Bionic underwater wriggling walking device

Abstract

The bionic underwater wriggling walking device comprises at least one walking module, each walking module comprises a plurality of rolling brushes, a plurality of air cabins and a power device, shafts of the rolling brushes are arranged in parallel, the two ends of the rolling brushes are fixedly connected with gears coaxial with the rolling brushes, the air cabins are fixedly connected with supports, and the supports are rotationally connected with the shafts of the rolling brushes. The support is fixedly connected with a power device, the power device is a motor, the motor is connected with a transmission block through a telescopic rod, the transmission block is connected with a one-way clamp, the two ends of the rolling brush are connected with a chain through fixedly-connected gears, and the one-way clamp is clamped into the chain. By simulating the movement mode of creeping animals in the natural world, high-efficiency, low-energy-consumption and flexible underwater walking is realized, meanwhile, the walking stability of equipment under different terrains can be met, the underwater operation flexibility of equipment for bottom mud pollution in-situ control and the like is improved, and disturbance to bottom mud pollutants is avoided.

Description

Technical Field

[0001] The invention belongs to the field of underwater walking equipment, and in particular relates to a bionic underwater creeping walking device. Background Art

[0002] Sediments are the reservoir of water pollutants. Endogenous pollution has become the main factor affecting water quality. Endogenous pollution is mainly the release of pollutants from river and lake sediments. Water sediments are nutrients from various sources that are deposited at the bottom of the water body through a series of physical, chemical and biochemical reactions, forming loose, gray-black sediments rich in organic matter and nutrients. Pollutants enter the water body through atmospheric deposition, wastewater discharge, rainwater leaching and scouring, and finally settle in the sediment and gradually enrich, causing the sediment to be seriously polluted. The polluted sediment has a high water content, a large content of clay particles, low strength, complex composition and a distinct layered structure, a high content of heavy metals, a complex composition, a distinct odor, and produces a variety of hazards.

[0003] At present, the main measures for controlling sediment pollution include dredging, clearing, washing, tilling, and spreading and covering of modified clay, phosphorus-locking agents, and landform reshaping. However, there are problems such as strong environmental disturbance, great habitat destruction, poor sustainability, and high ecological risks. The development of ecologically safe sediment pollution control with in-situ sediment control technology and equipment will be the next research hotspot.

[0004] At present, underwater equipment for sediment purification is prone to sinking and slipping when walking on loose soil, and the grip is weakened due to the influence of buoyancy. In addition, most underwater walking equipment uses gears, tracks, or a combination of gears and tracks. However, the underwater terrain is complex, and conventional tracked walking systems cannot fully contact the surface of the sediment, resulting in the equipment being unable to move forward. Summary of the invention

[0005] In view of the above problems, the present invention proposes a bionic underwater peristaltic walking device, which is used to provide driving force for underwater walking equipment. The device imitates the movement mode of peristaltic animals in nature. While achieving efficient, low-energy consumption and flexible underwater walking, it can meet the stability of the equipment walking in different terrains, improve the underwater operation flexibility of equipment such as in-situ control of sediment pollution, and at the same time avoid disturbing the sediment pollutants.

[0006] To achieve the above object, the present invention adopts the following technical solution: A bionic underwater crawling walking device comprises at least one walking module, wherein the walking module comprises a plurality of roller brushes 2, a plurality of air chambers 1 and a power device. The axes of the roller brushes 2 are arranged in parallel, and gears 5 coaxial with the roller brushes 2 are fixedly connected at both ends of the roller brushes 2. The air chamber 1 is fixedly connected to the bracket 4, the bracket 4 is rotatably connected to the shaft of the roller brush 2, and the bracket 4 is fixedly connected to the power device. The power device is a motor 6, which is connected to a transmission block 7 via a telescopic rod, and the transmission block 7 is connected to a one-way clip 9. Both ends of the roller brush 2 are connected to a chain 8 via a fixedly connected gear 5, and the one-way clip 9 is inserted into the chain 8.

[0007] The one-way clip 9 moves back and forth under the drive of the motor, and drives the chain 8 to rotate in one direction, thereby driving the gear 5 and then the roller brush 2 to rotate to realize transmission. The setting of the air chamber allows the buoyancy of the walking device and the walking equipment it carries to be adjusted by controlling the degree of inflation or water filling of the air chamber during operation, so as to achieve zero gravity of the equipment underwater and avoid sinking of the equipment. At the same time, the setting of the air chamber can facilitate the inflation and buoyancy of the equipment, facilitate equipment maintenance, and also adjust the underwater gravity of the equipment.

[0008] Furthermore, the bracket 4 is provided with a vertically arranged limiting long hole, and the shaft of the roller brush 2 passes through the limiting long hole and is connected to the gear 5. The limiting long hole cooperates with a chain 8 with certain flexibility, so that each roller brush 2 can generate a certain displacement in the vertical direction individually, so as to better adapt to the uneven walking environment of the bottom of the water, and avoid the friction loss caused by poor contact with the bottom mud or the disturbance of the bottom mud pollutants caused by local collision.

[0009] Furthermore, the one-way clip 9 includes a spring sheet 13 and a triangular plate 12. The triangular plate 12 is a right triangle, the first right-angled side of the right triangle faces the advancing direction of the chain 8, the second right-angled side of the right triangle is arranged horizontally, the outer side of the second right-angled side is elastically connected to the transmission block 7 through the spring sheet 13, and the triangular plate 12 is rotatably connected to the transmission block 7 at a first acute angle opposite to the first right-angled side. The second acute angle opposite to the second right-angled side extends between adjacent chain links 11 of the chain 8 .

[0010] The right-angled side of the second acute angle faces the forward direction, and the chain 8 is stuck under the push of the elastic force of the spring sheet, thereby realizing the function of pushing the chain 8 forward. The hypotenuse of the second acute angle faces the opposite direction of the movement of the chain 8, so that when the transmission block 7 moves backward, the hypotenuse makes the triangular plate 12 rotate toward the direction of the spring sheet 13 under the push of the chain link 11, so that when the transmission block 7 moves backward, it does not drive the chain 8 to move backward.

[0011] Furthermore, each transmission block 7 is connected to two one-way clips 9, and the two one-way clips 9 are arranged in opposite directions and are respectively clamped into the half-circles of the circle formed by the chain that move in the opposite direction. When the chain circle moves, the upper half circle and the lower half circle move in opposite directions. The one-way clips 9 arranged in different directions enable the transmission block 7 to always push the chain circle to move in the same direction when it reciprocates, thereby improving the transmission efficiency.

[0012] Furthermore, the spring piece 13 is a U-shaped spring piece, and the opening of the U-shape faces the advancing direction of the chain 8 .

[0013] Furthermore, the triangle plate 12 is provided with an arc-shaped rotation slot 14 at a position close to the first right-angled side, and the transmission block 7 is provided with a protrusion matched with the rotation slot 14, so that when the triangle plate 12 rotates, the protrusion moves in the rotation slot 14. The design of the protrusion and the rotation slot plays a limiting role, making the rotation of the triangle plate more stable.

[0014] Furthermore, the roller brush 2 is a brush, and the bristles of the brush are divided into multiple clusters, and there are gaps between adjacent clusters. There is a large friction between the roller brush and the bottom mud, so that the device has enough power to move. Compared with traditional gears, tracks or impellers, it can effectively prevent the device from slipping and reduce the pressure on the bottom mud to a minimum. In addition, the brush divided into multiple clusters can also avoid disturbing the bottom mud pollutants when rotating at a low speed, which affects the purification effect of the bottom mud purification equipment.

[0015] Furthermore, the support 4 has an airtight hollow structure, and the hollow structure is connected to the air pipe. The airtight and hollow support can be used as an air chamber.

[0016] Furthermore, the motor 6 is a pneumatic motor, which can reduce the introduction of underwater pollutants caused by leakage by controlling air pressure.

[0017] Further, a valve 3 is provided on the wall of the air chamber, and the valve 3 is connected to the air supply device or the water supply device. When in use, the valve 3 can inflate, evacuate or fill water into the air chamber according to actual needs to adjust the buoyancy of the device.

[0018] Furthermore, the air chamber 1 and the bracket are arranged on the periphery of all the roller brushes 2, and the air chamber and the bracket are enclosed to form a frame, and the roller brush 2 is arranged inside the frame. The air chamber or the bracket used as the air chamber is enclosed to form a frame, which can provide stable buoyancy for the equipment to be inflated and floated, and on the other hand, it is unnecessary to set up or reduce the number of brackets. At the same time, the air chamber is enclosed to form a frame, which facilitates the connection between multiple walking modules to meet different walking needs.

[0019] Furthermore, a plurality of the walking modules are connected to each other in a planar direction.

[0020] Furthermore, the upper part of the bionic underwater creeping walking device is fixedly connected to an underwater walking device, and the underwater walking device can be connected to the bionic underwater creeping walking device by a bracket connection or a direct connection.

[0021] The beneficial effects of the present invention are: Since the structure and physical properties of the bottom mud vary in actual application environments, the roller brush used in the present invention can more flexibly adapt to different types of bottom mud, especially for some pollutants containing organic matter, fine particles or strong adhesion, the rotation of the roller brush can reduce the disturbance to other ecosystems on the bottom mud surface, which is relatively gentle. Unlike the walking of the paddle sheet, the bristles of the roller brush can reduce the disturbance to the bottom-dwelling organisms and microbial communities, avoiding secondary pollution.

[0022] (1) The device of the present invention adopts a modular design, and modules can be added or reduced according to actual needs to form a bionic structure that can adapt to underwater terrain.

[0023] (2) The pneumatic motor used can adjust the walking speed by controlling the air pressure, thus realizing the overall underwater walking of the equipment.

[0024] (3) The roller brush generally uses a lower speed when in use. The roller brush is composed of multiple brush rollers. The bristles of the brush are divided into multiple clusters, and there are gaps between adjacent clusters. This design has a large contact area and a large friction between the bottom mud, so that the equipment has enough power to move, avoid the equipment from slipping, and minimize the pressure on the bottom mud.

[0025] (4) The air chamber of the device can be inflated with air and water to adjust the buoyancy of the equipment, achieve zero gravity of the equipment underwater, and avoid sinking of the equipment. At the same time, the hollow frame setting can facilitate the inflation and buoyancy of the equipment, facilitate equipment maintenance, and also adjust the underwater gravity of the equipment.

[0026] The present invention imitates the movement mode of benthic animal snails, and drives a number of low-speed roller brushes to move flexibly in an underwater environment through a motor. The drive of the pneumatic motor can save energy, be green and environmentally friendly, and reduce energy leakage pollution of underwater mechanical equipment. The roller brush has a large contact surface and high friction, which avoids the equipment from slipping. The modular design can adapt to complex underwater terrain, allowing the equipment to move freely underwater with strong flexibility. The cabin is hollow all around, so the equipment can achieve zero gravity underwater, avoid sinking of the equipment, and facilitate the equipment to float to the surface for inspection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the walking device in Example 1.

[0028] Figure 2It is a schematic diagram of the structure of the power device of the walking device in Example 1. The adjacent air chambers are not fully shown.

[0029] Figure 3 It is a schematic structural diagram of the one-way clip in Example 1.

[0030] Among them, 1 is the air cabin, 2 is the roller brush, 3 is the valve, 4 is the bracket, 5 is the gear, 6 is the motor, 7 is the transmission block, 8 is the chain, 9 is the one-way clip, 10 is the air inlet of the motor, 11 is the chain link, 12 is the triangle plate, 13 is the spring piece, and 14 is the rotating slide. DETAILED DESCRIPTION Example

[0031] like Figure 1-3 A bionic underwater crawling walking device shown includes a walking module, which includes a plurality of roller brushes 2, a plurality of air chambers 1 and a power device. The axes of the roller brushes 2 are arranged in parallel, and both ends of the roller brushes 2 are fixedly connected with gears 5 coaxial with the roller brushes. The air chamber 1 is fixedly connected with a bracket 4, and the bracket 4 is rotatably connected to the axis of the roller brush 2. The bracket 4 is fixedly connected to the power device. The power device is a motor 6, and the motor 6 is connected to a transmission block 7 through a telescopic rod. The transmission block 7 is connected to a one-way clip 9. The two ends of the roller brush 2 are connected to a chain 8 through a fixedly connected gear 5, and the one-way clip 9 is clamped in the chain 8.

[0032] The support 4 has an airtight hollow structure, and the hollow structure is connected to the air pipe. The power device is arranged in the hollow support 4. The support 4 is also used as an air chamber.

[0033] The bracket 4 is provided with a vertically arranged long limiting hole, and the shaft of the roller brush 2 passes through the long limiting hole and is connected to the gear 5 .

[0034] The one-way clip 9 includes a spring piece 13 and a triangular plate 12, wherein the triangular plate 12 is a right triangle, wherein the first right-angled side of the right triangle faces the forward direction of the chain 8, and the second right-angled side of the right triangle is horizontally arranged, and the outer side of the second right-angled side is elastically connected to the transmission block 7 through the spring piece 13, and the triangular plate 12 is rotatably connected to the transmission block 7 at a first acute angle opposite to the first right-angled side, and the second acute angle opposite to the second right-angled side extends between adjacent links 11 of the chain 8.

[0035] Each transmission block 7 is connected to two one-way clips 9, and the two one-way clips 9 are arranged in opposite directions and are respectively clamped into the upper half circle and the lower half circle of the chain circle.

[0036] The spring piece 13 is a U-shaped spring piece, and the opening of the U-shape faces the advancing direction of the chain 8 .

[0037] The triangular plate 12 is provided with an arc-shaped rotating slot 14 near the first right-angled side, and the transmission block 7 is provided with a protrusion matched with the rotating slot 14, so that the protrusion moves in the rotating slot 14 when the triangular plate 12 rotates.

[0038] The roller brush 2 is a hair brush, and the hairs of the hair brush are divided into multiple clusters, with gaps between adjacent clusters.

[0039] The motor 6 is a pneumatic motor.

[0040] A valve 3 is provided on the wall of the air cabin, and the valve 3 is connected to an air supply device or a water supply device.

[0041] The air chamber 1 and the bracket 4 are arranged on the periphery of all the roller brushes 2. The air chamber and the bracket form a frame, and the roller brush 2 is arranged inside the frame.

Claims

1. A bionic underwater creeping walking device, characterized in that: The invention comprises at least one walking module, wherein the walking module comprises a plurality of roller brushes (2), a plurality of air chambers (1) and a power device. The axes of the roller brushes (2) are arranged in parallel, and gears (5) coaxial with the roller brushes (2) are fixedly connected to both ends of the roller brushes (2). The air chamber (1) is fixedly connected to a bracket (4), the bracket (4) is rotatably connected to the shaft of the roller brush (2), and the bracket (4) is fixedly connected to the power device. The power device is a motor (6), the motor (6) is connected to a transmission block (7) via a telescopic rod, the transmission block (7) is connected to a one-way clip (9), the two ends of the roller brush (2) are connected to a chain (8) via fixedly connected gears (5), and the one-way clip (9) is clipped into the chain (8).

2. The bionic underwater crawling walking device according to claim 1 is characterized in that: The bracket (4) is provided with a vertically arranged long limit hole, and the shaft of the roller brush (2) passes through the long limit hole and is connected to the gear (5).

3. The bionic underwater crawling walking device according to claim 1 is characterized in that: Each transmission block (7) is connected to two one-way clips (9), and the two one-way clips (9) are arranged in opposite directions and are respectively clamped into the half-circles of the circle formed by the chain and move in opposite directions.

4. The bionic underwater crawling walking device according to claim 1, characterized in that: The one-way clip (9) comprises a spring sheet (13) and a triangular plate (12). The triangular plate (12) is a right triangle, the first right-angled side of the right triangle faces the advancing direction of the chain (8), the second right-angled side of the right triangle is arranged horizontally, the outer side of the second right-angled side is elastically connected to the transmission block (7) via the spring sheet (13), and the triangular plate (12) is rotatably connected to the transmission block (7) at a first acute angle opposite to the first right-angled side. A second acute angle opposite to the second right-angled side extends between adjacent chain links (11) of the chain (8).

5. The bionic underwater crawling walking device according to claim 4 is characterized in that: The spring piece (13) is a U-shaped spring piece, and the opening of the U-shape faces the advancing direction of the chain (8).

6. The bionic underwater crawling walking device according to claim 1 is characterized in that: The roller brush (2) is a hair brush, the hair of which is divided into a plurality of clusters, with gaps being left between adjacent clusters.

7. The bionic underwater crawling walking device according to claim 1 is characterized in that: The motor (6) is a pneumatic motor.

8. The bionic underwater crawling walking device according to claim 1 is characterized in that: A valve (3) is provided on the wall of the air chamber, and the valve (3) is connected to an air supply device or a water supply device.

9. The bionic underwater crawling walking device according to claim 1, characterized in that: The plurality of walking modules are connected to each other in a plane direction.

10. The bionic underwater crawling walking device according to claim 1, characterized in that: The upper part of the bionic underwater creeping walking device is fixedly connected to underwater walking equipment.

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