Underwater lifesaving special tactical carrying tool based on BCF bionic technology

Abstract

The invention discloses an underwater lifesaving special tactical carrying tool based on a BCF bionic technology, and relates to the technical field of underwater lifesaving, the underwater lifesaving special tactical carrying tool comprises a wearing mechanism, the wearing mechanism comprises a waistcoat sheath, and a back hanging mechanism is arranged on the back of the waistcoat sheath. In order to meet the requirement for underwater heavy-load movement of the carrying tool, a back-hanging type main structural plate is arranged on the back of the carrying tool, a waterproof and high-pressure-resistant protective shell is arranged on the surface of the main structural plate, a double-shaft motor is arranged in the protective shell, and a bionic mechanism is arranged below the waist of the main structural plate; the bionic mechanism provides forward power through a swing assembly which swings left and right, power assisting mechanisms are arranged on the two sides of the main structural plate and provide forward power through paddling paddles which swing front and back, different underwater moving modes are adopted according to different underwater scenes, and the requirement for self-moving of the carrying tool in the complex environment is met; the physical strength of rescue workers is saved, and the underwater lifesaving success rate is increased.

Description

Technical Field

[0001] The invention relates to the technical field of underwater lifesaving, in particular to a special tactical carrying device for underwater lifesaving based on BCF bionic technology. Background Art

[0002] Underwater rescue refers to the rescue action taken when someone is drowning or in other underwater emergencies. Carrying gear is a device used to carry various equipment and items, and can be used in various field production and rescue sites. Existing underwater rescue methods use telescopic life-saving poles to salvage drowning people, or use life buoys to make drowning people float and escape danger, and then salvage them, and carry out cardiopulmonary resuscitation on the shore. This method can be used for shallow water drowning rescue. In the rescue of deep water drowning, since the drowning person is far away from the safe area, the rescue time is long. If underwater rescue is not carried out in time, it is easy to endanger life and health during safe transfer. In the process of searching for rescue targets underwater, rescuers can use carrying gear to carry rescue tools, such as underwater respirators and other rescue tools, to reduce the time wasted in deep water rescue and improve the success rate of rescue.

[0003] When carrying out deep-water rescue work, rescuers need to dive underwater for a period of time. They not only need to carry underwater breathing equipment for their own use, but also need to carry several additional sets of underwater breathing equipment for the rescued personnel to use, which increases the weight of the rescuers underwater. It is difficult to move underwater using only carrying gear to carry tools. The use of an additional underwater power drive system can reduce the energy consumed in underwater movement, but the existing underwater automatic movement method generally adopts underwater boosters. This movement method is not conducive to accessing narrow and complex terrains, and the overly complex power system has obvious limitations in its underwater waterproof and pressure resistance capabilities, making it difficult to meet complex underwater lifesaving needs. Summary of the invention

[0004] The purpose of the present invention is to provide a special tactical carrying device for underwater lifesaving based on BCF bionic technology to solve the problems raised by the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a special tactical carrying device for water rescue based on BCF bionic technology, comprising a wearing mechanism, the wearing mechanism comprising a vest cover, a back hanging mechanism being arranged on the back of the vest cover, the back hanging mechanism comprising a main structure plate, a dual-axis motor being fixedly connected to the surface of the main structure plate, both output ends of the dual-axis motor being arranged with a clutch assembly, a power-assisting mechanism being arranged at one end of the dual-axis motor, a bionic mechanism being arranged at the other end of the dual-axis motor, the dual-axis motor being respectively connected to the power-assisting mechanism and the bionic mechanism through the clutch assembly, the power-assisting mechanism comprising a paddling paddle, a linkage assembly and a bidirectional rotating assembly, the bidirectional rotating assembly being connected to the dual-axis motor to provide power for the paddling paddle to move forward and backward; The bionic mechanism includes a joint sleeve, a swing component and a drive component. The bionic mechanism is formed by connecting several swing components end to end. The swing component includes a connecting rod. The ends of the connecting rod are fixedly connected to gears. A concentric shaft is fixedly connected to the axial position of the gear. An eccentric shaft is arranged on the outer side of the concentric shaft. A bending rod is installed on the outer side wall of the eccentric shaft and the concentric shaft. Two adjacent swing components are connected by the bending rod. The top end of the eccentric shaft is rotatably connected to an eccentric connecting rod. The drive assembly provides power for the connecting rod and the eccentric connecting rod to swing left and right. The joint sleeve is sleeved on the outside of the swing component.

[0006] Preferably, the driving assembly includes a support seat three and a bent rod, the bent rod is rotatably connected to the support seat three, the outer wall of the support seat three is fixedly connected to a positioning frame, one end of the bent rod is slidably connected to a crank, an extension arm is fixedly connected at the side center position of the crank, the extension arm is rotatably connected to the positioning frame, the extension arm is fixedly connected to the connecting rod, and the positioning frame is rotatably connected to the eccentric connecting rod.

[0007] Preferably, the bidirectional rotation component includes two worm gears, an output end of the dual-axis motor is connected to a worm, the worm and the two worm gears are meshed with each other, a deflection arm is fixedly connected to the surface of the worm wheel, one end of the deflection arm is connected to the axis of the worm wheel, and the other end of the deflection arm is rotatably connected to a driving arm, the linkage component includes a linkage rod 1 and a linkage rod 2, both ends of the linkage rod 2 are respectively rotatably connected to the linkage rod 1, the paddling paddle is rotatably connected to the bottom of the linkage rod 2, and one end of the driving arm is rotatably connected to the linkage rod 2.

[0008] Preferably, a first rotating component is provided at the bottom of the second linkage rod, and the first rotating component includes a first rotating table. An arc-shaped groove is provided on the bottom edge of the first rotating table. A positioning shaft and a limiting column are fixedly connected to the side of the paddling paddle. The limiting column is provided on the outside of the positioning shaft, and the outer wall of the limiting column is slidably connected to the inner wall of the arc-shaped groove.

[0009] Preferably, a second rotating assembly is arranged above the first rotating assembly, and the second rotating assembly includes a second rotating table, the bottom end of the second rotating table is fixedly connected to an annular guide rail, the bottom end of the annular guide rail is provided with an annular groove, the two top corners of the first rotating table are fixedly connected to blocks, the blocks are slidably connected to the annular groove, the bottom center of the second rotating table is rotatably connected to a rotating seat, and the positioning shaft passes through the side wall of the first rotating table and is rotatably connected to the rotating seat.

[0010] Preferably, a storage assembly is provided on the surface of the linkage rod 2, and the storage assembly includes a rotating rod, one end of the rotating rod is fixedly connected to a rotating shaft, the bottom end of the rotating shaft passes through the bottom wall of the linkage rod 2 and is fixedly connected to a rotating seat, and the surface of the linkage rod 2 is rotatably connected to a U-shaped frame, and a tension spring is fixedly connected between the side wall of the U-shaped frame and one end of the rotating rod.

[0011] Preferably, a belt is connected to the waist of the vest cover, a socket is fixedly connected to the back of the vest cover, two hooks are provided at one end of the main structure plate, the hooks are plugged into the sockets, the other end of the main structure plate is fixedly connected to a power source protection box, the two ends of the belt are respectively fixedly connected to the power source protection box, and the main structure plate is installed on the back of the vest cover through the belt and the hooks.

[0012] Preferably, a protective shell is provided on the outer side of the main structural plate, the dual-axis motor and the two clutch assemblies are located in the inner cavity of the protective shell, a support seat 1 is fixedly connected to the surface of the main structural plate, a bearing is provided on the inner side wall of the support seat 1, both ends of the worm are rotatably connected to the support seat 1 through the bearing, the bottom of the linkage rod 1 is rotatably connected to the support seat 2, the support seat 2 is fixedly connected to the main structural plate, the bottom center of the worm wheel is rotatably connected to the support shaft, and the bottom end of the support shaft is fixedly connected to the main structural plate.

[0013] Preferably, the clutch assembly includes an active roller, a driven roller, a stand and an electromagnet seat, the active roller is fixedly connected to the output end of the dual-axis motor, and adjacent side walls of the active roller and the driven roller are provided with correspondingly shaped thorn grooves.

[0014] Preferably, the outer side wall of the driven roller is fixedly connected to a ring seat, the vertical frame is fixedly connected to the side wall of the main structure plate, one end of the vertical frame is rotatably connected to a swing clamp, one end of the swing clamp is slidingly engaged with the ring seat, the other end of the swing clamp is fixedly connected to a magnet sheet, the electromagnet seat is fixedly connected to the side wall of the main structure plate, and both ends of the electromagnet seat control the movement of the magnet sheet through magnetic attraction.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In order to meet the requirements of heavy-load movement of the carrying device underwater, the present invention arranges a back-hanging main structure plate on the back of the vest cover, and arranges a waterproof and high-pressure resistant protective shell on the surface of the main structure plate. A dual-axis motor is arranged in the protective shell, and a bionic mechanism is arranged below the waist of the vest cover. The bionic mechanism provides forward power through a swinging component that swings left and right. A power-assisting mechanism is arranged on both sides of the main structure plate. The power-assisting mechanism provides forward power through a paddling paddle that swings back and forth. Different underwater movement modes are adopted according to different underwater scenes to meet the needs of the carrying device for self-movement in complex environments, save the rescue personnel's own physical strength, and improve the success rate of underwater rescue.

[0016] 2. In the present invention, the bionic mechanism is composed of a plurality of staggered swing components, each of which is connected by two gear meshing connections, and the gears are positioned by a bending rod. The gear meshing allows the two eccentric shafts to rotate toward each other, and the connecting rods of the two groups of swing components to deflect toward each other. By utilizing the relationship that the eccentric connecting rod and the connecting rod are always parallel, the position of the eccentric shaft of the next group of swing components is controlled, thereby controlling the deflection angle of the connecting rod of the next group of swing components, so that each swing component is always in a staggered connection state. By providing a power source for one of the swing components, the effect of joint swinging of all the swing components can be achieved. One motor can be used underwater to drive the bionic mechanism to swing, avoiding the safety hazard of using multiple motors underwater and reducing the underwater protection requirements for dual-axis motors.

[0017] 3. In the present invention, the position of the paddling paddle is controlled by the second linkage rod, the dual-axis motor controls the worm to drive the worm wheel to rotate, and the driving arm uses the traction effect of the linkage assembly to make the second linkage rod swing back and forth, so that the power-assisting mechanism and the bionic mechanism share a dual-axis motor, which also avoids the safety hazards of using multiple motors underwater and reduces the underwater protection requirements for the dual-axis motor.

[0018] 4. In the present invention, the rotating seat is connected to the rotating rod through a rotating shaft, and the rotating seat controls the deployment and folding states of the paddling paddle and the linkage rod 2. The U-shaped frame is pushed backward so that the angle between the U-shaped frame and the linkage rod 2 is greater than ninety degrees. The tension of the tension spring is used to pull the rotating rod backward so that the rotating rod is rotated ninety degrees to realize the deployment of the paddling paddle. The U-shaped frame is pushed forward until the U-shaped frame overlaps with the linkage rod 2. The tension of the tension spring is used to rotate the rotating rod ninety degrees so that the rotating rod overlaps with the linkage rod 2. The paddling paddle is also folded on one side of the linkage assembly. Only the bionic mechanism is used to drive the rescue personnel to move, which is convenient for passing through the narrow opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The three-dimensional structure of a special tactical carrying device for underwater rescue based on BCF bionic technology of the present invention is shown in FIG. Figure 1 ; Figure 2 The three-dimensional structure of a special tactical carrying device for underwater rescue based on BCF bionic technology of the present invention is shown in FIG. Figure 2 ; Figure 3 It is a structural schematic diagram of a back-hanging mechanism in a special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention; Figure 4 It is a structural schematic diagram of a power assist mechanism in a special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention; Figure 5It is a structural schematic diagram of a clutch assembly in a special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention; Figure 6 It is a structural schematic diagram of a first rotating assembly and a second rotating assembly in a special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention; Figure 7 It is a schematic diagram of the partial structural disassembly of the first rotating assembly and the second rotating assembly in a special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention; Figure 8 For the present invention Figure 6 A magnified rendering of the local structure at point A in the middle; Fig. 9 The structure of the bionic mechanism in the special tactical carrying device for underwater rescue based on BCF bionic technology of the present invention is shown in FIG. Figure 1 ; Fig.10 The structure of the bionic mechanism in the special tactical carrying device for underwater rescue based on BCF bionic technology of the present invention is shown in FIG. Figure 2 ; Fig.11 The structure of the driving component in the special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention is shown in FIG. Figure 1 ; Fig.12 The structure of the driving component in the special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention is shown in FIG. Figure 2 ; Fig.13 It is a structural schematic diagram of a swinging component in a special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention; Fig.14 It is a schematic diagram of a swinging component in a working state in a special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention; Fig.15 For the present invention Fig.14 Schematic diagram of the principle; Fig.16 It is a simplified diagram showing the changing state of a paddling oar of a special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention when it moves forward in coordination with a first rotating platform; Fig.17 This is a simplified diagram showing the changing state of a paddling oar of a special tactical carrying device for underwater lifesaving based on BCF bionic technology of the present invention when it moves backward alone; Fig.18 The present invention is a simplified diagram showing the changing states of a paddling oar of a special tactical carrying device for underwater lifesaving based on the BCF bionic technology and a first rotating platform when the paddling oar cooperates with the first rotating platform to move backward.

[0020] In the figure: 1. wearing mechanism; 11. vest cover; 12. socket; 13. power source protection box; 14. belt; 2. back hanging mechanism; 21. main structure plate; 22. protective shell; 23. worm; 24. clutch assembly; 241. active roller; 242. driven roller; 243. ring seat; 244. stand; 245. swing clamp; 246. electromagnet seat; 247. magnet sheet; 25. double-axis motor; 26. support seat 1; 27. support seat 2; 28. support shaft; 29. ​​hook; 3. power mechanism; 31. paddling paddle; 311. positioning shaft; 312. limit column; 32. linkage assembly; 321. linkage rod 1; 322. linkage rod 2; 33. two-way rotation assembly; 331. worm gear; 332. eccentric Swivel arm; 333, drive arm; 34, first rotating assembly; 341, first rotating platform; 342, arc groove; 343, block; 35, second rotating assembly; 351, second rotating platform; 352, annular guide rail; 353, annular groove; 354, rotating seat; 355, rotating shaft; 36, storage assembly; 361, U-shaped frame; 362, rotating rod; 363, tension spring; 4, bionic mechanism; 41, joint cover; 42, swing assembly; 421, gear; 422, connecting rod; 423, bending rod; 424, eccentric connecting rod; 425, eccentric shaft; 426, concentric shaft; 43, drive assembly; 431, support seat three; 432, curved rod; 433, crank; 434, positioning frame; 435, extension arm. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Example 1: Reference Figure 1 - Fig.18 As shown: a special tactical carrying device for water rescue based on BCF bionic technology, including a wearing mechanism 1, the wearing mechanism 1 includes a vest cover 11, the back of the vest cover 11 is provided with a back hanging mechanism 2, the back hanging mechanism 2 includes a main structure plate 21, the surface of the main structure plate 21 is fixedly connected with a double-axis motor 25, the two output ends of the double-axis motor 25 are both provided with a clutch assembly 24, one end of the double-axis motor 25 is provided with a power-assisting mechanism 3, the other end of the double-axis motor 25 is provided with a bionic mechanism 4, and the double-axis motor 25 is clutch-connected with the power-assisting mechanism 3 and the bionic mechanism 4 respectively through the clutch assembly 24; The power-assisting mechanism 3 includes a paddling paddle 31, a linkage assembly 32 and a bidirectional rotating assembly 33. The bidirectional rotating assembly 33 includes two worm gears 331. The output end of the dual-axis motor 25 is connected to the worm 23. The worm 23 and the two worm gears 331 are meshed with each other. A deflection arm 332 is fixedly connected to the surface of the worm gear 331. One end of the deflection arm 332 is connected to the axis of the worm gear 331. The other end of the deflection arm 332 is rotatably connected to a driving arm 333. The linkage assembly 32 includes a linkage rod 1 321 and a linkage rod 2 322. Both ends of the linkage rod 2 322 are rotatably connected to the linkage rod 1 321 respectively. The paddling paddle 31 is rotatably connected to the bottom of the linkage rod 2 322. One end of the driving arm 333 is rotatably connected to the linkage rod 2 322. The bionic mechanism 4 includes a joint sleeve 41, a swing component 42 and a driving component 43. The bionic mechanism 4 is formed by connecting a plurality of swing components 42 end to end. The swing component 42 includes a connecting rod 422. The ends of the connecting rod 422 in the middle are fixedly connected to a gear 421. The connecting rods 422 at both ends are only connected to the gear 421 at one end. It is only necessary to ensure that two adjacent connecting rods 422 are meshed through the gear 421. A concentric shaft 426 is fixedly connected to the axial position of the gear 421. An eccentric shaft 425 is arranged on the outside of the concentric shaft 426. The eccentric shaft 425 is slidably connected along the periphery of the gear 421. The outer walls of the eccentric shaft 425 and the concentric shaft 426 are installed with a bending rod 423. Two adjacent swing assemblies 42 are connected by a bending rod 423, and the top end of the eccentric shaft 425 is rotatably connected to the eccentric connecting rod 424. The driving assembly 43 includes a support seat three 431 and a curved rod 432. The curved rod 432 is rotatably connected to the support seat three 431, and the outer wall of the support seat three 431 is fixedly connected to a positioning frame 434. One end of the curved rod 432 is slidably connected to a crank 433, and two extension arms 435 are fixedly connected at the center position of the side of the crank 433. The extension arms 435 are rotatably connected to the positioning frame 434, one of the extension arms 435 is fixedly connected to the connecting rod 422, and the other extension arm 435 is fixedly connected to the eccentric connecting rod 424, and the joint cover 41 is sleeved on the outside of the swing assembly 42.

[0023] In this embodiment, the abdomen of the vest sheath 11 is provided with an opening and a retractable tightening belt for carrying tools such as an underwater breathing apparatus, a gas cylinder, and a safety rope. The underwater breathing apparatus is worn at the mouth and nose to prevent river water or sea water from entering the chest cavity and provide oxygen to ensure life activities. The gas cylinder stores oxygen for a single person for 30 to 60 minutes. Gas cylinders of different capacities are selected according to different rescue mission requirements to reduce the burden of underwater movement as much as possible. The safety rope can fix the rescuer and the rescued person's body, and is used when the rescued person is unconscious and unable to move on his own. The above tools can be temporarily fixed to the abdomen of the vest sheath 11 through pockets and tightening belts; A back hanging mechanism 2 is arranged on the back of the vest cover 11, and two underwater moving power systems are connected to the back hanging mechanism 2, and the two underwater moving power systems are respectively a power-assisting mechanism 3 and a bionic mechanism 4: the power-assisting mechanism 3 interacts with the water body by swinging back and forth, and uses the reaction force of the water to push the vest cover 11 forward, thereby realizing the automatic movement of the rescuer underwater; the bionic mechanism 4 is arranged below the waist, and the surface of the joint cover 41 is streamlined. This structural form can reduce the resistance to movement in the water. When moving in the water, water will produce resistance to the object, and the streamlined design can make the water flow more smoothly over the surface of the object. The bionic mechanism 4 generates a series of bending waves through the reciprocating swing of multiple joints. These bending waves can effectively transfer energy to the water during the transmission process, and assist the bionic mechanism 4 to generate thrust. The effect of force is mutual. When a backward force is applied to the water, the water will generate a forward reaction force on the bionic mechanism 4, so that the whole device can move in the water more stably and efficiently; The principle of the bionic mechanism 4 to realize BCF bionics is as follows: the bionic mechanism 4 is composed of a plurality of end-to-end connected swing components 42, two gears 421 of the same group are connected by a connecting rod 422, two adjacent groups of swing components 42 are meshed and connected by two gears 421, and the tops of the two gears 421 are connected to a bending rod 423 of a "Z" shape structure, the two inflection points of the bending rod 423 are respectively connected to the axial positions of the two gears 421, and the two top ends are respectively located at the eccentric positions of the two mutually meshing gears 421, the eccentric connecting rod 424 is always in a parallel state with the bending rod 423, and the corner of the bending rod 423 is designed to be ninety degrees, the output end of the dual-axis motor 25 is connected to the crank rod 432, the dual-axis motor 25 is started, and its output end drives the crank rod 432 to rotate, and when the crank rod 432 rotates, the crank 433 is rotated, so that the crank 433 drives the extension arm 435 to rotate, and the extension arm 435 is rotated. The connecting rod 422 is driven to rotate. When the driving component 43 drives the swinging component 42 to deflect, the shape formed by the connecting rod 422 and the eccentric connecting rod 424 is deformed from a rectangle to a parallelogram, causing the eccentric shaft 425 to move along the periphery of the gear 421. Since the two gears 421 are meshed with each other, when one group of eccentric shafts 425 moves clockwise along the gear 421, the other group of eccentric shafts 425 moves counterclockwise along the gear 421, so that one of the two adjacent groups of connecting rods 422 swings to the left and the other to the right, thereby forming a state in which multiple groups of swinging components 42 swing with each other in an interlaced manner, and a water wave is formed through the joint cover 41 connected to the outer wall. The reaction force generated by the swing is used to drive the vest cover 11 to move forward. Every time the dual-axis motor 25 drives the curved rod 432 to rotate one circle, the swinging component 42 swings left and right once; when the dual-axis motor 25 rotates continuously, the swinging component 42 swings left and right continuously; At the same time, the other end of the dual-axis motor 25 can also drive the worm 23 to rotate. After the worm 23 rotates, it drives the worm gear 331 connected on both sides to rotate, and the worm gear 331 drives the deflection arm 332 to swing. The linkage assembly 32 drives the paddling paddle 31 to swing back and forth. The linkage assembly 32 is connected through the linkage rod 2 322 and the two linkage rods 1 321, and a connection between the linkage rod 1 321 and the linkage rod 2 322 is connected to the deflection arm 332 through the driving arm 333. When the rotation angle of the deflection arm 332 is different, the driving arm 333 pulls the linkage assembly 32 to move in different directions. When the deflection arm 332 and the driving arm 333 change from the expanded state to the overlapping state, the driving arm 333 drives the linkage assembly 32 to paddle from back to front; when it changes from the overlapping state to the expanded state, it drives the linkage assembly 32 to paddle from front to back, providing power for the paddling paddle 31 to push water backward and move forward.

[0024] Embodiment 2: According to Figure 1 , Figure 2 and Figure 3 As shown, the waist of the vest cover 11 is connected with a belt 14, the back of the vest cover 11 is fixedly connected with a socket 12, one end of the main structure plate 21 is provided with two hooks 29, the hooks 29 are plugged with the socket 12, the other end of the main structure plate 21 is fixedly connected with a power source protection box 13, the two ends of the belt 14 are respectively fixedly connected with the power source protection box 13, and the main structure plate 21 is installed on the back of the vest cover 11 through the belt 14 and the hooks 29; A protective shell 22 is provided on the outer side of the main structure plate 21, and the dual-axis motor 25 and the two clutch assemblies 24 are all located in the inner cavity of the protective shell 22. A support seat 26 is fixedly connected to the surface of the main structure plate 21, and a bearing is provided on the inner side wall of the support seat 26. Both ends of the worm 23 are rotatably connected to the support seat 26 through the bearings, and the bottom of the linkage rod 321 is rotatably connected to the support seat 27, and the support seat 27 is fixedly connected to the main structure plate 21. The bottom center of the worm wheel 331 is rotatably connected to the support shaft 28, and the bottom end of the support shaft 28 is fixedly connected to the main structure plate 21.

[0025] In this embodiment, the entire carrying device is used for underwater lifesaving. The power for underwater movement is provided by the power source protection box 13 and the dual-axis motor 25. The underwater electricity needs to ensure its sealing and high pressure resistance. The protective shell 22 is made of a fully sealed material, and a sealing ring is added at the connection between it and the two clutch components 24. A metal skeleton structure is provided inside to provide safety protection for underwater operations of 5 meters to 20 meters according to actual use needs. All electricity is used within the protective shell 22. The inner surface of the main structure plate 21 is provided with a hook 29, and its upper end is plugged and fixed with the vest sheath 11 through the hook 29. The main structure The lower end of the plate 21 is fixed by fastening with a belt 14, which is convenient for wearing and removing. The worm 23 is installed between two support seats 26 to ensure that the worm 23 rotates stably around its axis. At the same time, the bottom ends of the two worm wheels 331 are connected to the main structure plate 21 through the support shaft 28 to ensure that the transmission cooperation between the worm wheel 331 and the worm 23 is more stable and the mechanical wear is minimized. The linkage components 32 on both sides are installed through the support seat 27, so that the two linkage components 32 suspend the paddling paddle 31 in the air, leaving enough space around the paddling paddle 31 to prevent its forward and backward movement from being hindered by the body.

[0026] Embodiment 3: According to Figure 4 and Figure 5 As shown, the clutch assembly 24 includes an active roller 241, a driven roller 242, a stand 244 and an electromagnet seat 246. The active roller 241 is fixedly connected to the output end of the dual-axis motor 25. The adjacent side walls of the active roller 241 and the driven roller 242 are provided with corresponding thorn-shaped grooves. The outer side wall of the driven roller 242 is fixedly connected with a ring seat 243. The stand 244 is fixedly connected to the side wall of the main structure plate 21. One end of the stand 244 is rotatably connected with a swing clamp 245. One end of the swing clamp 245 is slidably engaged with the ring seat 243. The other end of the swing clamp 245 is fixedly connected with a magnet sheet 247. The electromagnet seat 246 is fixedly connected to the side wall of the main structure plate 21. The two ends of the electromagnet seat 246 control the movement of the magnet sheet 247 through magnetic attraction.

[0027] In this embodiment, in order to control different modes of underwater advancement of the carrying device, the dual-axis motor 25 controls the connection status with the worm 23 and the curved rod 432 respectively through two clutch assemblies 24, thereby controlling the connection status with the power-assisting mechanism 3 and the bionic mechanism 4, and using a single power source to provide two underwater advancement powers. The specific method is as follows: the driven roller 242 and the active roller 241 are arranged on the same axis, and the sides of the driven roller 242 and the active roller 241 are ratchet structures. The active roller 241 and the driven roller 242 have the ability of one-way interlocking, wherein a key groove corresponding to the output end of the dual-axis motor 25 is arranged on the axis of the active roller 241, and the driven roller 242 is respectively connected to the worm 23 or the curved rod 432, and the tip of the swing clamp 245 is stuck on the outer side of the ring seat 243. The wall can control the driven roller 242 to move along the axis. Electromagnets are set at both ends of the electromagnet seat 246. By switching the connected power switch, the electromagnet seat 246 always has only one electromagnet to adsorb the magnet sheet 247. When the electromagnet seat 246 controls the magnet sheet 247 to adsorb to the left, the top of the swing clamp 245 swings to the right, so that the driven roller 242 is aligned with the active roller 241 to the right, and the connection between the dual-axis motor 25 and the side mechanism is maintained. When the electromagnet seat 246 controls the magnet sheet 247 to adsorb to the right, the top of the swing clamp 245 swings to the left, so that the driven roller 242 is separated from the active roller 241 to the left, and the connection between the dual-axis motor 25 and the side mechanism is cancelled, thereby realizing a single power source to control two different underwater forward power working states.

[0028] Embodiment 4: According to Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, a first rotating assembly 34 is provided at the bottom of the second linkage rod 322, and the first rotating assembly 34 includes a first rotating platform 341. An arc groove 342 is provided at the bottom edge of the first rotating platform 341. A positioning shaft 311 is fixedly connected to the side of the paddling paddle 31. A limiting column 312 is provided on the outer side of the positioning shaft 311, and the outer wall of the limiting column 312 is slidably connected to the inner wall of the arc groove 342.

[0029] In this embodiment, when the linkage assembly 32 drives the paddling paddle 31 to swing forward and backward, it is necessary to ensure that the paddling paddle 31 is in a horizontal state when paddling from back to front, and in a vertical state when paddling from front to back, so that the water can provide a reaction force to push the carrying device forward to the greatest extent. A first rotating platform 341 is installed at the bottom end of the linkage rod 322. The first rotating platform 341 and the paddling paddle 31 are connected at two points. The paddling paddle 31 is rotatably connected to the first rotating platform 341 through the positioning shaft 311. The water paddle 31 is slidably connected to the arc groove 342 through the limit column 312. The arc groove 342 has an arc of 90 degrees, which provides the paddling paddle 31 with an adjustable angle within a range of 90 degrees. The positioning shaft 311 is connected to one end of the paddling paddle 31, and the limit column 312 is connected to the center of the paddling paddle 31. The paddling paddle 31 can rotate around the positioning shaft 311 like a weather vane to adjust the interaction between its own posture and the water flow. When the water flows through the paddling paddle 31 from any direction, the paddling paddle 31 can rotate around the positioning shaft 311. When the paddling paddle 31 moves forward, the water flows backward, and the water flow makes the positioning shaft 311 tend to be parallel, so that the resistance in front of the paddling paddle 31 is small. When the paddling paddle 31 moves backward, the water flows forward and flows from the other end of the paddling paddle 31 to the positioning shaft 311. The water flow has a tendency to turn the paddling paddle 31 by 180 degrees. Through the cooperation of the limit column 312 and the arc groove 342, the paddling paddle 31 can be turned over by 180 degrees. After the water paddle 31 flips over ninety degrees, it can no longer rotate, so that the paddling paddle 31 changes from a horizontal state to a vertical state, and the contact area with the water flow increases, which not only increases the resistance to water, but also increases the reaction force of water on the vest cover 11. Since the reaction force of water on the paddling paddle 31 is the smallest when it moves forward, and the reaction force of water on the paddling paddle 31 is the largest when it moves backward, the paddling paddle 31 is subjected to a forward reaction force as a whole within one swinging cycle, thereby providing power for the vest cover 11 to move forward.

[0030] Embodiment 5: According to Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, a second rotating assembly 35 is arranged above the first rotating assembly 34, and the second rotating assembly 35 includes a second rotating platform 351, a ring guide rail 352 is fixedly connected to the bottom end of the second rotating platform 351, and a ring groove 353 is provided at the bottom end of the ring guide rail 352, and a clamping block 343 is fixedly connected to the two corners of the top of the first rotating platform 341, and the clamping block 343 is slidably connected to the ring groove 353, and a rotating seat 354 is rotatably connected to the bottom center of the second rotating platform 351, and the positioning shaft 311 passes through the side wall of the first rotating platform 341 and is rotatably connected to the rotating seat 354; A storage assembly 36 is provided on the surface of the second linkage rod 322, and the storage assembly 36 includes a rotating rod 362, one end of the rotating rod 362 is fixedly connected to the rotating shaft 355, the bottom end of the rotating shaft 355 passes through the bottom wall of the second linkage rod 322 and is fixedly connected to the rotating seat 354, and the surface of the second linkage rod 322 is rotatably connected to a U-shaped frame 361, and a tension spring 363 is fixedly connected between the side wall of the U-shaped frame 361 and one end of the rotating rod 362.

[0031] In this embodiment, when it is necessary to pass through a narrow passage, the power-assisting mechanisms 3 on both sides need to be folded up, and only the bionic mechanism 4 below the waist provides power to move underwater. The entire paddling paddle 31 is connected through a rotating seat 354, and the rotating seat 354 is controlled by a rotating rod 362 through a rotating shaft 355. Limiting blocks are set on both sides of the rotating rod 362, so that the rotating rod 362 can rotate within a range of ninety degrees. When it is necessary to unfold the paddling paddle 31, the U-shaped frame 361 is pushed backward so that the angle between it and the linkage rod 2 322 is greater than ninety degrees, and the tension spring 363 is stretched. The force pulls the rotating rod 362 backward. After the rotating rod 362 rotates ninety degrees, the paddling paddle 31 and the connecting rod 2 322 are perpendicular to each other. When folding, the U-shaped frame 361 is pushed forward to make it completely overlap with the surface of the connecting rod 2 322. At this time, the tension of the tension spring 363 will drive the rotating rod 362 to rotate ninety degrees, so that it overlaps with the connecting rod 2 322. After the paddling paddle 31 rotates ninety degrees, it overlaps with the connecting assembly 32, reducing the volume of the power-assisting mechanisms 3 on both sides, and using the clutch assembly 24 to disconnect the dual-axis motor 25 from the worm 23 so that it can pass through the narrow opening.

[0032] The method of use and working principle of the device: before entering the water, wear the lifesaving tool on the abdomen of the vest sheath 11, and fix the back hanging mechanism 2 on the back of the vest sheath 11 through the hook 29 and the belt 14; When moving in water, the control system operates the gear positions of the two clutch assemblies 24, and with the help of the adsorption effect of the electromagnet seat 246 on the magnet sheet 247, the swing clamp 245 controls the movement of the driven roller 242, and then the driven roller 242 and the active roller 241 are connected through the ratchet structure, so that the two output ends of the dual-axis motor 25 are connected to the worm 23 and the crank 432 respectively; Then, the dual-axis motor 25 is started, and the dual-axis motor 25 drives the worm 23 to rotate, and the worm 23 drives the worm wheels 331 on both sides to rotate, and the worm wheels 331 drive the deflection arm 332 to swing, and when the deflection arm 332 and the driving arm 333 change from the unfolded state to the overlapping state, the driving arm 333 drives the linkage assembly 32 to row from back to front, and when the deflection arm 332 and the driving arm 333 change from the overlapping state to the unfolded state, the dual-axis motor 25 continues to run, and the paddling paddle 31 continues to swing back and forth, and when water flows through the surface of the paddling paddle 31 from any direction, the paddling paddle 31 will rotate until the positioning shaft 311 is facing the water flow The paddling paddle 31 is positioned so that the water flows backwards and the water flow makes the positioning shaft 311 tend to be parallel, so that the resistance in front of the paddling paddle 31 is small. When the paddling paddle 31 moves backwards, the water flows forwards and the paddling paddle 31 is turned over 90 degrees by the arc groove 342, so that the contact area between the paddling paddle 31 and the water flow increases, and the resistance to the water increases, so that the reaction force of the vest cover 11 increases. The paddling paddle 31 is subjected to the forward reaction force as a whole in one swing cycle, thereby providing the power for the vest cover 11 to move forward. At the same time, the dual-axis motor 25 drives the crank 432 to rotate, the crank 432 drives the crank 433 to swing left and right, the crank 433 drives the two extension arms 435 to swing, and drives the bending rod 423 and the eccentric connecting rod 424 connected thereto to rotate, the gear 421 meshes to make the two eccentric shafts 425 rotate towards each other, and make the connecting rods 422 of the two groups of swing components 42 deflect towards each other, and by using the relationship that the eccentric connecting rod 424 and the connecting rod 422 are always parallel, the position of the eccentric shaft 425 of the next group of swing components 42 is controlled, and all the swing components 42 are made to swing, generating a series of bending waves, and these bending waves exert a backward force on the water during the transmission process, and the water will generate a forward reaction force on the bionic mechanism 4; When it is necessary to pass through a narrow opening, first control the clutch assembly 24 between the dual-axis motor 25 and the worm 23 to switch gears, separate the driven roller 242 and the active roller 241, stop the worm 23 from rotating, and then push the U-shaped frame 361 forward so that the U-shaped frame 361 completely overlaps with the surface of the second linkage rod 322, and use the tension spring 363 to drive the rotating rod 362 to rotate ninety degrees so that the rotating rod 362 overlaps with the second linkage rod 322, and the paddling paddle 31 retracts the outer side of the linkage assembly 32 to reduce the arm width of the rescuer and his or her carrying equipment, and use the power of the bionic mechanism 4 to pass through the narrow opening.

[0033] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A special tactical carrying device for underwater lifesaving based on BCF bionic technology, comprising a wearing mechanism (1), wherein the wearing mechanism (1) comprises a vest sheath (11), and is characterized in that: The back of the vest cover (11) is provided with a back hanging mechanism (2), the back hanging mechanism (2) comprises a main structure plate (21), a dual-axis motor (25) is fixedly connected to the surface of the main structure plate (21), both output ends of the dual-axis motor (25) are provided with clutch components (24), one end of the dual-axis motor (25) is provided with a power-assisting mechanism (3), the other end of the dual-axis motor (25) is provided with a bionic mechanism (4), the dual-axis motor (25) is connected to the power-assisting mechanism (3) and the bionic mechanism (4) respectively through the clutch component (24), the power-assisting mechanism (3) comprises a paddling paddle (31), a linkage component (32) and a bidirectional rotating component (33), the bidirectional rotating component (33) is connected to the dual-axis motor (25) to provide power for the paddling paddle (31) to move forward and backward; The bionic mechanism (4) comprises a joint sleeve (41), a swing assembly (42) and a drive assembly (43); the bionic mechanism (4) is formed by connecting a plurality of swing assemblies (42) end to end; the swing assembly (42) comprises a connecting rod (422); the ends of the connecting rod (422) are fixedly connected to a gear (421); a coaxial shaft (426) is fixedly connected to the axis of the gear (421); an eccentric shaft (426) is arranged on the outer side of the concentric shaft (426); The eccentric shaft (425) and the concentric shaft (426) are provided with bending rods (423) on their outer side walls, two adjacent swinging assemblies (42) are connected via the bending rods (423), the top end of the eccentric shaft (425) is rotatably connected with an eccentric connecting rod (424), the driving assembly (43) provides power for the connecting rod (422) and the eccentric connecting rod (424) to swing left and right, and the joint sheath (41) is sleeved on the outside of the swinging assembly (42).

2. The special tactical carrying device for underwater lifesaving based on BCF bionic technology according to claim 1 is characterized by: The driving assembly (43) comprises a support seat three (431) and a bent rod (432), wherein the bent rod (432) is rotatably connected to the support seat three (431), a positioning frame (434) is fixedly connected to the outer side wall of the support seat three (431), one end of the bent rod (432) is slidably connected to a crank (433), an extension arm (435) is fixedly connected at the center position of the side of the crank (433), the extension arm (435) is rotatably connected to the positioning frame (434), the extension arm (435) is fixedly connected to the connecting rod (422), and the positioning frame (434) is rotatably connected to the eccentric connecting rod (424).

3. The special tactical carrying device for underwater lifesaving based on BCF bionic technology according to claim 1 is characterized by: The bidirectional rotation component (33) comprises two worm wheels (331), one output end of the dual-axis motor (25) is connected to a worm (23), the worm (23) and the two worm wheels (331) are meshed with each other, a deflection arm (332) is fixedly connected to the surface of the worm wheel (331), one end of the deflection arm (332) is connected to the axis of the worm wheel (331), the other end of the deflection arm (332) is rotatably connected to a driving arm (333), the linkage component (32) comprises a linkage rod 1 (321) and a linkage rod 2 (322), the two ends of the linkage rod 2 (322) are respectively rotatably connected to the linkage rod 1 (321), the paddling paddle (31) is rotatably connected to the bottom of the linkage rod 2 (322), and one end of the driving arm (333) is rotatably connected to the linkage rod 2 (322).

4. The special tactical carrying device for underwater lifesaving based on BCF bionic technology according to claim 3 is characterized by: A first rotating assembly (34) is arranged at the bottom of the second linkage rod (322), the first rotating assembly (34) comprising a first rotating platform (341), a bottom edge of the first rotating platform (341) being provided with an arc-shaped groove (342), a side edge of the paddling paddle (31) being fixedly connected with a positioning shaft (311) and a limiting column (312), the limiting column (312) being arranged on the outside of the positioning shaft (311), and an outer side wall of the limiting column (312) being slidably connected with an inner side wall of the arc-shaped groove (342).

5. The special tactical carrying device for underwater lifesaving based on BCF bionic technology according to claim 4 is characterized by: A second rotating assembly (35) is arranged above the first rotating assembly (34), the second rotating assembly (35) comprising a second rotating platform (351), the bottom end of the second rotating platform (351) being fixedly connected to an annular guide rail (352), the bottom end of the annular guide rail (352) being provided with an annular groove (353), two top corners of the first rotating platform (341) being fixedly connected to clamping blocks (343), the clamping blocks (343) being slidably connected to the annular groove (353), the bottom center of the second rotating platform (351) being rotatably connected to a rotating seat (354), the positioning shaft (311) penetrating through the side wall of the first rotating platform (341) and being rotatably connected to the rotating seat (354).

6. The special tactical carrying device for underwater lifesaving based on BCF bionic technology according to claim 5 is characterized by: A storage assembly (36) is provided on the surface of the second linkage rod (322), and the storage assembly (36) comprises a rotating rod (362), one end of the rotating rod (362) is fixedly connected to a rotating shaft (355), the bottom end of the rotating shaft (355) passes through the bottom wall of the second linkage rod (322) and is fixedly connected to a rotating seat (354), and a U-shaped frame (361) is rotatably connected to the surface of the second linkage rod (322), and a tension spring (363) is fixedly connected between the side wall of the U-shaped frame (361) and one end of the rotating rod (362).

7. The special tactical carrying device for underwater lifesaving based on BCF bionic technology according to claim 3 is characterized by: The waist of the vest cover (11) is connected to a belt (14), the back of the vest cover (11) is fixedly connected to a socket (12), one end of the main structure plate (21) is provided with two hooks (29), the hooks (29) are plugged into the socket (12), the other end of the main structure plate (21) is fixedly connected to a power source protection box (13), the two ends of the belt (14) are respectively fixedly connected to the power source protection box (13), and the main structure plate (21) is installed on the back of the vest cover (11) through the belt (14) and the hooks (29).

8. The special tactical carrying device for underwater lifesaving based on BCF bionic technology according to claim 3 is characterized by: A protective shell (22) is arranged on the outer side of the main structure plate (21); the dual-axis motor (25) and the two clutch assemblies (24) are both located in the inner cavity of the protective shell (22); a support seat 1 (26) is fixedly connected to the surface of the main structure plate (21); a bearing is arranged on the inner side wall of the support seat 1 (26); both ends of the worm (23) are rotatably connected to the support seat 1 (26) via the bearing; the bottom of the linkage rod 1 (321) is rotatably connected to the support seat 2 (27); the support seat 2 (27) is fixedly connected to the main structure plate (21); the center of the bottom surface of the worm wheel (331) is rotatably connected to the support shaft (28); the bottom end of the support shaft (28) is fixedly connected to the main structure plate (21).

9. The special tactical carrying device for underwater lifesaving based on BCF bionic technology according to claim 1, characterized in that: The clutch assembly (24) comprises a driving roller (241), a driven roller (242), a stand (244) and an electromagnet seat (246); the driving roller (241) is fixedly connected to the output end of the dual-axis motor (25); adjacent side walls of the driving roller (241) and the driven roller (242) are provided with correspondingly shaped thorn-shaped grooves.

10. The special tactical carrying device for underwater lifesaving based on BCF bionic technology according to claim 9, characterized in that: The outer side wall of the driven roller (242) is fixedly connected to a ring seat (243), the stand (244) is fixedly connected to the side wall of the main structure plate (21), one end of the stand (244) is rotatably connected to a swing clamp (245), one end of the swing clamp (245) is slidably engaged with the ring seat (243), the other end of the swing clamp (245) is fixedly connected to a magnet sheet (247), the electromagnet seat (246) is fixedly connected to the side wall of the main structure plate (21), and the two ends of the electromagnet seat (246) control the movement of the magnet sheet (247) through magnetic attraction.

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