111 and a first vertical plate 112. Along the length direction of the in-tube bionic bristle robot, multiple first horizontal plates 111 are arranged in parallel and separately, and two first vertical plates 112 are extended along the length direction of the in-tube bionic bristle robot. The two first vertical plates 112 are respectively arranged on both sides of the in-tube bionic bristle robot, and the two first vertical plates 112 are connected and fixed to the multiple first horizontal plates 111. The multiple spaces separated by the multiple first horizontal plates 111 and the two first vertical plates 112 form multiple hollow areas 13.

[0052] Similarly, if Figure 3 As shown, at this time, the second plate frame 12 includes a second horizontal plate 121 and a second vertical plate 122. Along the length direction of the bionic bristle robot in the tube, multiple second horizontal plates 121 are arranged in parallel and separately, and the two second vertical plates 122 are extended along the length direction of the bionic bristle robot in the tube. The two second vertical plates 122 are respectively arranged on both sides of the bionic bristle robot in the tube, and the two second vertical plates 122 are connected and fixed to the multiple second horizontal plates 121. The multiple spaces separated by the multiple second horizontal plates 121 and the two second vertical plates 122 form multiple hollow areas 13.

[0053] It should be pointed out that the first vertical plate 112 and the second vertical plate 122 do not have to be two or more, but can also be one. For example, a first vertical plate 112 is arranged in the middle of the bionic bristle robot in the tube and is connected and fixed to multiple first horizontal plates 111, which can also achieve stable splicing of the first plate frame 11.

[0054] Regarding the cam 20, Figure 1 , Figure 4 and Figure 5As shown, its main function is to realize the swing control of multiple bending movable parts 40. For example, multiple first rotating shafts 51 are provided on the frame 10 of this embodiment, and the multiple first rotating shafts 51 respectively pass through the centers of multiple elliptical cams 20, so that the multiple cams 20 are rotatably connected to the frame 10 in a self-rotating manner. Therefore, during the rotation of the cam 20, the cam 20 can change the force state applied to the bending movable part 40 to realize the cyclic swing control of the bending movable part 40; of course, the cam 20 is not limited to being set to the elliptical shape of this embodiment, as long as it is ensured that the cam 20 can control the bending movable part 40 to swing cyclically, the shape of the cam 20 will be able to undergo various adaptive adjustments.

[0055] Regarding the transmission mechanism 30, Figure 1 , Figure 4 and Figure 5 As shown, at this time, the transmission mechanism 30 is connected to the multiple cams 20, thereby achieving the purpose of the transmission mechanism 30 being used to drive the multiple cams 20 to rotate synchronously; wherein, the transmission method of this embodiment is gear transmission, but is not limited to this, and other electromagnetic transmission and mechanical transmission methods with simpler structures can also be used as a replacement.

[0056] Regarding the setting of the transmission mechanism 30, the following points should be noted:

[0057] First, since this embodiment uses gear transmission to achieve power transmission, it is particularly important to select a simple gear transmission structure, which can not only improve the power transmission efficiency, but also improve the operating stability of the bionic bristle robot in the tube; for this reason, this embodiment preferably sets a transmission mechanism 30 including multiple power output gears 31, and the multiple power output gears 31 are respectively connected to multiple cams 20 to form a coaxial synchronous rotation structure, and the transmission mechanism 30 is used to gear drive the multiple power output gears 31 to rotate synchronously.

[0058] That is, at this time, each first rotating shaft 51 will pass through a power output gear 31 and a cam 20 at the same time. Figure 4 In the direction shown, the power output gear 31 is arranged on the upper surface of the second plate frame 12, and the lower surface of the cam 20 is connected and fixed to the upper surface of the power output gear 31, so when the power output gear 31 obtains power from the transmission mechanism 30 to rotate, it will drive the cam 20 to rotate synchronously.

[0059] Second, the transmission mechanism 30 is used to provide power for multiple power output gears 31. At this time, the transmission mechanism 30 can be equipped with multiple independent power outputs to drive the multiple power output gears 31 to rotate synchronously respectively, or it can be equipped with multiple synchronous and interrelated power outputs to achieve precise synchronous control of multiple power output gears 31 in a linkage manner.

[0060] Obviously, due to the small size of the bionic bristle robot in the tube, the overall length is only about 10 cm, and only a compact and simple structure can be used. Therefore, the latter application method will be more in line with the application requirements of the bionic bristle robot in the tube. Figure 1 , Figure 4 and Figure 5 As shown, the transmission mechanism 30 of this embodiment also includes a driving shaft 32, a driving gear 33 and a gear transmission unit 34. The driving shaft 32 is used to rotate under the drive of the transmission mechanism 30. Multiple driving gears 33 are separated and arranged on the driving shaft 32 to form a synchronously rotating structure. Gear transmission units 34 are meshed on both sides of the multiple driving gears 33, and the multiple gear transmission units 34 are respectively meshed with multiple power output gears 31 for transmission.

[0061] Specifically, the driving shaft 32 is arranged on the central axis of the bionic bristle robot in the tube, the driving shaft 32 passes through the centers of multiple driving gears 33, and the driving shaft 32 and the multiple driving gears 33 are all connected and fixed, so when the driving shaft 32 rotates, the synchronous rotation of the multiple driving gears 33 can be achieved.

[0062] Each driving gear 33 is meshed with a gear transmission unit 34 on both sides, so when the driving gear 33 rotates, each driving gear 33 can use the two gear transmission units 34 to drive the two power output gears 31 to rotate, thereby realizing the cyclic swing control of the multiple cams 20 on the multiple bent movable parts 40.

[0063] Among them, the gear transmission unit 34 here is actually a gear set composed of multiple gears, so as long as the power transmission between the driving gear 33 and the power output gear 31 can be achieved, there is no special restriction on which gear to use for linkage. However, due to the limited available space of the bionic bristle robot in the tube, the structure of the gear transmission unit 34 should be as simple and reliable as possible.

[0064] Therefore, in this embodiment, the gear transmission unit 34 is configured as Figure 4 and Figure 5 As shown, the gear transmission unit 34 at this time includes a first reversing gear 341, a second reversing gear 342 and a driven gear 343; Figure 4In the direction shown, the rotation center of the driving gear 33 is perpendicular to the plane of the figure, and the rotation center of the first reversing gear 341 is arranged horizontally, so after the first reversing gear 341 is engaged with the driving gear 33, the first change in the power transmission direction can be achieved; and in the direction shown in the figure, the rotation centers of the second reversing gear 342 and the driven gear 343 are arranged vertically, and the second reversing gear 342 and the driven gear 343 are connected as a coaxial synchronous rotation structure, so when the second reversing gear 342 is engaged with the first reversing gear 341, the second change in the power transmission direction can be achieved, and the driven gear 343 is used to drive the power output gear 31, the cam 20, etc. to rotate synchronously.

[0065] It should also be pointed out that if Figure 4 As shown, at this time, in order to realize the installation and fixation of the first reversing gear 341, an L-shaped shaft 54 ​​is provided on the lower surface of the first plate frame 11, and the vertical section of the L-shaped shaft 54 ​​is connected and fixed to the lower surface of the first plate frame 11, and the horizontal section of the L-shaped shaft 54 ​​is used to rotate and install the first reversing gear 341; and in order to realize the installation of the second reversing gear 342 and the driven gear 343, a vertically arranged second rotating shaft 52 is also provided between the first plate frame 11 and the second plate frame 12, and the second rotating shaft 52 passes through the center of the second reversing gear 342 and the driven gear 343 respectively, so as to realize the synchronous rotation of the second reversing gear 342 and the driven gear 343 in the upper and lower stacked state.

[0066] Third, when the bionic bristle robot in the tube moves, the transmission mechanism 30 is used to provide driving force for the bionic bristle robot in the tube. To achieve this purpose, it is only necessary to control the driving shaft 32 to rotate. In order to realize the rotation of the driving shaft 32, a corresponding motor can be set on the bionic bristle robot in the tube to realize the driving control of the driving shaft 32 by using the motor. Alternatively, the bionic bristle robot in the tube can be assembled and used in conjunction with other devices, and then the motor on the device cooperates with the transmission structure to realize the rotation control of the driving shaft 32.

[0067] The main function of the bent movable member 40 is to simulate and reproduce the motion pattern of underwater tube-dwelling organisms, so as to improve the motion efficiency of the bionic bristle robot in the tube. Figure 1 , Figure 6 and Fig.11As shown, to achieve this purpose, this embodiment provides a bending movable part 40 including a force-bearing section 41 and a force-applying section 42 that are interconnected. The force-applying section 42 is used to apply force to the outside to generate a driving force, and a plurality of bionic bristles 43 are provided on the surface thereof. The length of the bionic bristles 43 is 2 microns to 4 microns, and the diameter of the bionic bristles 43 is 0.5 microns to 1.5 microns. The bending parts of the plurality of bending movable parts 40 are all rotatably connected to the frame 10, and the force-bearing sections 41 of the plurality of bending movable parts 40 are respectively used to abut against the corresponding plurality of cams 20, so that the plurality of bending movable parts 40 can swing cyclically under the drive of the plurality of cams 20. Therefore, when the bending movable part 40 swings cyclically, the bionic bristles 43 on the bending movable part 40 can generate an interaction force with the adhesion in the pipe, thereby driving the bionic bristle robot in the pipe to move efficiently.

[0068] Regarding the arrangement of the bending movable member 40, the following points should be noted:

[0069] First, in order to realize the rotational connection of the bending movable member 40 , this embodiment further provides a vertically arranged third rotating shaft 53 between the first plate frame 11 and the second plate frame 12 , and the third rotating shaft 53 is used to pass through the bending portion of the bending movable member 40 .

[0070] Second, the bending movable part 40 is used to work in conjunction with the cam 20 so that the force-applying section 42 can be used to apply force to the outside under the drive of the cam 20. To achieve this goal, it is only necessary to ensure that the bending movable part 40 can maintain a suitable matching relationship with the cam 20. There is no special restriction on the bending method of the bending movable part 40.

[0071] Third, the bending movable member 40 can be set as an integrated integral component, that is, the force-bearing section 41 and the force-applying section 42 cannot have relative movement. However, in order to enhance the applicability of the bending movable member 40 in various environments, the bending movable member 40 is set as a structure that can adapt to bending movement; Figure 6 and Figure 7 As shown, the force-bearing section 41 is in a bent shape at this time, and the bending part of the force-bearing section 41 is the bending part of the bent movable part 40. The end of the force-applying section 42 is rotatably connected to the end of the force-bearing section 41. Therefore, when it is used, once the bent movable part 40 is blocked, the force-applying section 42 and the force-bearing section 41 can avoid each other by rotation, so that the bent movable part 40 can flexibly cope with more usage scenarios.

[0072] As described above, the present invention has no special restrictions on the bending method of the bending movable part 40, but in order to ensure that the movable structure between the force-applying section 42 and the force-receiving section 41 is more stable and smooth, the structures of the two should be simplified as much as possible. Therefore, this embodiment sets the force-receiving section 41 to be L-shaped, and sets the force-applying section 42 to be straight, thereby avoiding an overly complex structure that causes rotation obstruction between the force-applying section 42 and the force-receiving section 41.

[0073] In order to realize the rotation connection between the force receiving section 41 and the force applying section 42, as shown in FIG. Figure 6 As shown, in this embodiment, a first ear plate 411 is provided at one end of the force-bearing section 41 for rotational connection, and the thickness of the first ear plate 411 is less than the thickness of the force-bearing section 41, and two second ear plates 421 are provided at one end of the force-applying section 42 for rotational connection, and the two second ear plates 421 are parallel, separated and opposite to each other; therefore, after the first ear plate 411 is inserted between the two second ear plates 421, the pin 44 can be used to pass through the three ear plates, thereby realizing the rotational connection between the force-bearing section 41 and the force-applying section 42.

[0074] Fourth, after setting the force-bearing section 41 and the force-applying section 42 as a rotational connection, although the adaptability of the bent movable part 40 to various application environments can be improved, if the problem of excessive rotation occurs between the force-bearing section 41 and the force-applying section 42, it is easy to reduce the movement efficiency of the bionic bristle robot in the tube; so in order to solve this problem, this embodiment also provides a baffle 45 at the end of the force-applying section 42 for rotational connection, and the extension direction of the baffle 45 is consistent with the direction of the end of the force-applying section 42 for rotational connection, thereby realizing the rotation angle limit of the force-bearing section 41 and the force-applying section 42.

[0075] For example, Figure 7 As shown in , at this time, relative rotation occurs between the force-bearing section 41 and the force-applying section 42, but the overall shape of the two is still similar to the foot shape of the underwater tube-dwelling creature, that is, it can still ensure that the bionic bristle robot in the tube can achieve efficient movement.

[0076] And in Figure 8 As shown in , at this time, the force-bearing section 41 and the force-applying section 42 have over-rotated, that is, the overall shape formed by the two is no longer the same as the foot shape of the underwater tube-dwelling creature, so that it is impossible to ensure that the bionic bristle robot in the tube can still move efficiently.

[0077] Although the phenomenon of excessive rotation of the force-bearing section 41 and the force-applying section 42 only occurs in certain specific scenarios, the setting of the baffle 45 is still of great significance in order to ensure that the intra-tube bionic bristle robot can still maintain efficient movement in various application scenarios.

[0078] Specific as Fig. 9As shown, at this time, the rotation angle between the force-bearing section 41 and the force-applying section 42 has reached the maximum value. Even if the two continue to be affected by external forces, since the baffle 45 and the outer wall of the force-bearing section 41 are already in a state of mutual contact, the force-bearing section 41 and the force-applying section 42 can only continue to maintain the state shown in the figure, ensuring that the overall shape of the bent movable part 40 can always be consistent with the underwater tube-dwelling organisms, so that the continuous and efficient movement of the bionic bristle robot in the tube can be realized in various application scenarios.

[0079] It should be pointed out that there is no special restriction on the shape of the baffle 45. It can be set to the rectangular shape of this embodiment, or it can be designed to be an arc shape, a triangle shape, or even other special shapes. It is only necessary to ensure that after the baffle 45 abuts against the force-bearing section 41, the overall shape of the bending movable part 40 can be maintained within the range preset by the designer.

[0080] Fifth, in order to ensure the efficient and stable movement of the bionic bristle robot in the tube, the force contact surface between the bionic bristle robot in the tube and the moving environment should be fully fitted to ensure sufficient stability of the force transmission between the two.

[0081] To achieve this purpose, the force application section 42 is configured as Fig.10 and Fig.11 As shown, at this time, a force-applying inclined surface 422 is provided at the end of the force-applying section 42 away from its own rotating connection, and multiple bionic bristles 43 are arranged on the force-applying inclined surface 422; for example, in the direction shown in the figure, the lower end of the force-applying section 42 is designed to be triangular, and the triangular part of the force-applying section 42 is also bent outward at a certain angle, and at this time the force-applying inclined surface 422 is arranged on the triangular part of the force-applying section 42; therefore, when the bionic bristle robot in the tube moves, the force-applying inclined surface 422 can more easily fit and abut against the moving scene of the bionic bristle robot in the tube, thereby ensuring efficient and sufficient force transmission between the two.

[0082] Sixth, in order to fully reproduce the movement mode of underwater tube-dwelling organisms, the design of the bionic bristle robot in the tube should be as similar as possible to the underwater tube-dwelling organisms. Therefore, in this embodiment, the bionic bristles 43 are designed with reference to the bristles of underwater tube-dwelling organisms. Fig.10 and Fig.11 As shown, the bionic bristles 43 at this time are spike-shaped (roughly similar to a conical structure), and the roots of the bionic bristles 43 are connected and fixed to the force-applying section 42, thereby achieving a simulated reproduction of the bristles of underwater tube-dwelling organisms.

[0083] It should also be pointed out that the bristle structure of underwater tube-dwelling organisms is Fig.12 As shown in FIG. 1 , the bristles of underwater tube-dwelling organisms are not completely consistent with the conical structure. Therefore, in order to further improve the similarity between the bionic bristles 43 and the bristles of underwater tube-dwelling organisms, this embodiment also sets the bionic bristles 43 as Fig.10, Fig.11 and Fig.13 As shown, the bionic bristle 43 at this time includes a tip segment 431 and a root segment 432 which are connected to each other. The root segment 432 is fixedly connected to the surface of the force-applying segment 42. In the direction from the root segment 432 to the tip segment 431, the narrowing amplitude of the root segment 432 is smaller than the narrowing amplitude of the tip segment 431, thereby achieving a complete reproduction of the shape of the bionic bristle 43 of the bristle of the underwater tube-dwelling organism.

[0084] Seventh, in addition to the need to imitate and reproduce the bristles of underwater tube-dwelling organisms, it is also particularly important to reproduce the arrangement of the bristles of underwater tube-dwelling organisms. Therefore, in this embodiment, the arrangement of the bionic bristles 43 is set to Fig.10 and Fig.11 As shown, at this time, multiple bionic bristles 43 are arranged in an array on the surface of the force-applying section 42, and multiple bionic bristles 43 are inclined in the same direction on the surface of the force-applying section 42, thereby achieving a complete reproduction of the layout of the bionic bristles 43 of the underwater tube-dwelling organisms.

[0085] From the above, we can already know the working principles and functions of each component of the in-tube bionic bristle robot. However, in order to help technicians understand the working mode of the in-tube bionic bristle robot more clearly and accurately, the following will describe the working process of the in-tube bionic bristle robot in combination with a specific application scenario.

[0086] For example, assuming that the bionic bristle robot in a tube needs to move in a mineral tube, when the transmission mechanism 30 is started, the transmission mechanism 30 will be able to drive the multiple cams 20 to rotate synchronously, and the rotation of the multiple cams 20 will be able to drive the multiple bent movable parts 40 to expand outwards and contract inwards synchronously, thereby simulating the multi-legged reciprocating swinging state of underwater tube-dwelling organisms. Finally, the multiple bionic bristles 43 on the bent movable parts 40 are abutted against the inner wall of the mineral tube, so that the movement mode of the underwater tube-dwelling organisms can be reproduced, thereby realizing the efficient movement of the bionic bristle robot in the tube.

[0087] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A bionic bristle robot in a tube, characterized in that: It includes a frame, a cam, a transmission mechanism and a bending movable part; Along the length direction of the frame, a plurality of the cams and a plurality of the bent movable parts are arranged on opposite sides of the frame; The plurality of cams are rotatably connected to the frame in a self-rotatable manner; The transmission mechanism is drivingly connected with the plurality of cams, and the transmission mechanism is used to drive the plurality of cams to rotate synchronously; The bent movable part comprises a force-bearing section and a force-applying section connected to each other, and a surface of the force-applying section for applying force to the outside to generate driving force is provided with a plurality of bionic bristles, the length of the bionic bristles is 2 microns to 4 microns, and the diameter of the bionic bristles is 0.5 microns to 1.5 microns; the bending parts of the plurality of bent movable parts are all rotatably connected to the frame, and the force-bearing sections of the plurality of bent movable parts are respectively used to abut against the corresponding plurality of cams, so that the plurality of bent movable parts circulate and swing under the drive of the plurality of cams; The end of the force-applying section used for rotational connection is provided with a baffle, and the extending direction of the baffle is consistent with the direction of the end of the force-applying section used for rotational connection; The end of the force-applying section away from the rotation connection thereof is provided with a force-applying inclined surface, and a plurality of the bionic bristles are arranged on the force-applying inclined surface; The plurality of bionic bristles are arranged in an array on the surface of the force-applying section, and the plurality of bionic bristles are inclined in the same direction on the surface of the force-applying section; The bionic bristle comprises a tip segment and a root segment connected to each other, the root segment is connected and fixed to the surface of the force-applying segment, and in the direction from the root segment to the tip segment, the narrowing amplitude of the root segment is smaller than the narrowing amplitude of the tip segment; The frame comprises a first plate frame and a second plate frame, the first plate frame and the second plate frame are both provided with a plurality of hollow areas, the first plate frame and the second plate frame are arranged opposite to each other, and the cam, the transmission mechanism and the bent movable member are provided between the first plate frame and the second plate frame; The transmission mechanism comprises a plurality of power output gears, wherein the plurality of power output gears are respectively connected to the plurality of cams to form a coaxial synchronous rotation structure, and the transmission mechanism is used for gear transmission to enable the plurality of power output gears to rotate synchronously.

2. The in-tube bionic bristle robot according to claim 1, characterized in that: The force-bearing section is bent, the bending part of the force-bearing section is the bending part of the bent movable part, and the end of the force-applying section is rotatably connected to the end of the force-bearing section.

3. The in-tube bionic bristle robot according to claim 2, characterized in that: The force-bearing section is L-shaped, and the force-applying section is straight.

4. The in-tube bionic bristle robot according to claim 1, characterized in that: The bionic bristles are spike-shaped, and the roots of the bionic bristles are connected and fixed to the force-applying section.

5. The in-tube bionic bristle robot according to claim 1, characterized in that: The transmission mechanism also includes a driving shaft, a driving gear and a gear transmission unit; The driving shaft is used to rotate under the drive of the transmission mechanism; A plurality of driving gears are separately arranged on the driving shaft to rotate synchronously; The gear transmission units are meshed on both sides of the plurality of driving gears, and the plurality of gear transmission units are respectively meshed and transmitted with the plurality of power output gears.

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