Bionic bobbit worm channel plugging repair device and method

Abstract

The application provides a bionic Bobbit worm pipe gushing plugging and repairing device, and belongs to the technical field of pipe gushing plugging. One end of a driving outer cavity is vertically provided with a worm gear, the upper end of the worm gear is engaged with a plurality of worm gears, each worm gear is fixedly connected with a hydraulic telescopic hook, each worm gear is also hingedly connected with a connecting rod, and a plurality of valves are correspondingly arranged on the top of the driving outer cavity. When the worm gear drives the worm gears, the worm gears drive the upper end of the hydraulic telescopic hook to rotate away from the axial line of the worm gear, and simultaneously drive the connecting rod to open the valves downward. The other end of the driving outer cavity is connected with a telescopic expansion membrane, an annular cavity is formed between the outer membrane and the inner membrane of the telescopic expansion membrane, a conveying hose is used for conveying expansion material into the annular cavity, the inner cavity of the inner membrane is communicated with the driving outer cavity, the inner membrane is provided with inner membrane holes, and the outer wall of the outer membrane is provided with a plurality of pipeline spikes. The device provided by the application has low cost, high efficiency, strong adaptability and can repair the pipe gushing plugging of soil structure.

Description

Technical Field

[0001] This invention provides a biomimetic Bobbit worm-inspired piping sealing and repair device, belonging to the field of piping sealing technology. Background Technology

[0002] Piping refers to the phenomenon where, under seepage, fine soil particles are eroded and carried away by increased water velocity within the pores formed by the skeletal particles. It is also known as sand scouring and water seepage. The diameter of the seepage opening can range from a few centimeters to several meters, often forming raised sand rings around the pores. When piping occurs, the water surface appears to churn. As the upstream water level rises and the duration of the seepage increases, the situation worsens. Large amounts of water and sand scouring damage the soil framework of dikes and sluice gates, enlarge the channels, and erode the foundation soil, leading to structural collapse and accidents such as dike breaches, dam failures, and sluice gate failures.

[0003] Causes of piping:

[0004] (1) The foundation soil of dams and sluice gates lacks certain non-cohesive soils with intermediate particle sizes. When the upstream water level rises and the seepage gradient at the outlet point exceeds the allowable value of the soil, the finer soil particles in the foundation soil are pushed away by the seepage to form piping.

[0005] (2) The foundation soil layer contains a highly permeable layer, and the soil layer covering it is not heavy enough.

[0006] (3) The engineering seepage prevention or drainage (seepage) facilities are inefficient or damaged and ineffective.

[0007] For piping to occur in cohesive soil, the following two conditions must be met: ① The diameter of the pores formed by coarse particles in the soil must be larger than the diameter of the fine particles; ② The seepage force must be able to drive the fine particles to move between the pores.

[0008] Upgrading and optimizing piping sealing technology can provide strong technical support for emergency rescue and disaster relief. It also enhances the overall disaster resistance capacity and emergency response level of society during natural disasters such as floods. For example, in July 2024, piping occurred on the Dongting Lake dike in Huarong County, Yueyang City, Hunan Province. Despite emergency sealing efforts, the dike ultimately breached. Therefore, efficient piping sealing and repair technology is crucial for flood prevention and disaster reduction.

[0009] Abroad, the US-developed geotextile wrapping method, which uses high-strength geotextiles to wrap sand and gravel materials to seal piping, has been widely used in river basins such as the Mississippi River. Japan has developed a water-swellable gel material that can quickly form a sealing barrier at piping points. Domestically, the traditional clay reverse filter well method, with its advantages of readily available materials and simple operation, plays an important role in many small-scale water conservancy projects. In recent years, research teams, represented by Wuhan University, have conducted research on sealing balls, utilizing the high reactivity and strong adhesion of expansive materials to seal piping channels.

[0010] Despite some progress in piping sealing technology both domestically and internationally, limitations remain. For example, some techniques, such as expanding ball sealing, only provide single-point sealing, resulting in poor sealing effectiveness and failing to prevent further expansion of the piping. There is also a risk of the ball being washed away by water; if the expanded ball does not enter the piping channel, it remains in the water, leading to material waste. Furthermore, the root cause of piping lies in damage to the internal soil structure of the piping wall. Expanding balls, relying solely on pressure for sealing, cannot repair the soil structure, leaving the piping at risk of expansion even after sealing. Therefore, the development of more efficient, low-cost piping sealing technologies that are adaptable to complex working conditions and capable of deep repair is urgently needed. Summary of the Invention

[0011] To address the aforementioned technical problems, this invention provides a biomimetic Bobbit worm piping sealing and repair device, which aims to solve major safety problems such as dam leakage, soil loss, and even dam failure caused by piping. It makes up for the shortcomings of traditional sealing methods, can quickly and accurately seal piping, and achieve deep and stable repair.

[0012] The specific technical solution is as follows:

[0013] A biomimetic Bobbit worm piping sealing and repair device includes a driving outer cavity, a driving inner cavity coaxially arranged inside the driving outer cavity, and multiple cavity membrane connecting components between the driving outer cavity and the driving inner cavity, with the cavity membrane connecting components fixed to the inner wall of the driving outer cavity.

[0014] A worm is vertically mounted at one end of the drive outer cavity. The worm is driven by a motor in the drive inner cavity. Multiple worm wheels mesh around the upper end of the worm. The multiple worm wheels are symmetrically distributed in a ring. Each worm wheel is mounted on a support plate at the top of the drive outer cavity.

[0015] Each worm wheel is fixedly connected to a hydraulic telescopic hook. When the worm drives the worm wheel, the worm wheel drives the hook at the upper end of the hydraulic telescopic hook to rotate away from the worm axis, and the multiple hydraulic telescopic hooks are in an open state.

[0016] The hook of the hydraulic telescopic hook is connected to the hydraulic telescopic structure, which is used to control the extension and retraction of the hook;

[0017] Each worm gear is also hinged to a connecting rod, and multiple valves are correspondingly provided at the top of the drive outer cavity. The lower end of the connecting rod is hinged to a valve. When the worm gear drives the hydraulic telescopic claw to open, it also drives the connecting rod to push the valve down.

[0018] The motor is mounted inside the motor protective housing via a fixing rod.

[0019] An intelligent attitude adjustment module is located at the bottom of the motor protective shell;

[0020] The other end of the drive cavity is connected to a telescopic expansion membrane, which includes an outer membrane and an inner membrane. The outer membrane and the inner membrane are coaxially arranged and form an annular cavity between them.

[0021] The cavity membrane connecting component is provided with an internal threaded rod for threaded connection with an external threaded rod fixed on the telescopic expansion membrane;

[0022] It also includes multiple delivery hoses, which enter the annular cavity of the telescopic expansion membrane through the cavity membrane connecting member. The delivery hoses are connected to an external pump to deliver the expansion material into the annular cavity.

[0023] The inner cavity of the inner membrane is connected to the outer drive cavity. After the valve is opened, water can enter the inner membrane through the outer drive cavity and expand the membrane.

[0024] The inner membrane has pores.

[0025] The outer wall of the outer membrane is covered with multiple channel spikes, which include channels and barbs. The channels connect the annular cavity and the through holes at the top of the barbs, and the barbs are used to penetrate into the inside of the surge wall to allow the expanding material to enter the inside of the surge wall.

[0026] A positioner is installed inside the expansion membrane.

[0027] Bionic Bobbitt Piping Repair Method: When a through-type piping occurs, a vortex is generated on the upstream water surface. After connecting the bionic Bobbitt piping repair device to a pump, it is submerged in the vortex, and the hydraulic telescopic claw initially remains closed. Under the influence of the vortex force, the bionic Bobbitt piping repair device gradually approaches the piping inlet. Simultaneously, the intelligent attitude adjustment module adjusts its attitude based on real-time external conditions, ensuring that one end of the telescopic expansion membrane enters the inlet first. Once one end of the expansion membrane enters, the dam monitoring system detects the locator entering the dam interior, sends a signal to start the motor, which drives the worm gear to rotate, which in turn drives the worm wheel, causing the hydraulic telescopic claw to open. During the opening process, the dam monitoring system calculates the approximate diameter of the piping inlet based on the feedback vortex information, and then controls the hydraulic telescopic claw to extend appropriately. When the hydraulic telescopic hook opens, it secures the biomimetic Bobbit worm-like piping sealing and repair device to the dam body. Simultaneously, the worm gear drives the connecting rod downwards, opening the valve and allowing water to enter the inner membrane. The impact stretches the entire telescopic membrane. At the same time, an expansion material is pumped through a delivery hose into the annular cavity inside the telescopic membrane. The expansion material first enters the inner membrane through its pores and expands upon contact with the water flow, causing the telescopic membrane to expand. Expansion pressure is created between the telescopic membrane and the piping wall, initially sealing the piping channel. Afterwards, the spiked pipes on the outer membrane pierce the inner wall of the piping channel, and some of the expansion material enters the soil pores inside the piping wall through these spikes. Upon contact with water, it expands and fills the voids, repairing the soil structure and preventing further expansion of the piping.

[0028] The head of the invention includes a hook for fixing the device, which is controlled by a drive chamber to fix the hook at the inlet of the dam body; the sealing part consists of a telescopic expansion membrane and pipe spikes, and the sealing material achieves sealing through expansion; the delivery hose transports the expansion material to the telescopic expansion membrane; the tail includes a locator to provide reference data for starting the fixing device.

[0029] The device provided by this invention is low-cost, highly efficient, and highly adaptable. It can repair and seal piping in soil structures, solving the problems of traditional methods such as single-point sealing, inability to prevent further expansion of piping, low efficiency, and high cost. This device uses biomimetic technology to improve sealing efficiency and stabilize soil structures, thus enhancing the overall safety of dam facilities. Inspired by the body structure of the Bobbit worm, it fills a pipe at the inlet of the piping and solidifies the surrounding soil to prevent the channel from expanding and causing dam failure. It is adaptable to various river, lake, and reservoir dams, and can quickly seal piping points during flood season when water levels rise sharply, preventing dam leakage and flooding caused by piping. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0032] Figure 3 This is a schematic diagram of the hydraulic telescopic hook structure of the present invention;

[0033] Figure 4 This is a schematic diagram of the installation of the intelligent posture adjustment module of the present invention;

[0034] Figure 5 This is a schematic diagram of the motor installation according to the present invention;

[0035] Figure 6 This is a schematic diagram of the drive cavity structure of the present invention;

[0036] Figure 7 This is a schematic diagram of the cavity membrane connection component of the present invention;

[0037] Figure 8 This is a schematic diagram of the telescopic expansion membrane structure of the present invention;

[0038] Figure 9 This is a schematic diagram of the pipe spike structure of the present invention;

[0039] Figure 10 This is a schematic diagram of the locator installation according to the present invention;

[0040] Figure 11 It is a Bobbit worm;

[0041] Figure 12 The output slave module circuit diagram is shown in the embodiment.

[0042] Figure 13 The circuit diagram of the data acquisition slave module is shown in the example. Detailed Implementation

[0043] This invention is based on the structure of the Bobbit worm: hook-like predatory mandibles, tubular head and body, and parapodia, such as Figure 11 It includes the head-fixing part, the drive chamber-power part, the telescopic membrane-sealing part, the end positioning system, and the conveying system.

[0044] like Figure 1 , Figure 2 and Figure 3 As shown, the biomimetic Bobbit worm piping sealing and repair device includes a driving outer cavity 7, a driving inner cavity 7.3 coaxially arranged inside the driving outer cavity 7, and a plurality of cavity membrane connecting members 7.2 between the driving outer cavity 7 and the driving inner cavity 7.3. In this embodiment, four cavity membrane connecting members 7.2 are preferred. The cavity membrane connecting members 7.2 are fixed to the inner wall of the driving outer cavity 7.

[0045] A worm gear 1 is vertically mounted on one end of the drive outer cavity 7. The worm gear 1 is driven by a motor 7.4.1 in the drive inner cavity 7.3. The upper end of the worm gear 1 is meshed with multiple worm wheels 3. In this embodiment, four worm wheels 3 are preferred. The multiple worm wheels 3 are symmetrically distributed in a ring. Each worm wheel 3 is mounted on a support plate 5 at the top of the drive outer cavity 7.

[0046] Each worm gear 3 is fixedly connected to a hydraulic telescopic claw 2. When the worm 1 drives the worm gear 3, the worm gear 3 causes the upper claw of the hydraulic telescopic claw 2 to rotate away from the axis of the worm 1, and the multiple hydraulic telescopic claws 2 are in an open state, such as... Figure 2 As shown;

[0047] The hook of the hydraulic telescopic hook 2 is connected to the hydraulic telescopic structure to control the extension and retraction of the hook;

[0048] like Figure 3 Each worm gear 3 is also hinged to a connecting rod 4. Multiple valves 7.1 are also provided at the top of the drive outer cavity 7. The lower end of the connecting rod 4 is hinged to the valve 7.1. When the worm gear 3 drives the hydraulic telescopic claw 2 to open, it also drives the connecting rod 4 to push the valve 7.1 downward.

[0049] like Figure 4 An intelligent attitude adjustment module 7.5 is located below the motor protective housing 7.4; such as Figure 5 The motor 7.4.1 is installed inside the motor protective housing 7.4 via a fixing rod 7.4.2;

[0050] like Figure 6 and Figure 7The cavity membrane connecting member 7.2 is provided with an internal threaded rod 7.2.1 for threaded connection with the external threaded rod 7.2.2 fixed on the telescopic expansion membrane 9;

[0051] The other end of the drive cavity 7 is connected to the telescopic expansion membrane 9, such as Figure 8 The expansion membrane 9 includes an outer membrane 9.1 and an inner membrane 9.2, which are coaxially arranged to form a sealed annular cavity.

[0052] It also includes multiple delivery hoses 6, which enter the annular cavity of the telescopic expansion membrane 9 through the cavity membrane connecting member 7.2. The delivery hoses 6 are connected to an external pump to deliver the expansion material into the annular cavity.

[0053] The internal cavity of the inner membrane 9.2 is connected to the drive outer cavity 7. After the valve 7.1 is opened, water can enter the inner membrane 9.2 through the drive outer cavity 7 from the valve 7.1 and expand the telescopic membrane 9.

[0054] Inner membrane pores are distributed on the inner membrane 9.2.

[0055] Multiple pipe spikes 8 are distributed on the outer wall of the outer membrane 9.1, such as Figure 9 The pipe spike 8 includes a pipe 8.1 and a barb 8.2. The pipe 8.1 connects the annular cavity and the through hole at the top of the barb 8.2. The barb 8.2 is used to penetrate into the inside of the surge wall to allow the expanding material to enter the inside of the surge wall.

[0056] like Figure 10 A positioner 10 is installed inside the expansion membrane 9.

[0057] The specific work process is as follows:

[0058] When a through-type piping occurs, a vortex is generated on the upstream water surface. After connecting the biomimetic Bobbit worm piping sealing and repair device to the pump, it is submerged in the vortex, and the hydraulic telescopic claw 2 initially remains closed. Under the influence of the vortex force, the biomimetic Bobbit worm piping sealing and repair device gradually approaches the piping inlet. Simultaneously, the intelligent attitude adjustment module 7.5 adjusts its attitude according to real-time external conditions, ensuring that one end of the telescopic expansion membrane 9 enters the inlet first. Once one end of the telescopic expansion membrane 9 enters, the GNSS dam monitoring system detects that the locator 10 has entered the dam. Subsequently, the system quickly sends a signal to start the motor 7.4.1, which drives the worm gear 1 to rotate, which in turn drives the worm wheel 3 to rotate counterclockwise, thereby causing the hydraulic telescopic claw 2 to unfold counterclockwise. During the unfolding process, the GNSS dam monitoring system calculates the approximate diameter of the piping inlet based on the feedback vortex information, and then controls the hydraulic telescopic claw 2 to extend appropriately. After the hydraulic telescopic claw 2 unfolds, the device is fixed to the dam body. As the hydraulic telescopic hook 2 unfolds, the worm gear 3 also drives the connecting rod 4 to move downwards, opening valve 7.1 and allowing water to enter the inner membrane 9.2. The impact causes the entire telescopic expansion membrane 9 to stretch. Simultaneously, external expansion material is pumped into the annular cavity inside the telescopic expansion membrane 9 via the delivery hose 6. Most of the expansion material first enters the inner membrane 9.2 through the inner membrane holes and expands upon encountering the water flow, causing the membrane to expand. Expansion pressure is formed between the membrane and the gushing wall, initially sealing the piping channel. Subsequently, the pipe spikes 8 on the outer membrane 9.1 pierce the inner wall of the gushing channel, and some expansion material can also enter the soil pores inside the gushing wall through the pipe spikes 8, expanding upon contact with water to fill the voids, repair the soil structure, and prevent the piping from expanding further.

[0059] The principle of the intelligent posture adjustment module is as follows: Figure 12 and Figure 13 .

[0060] Intelligent posture adjustment operation process:

[0061] The operation flow of the intelligent posture adjustment module 7.5 in this embodiment is as follows:

[0062] (1) Turn on the power switch to activate the lithium battery pack, which powers the flywheel module, sensors, and edge computing unit. The flywheel module starts a self-test and calibrates the initial speed of the rare-earth permanent magnet motor. The multimodal sensors (nine-axis MEMS, pressure sensor, optical positioning module) are initialized, and a communication link with the edge computing unit is established.

[0063] (2) The sensor continuously collects device attitude (pitch / yaw angle), water flow impact direction, piping channel geometric parameters and environmental pressure data, and wirelessly transmits the data to the edge computing unit (NVIDIA Jetson Nano) to simultaneously receive dam reference surface data from the GNSS cloud platform.

[0064] (3) The edge computing unit integrates sensor data and GNSS reference data to construct a three-dimensional real-time attitude model, and uses an adaptive fuzzy algorithm to analyze the water flow disturbance torque and predict the balance state of the device.

[0065] (4) If the attitude deviation is within the allowable range (pitch / yaw angle ≤ 2°, lateral displacement ≤ 5cm), maintain the current flywheel speed (0-12000RPM). If an over-threshold deviation is detected, trigger dynamic compensation: calculate the reverse torque requirement, adjust the speed and phase of the corresponding flywheel (X / Y axis) to counteract the water flow torque. The flywheel housing is designed for stable operation through lightweight encapsulation with new materials and water-resistant bearings (IP68 protection).

[0066] (5) When the pressure sensor detects a flow velocity > 3 m / s at the piping outlet: the edge computing unit switches to predictive control mode and calls the pre-trained LSTM neural network model. Based on historical water flow data and trend prediction, the flywheel speed and phase are adjusted in advance to actively counteract the turbulence impact.

[0067] (6) The sensor transmits the compensated attitude data back in real time, and the edge computing unit dynamically optimizes the control parameters. If operating at full load (energy consumption ≤15W / axis), the system enters low-power standby mode after ≥8 hours of operation.

[0068] Theoretical design calculations in this embodiment:

[0069] The following calculations are based on data selected and assumed reasonably from the literature. All calculations are performed under ideal conditions.

[0070] 1. Fluid dynamics analysis:

[0071] When the flow velocity at the piping outlet is v = 2 m / s, the device must withstand the dynamic pressure of the water flow within the piping channel, which can be derived using Bernoulli's equation:

[0072]

[0073] P = ρgh

[0074] Where ρ is the density of water, g is the acceleration due to gravity, h is the head difference (assumed to be 3.8 m), and k is the permeability coefficient. Therefore, the water pressure is: P = 9.8 × 1000 × 3.8 = 37.3 kPa.

[0075] 2. Performance analysis of expansion materials:

[0076] Characteristics of polyurethane fiber composite materials:

[0077] Density range after foaming: 0.3-0.8 g / cm³ 3(The addition of fiber materials significantly enhances compressive and tensile strength), viscosity range: 500-2000 mPa*s, water absorption: 90%-98%, foaming rate: 3-8 times, reaction time (curing time): initial setting in 2-8 minutes, complete setting in 40-90 minutes, porosity after expansion = 18.4%.

[0078] Shear strength (after fiber reinforcement): = + tan = 150kPa + 200kPa·tan25° ≈ 243kPa

[0079] Polyurethane usage calculation:

[0080] Target for pore filling after expansion: V 孔隙 =A×L×(nn) 封 )=0.0227×3×(0.4-0.184)≈0.0147m 3

[0081] Volume of expanding material (calculated at 3 times the minimum expansion rate): V 膨胀 =0.01473×3=0.0049m 3

[0082] 3. Structural mechanics analysis:

[0083] The hook claws are made of high-strength alloy steel with a shear strength τ = 500 MPa. The force-bearing area of ​​a single hook claw is A = 10 mm². 2 Then the maximum shear strength is:

[0084] F max =τ max ×A=500×10 6 ×10×10 -1 =500N

[0085] If the device is equipped with four hooks, the total shear resistance is 2000N, which is far higher than the water flow impact force (2000Pa × 0.1m). 2 =200N), which meets the safety requirements.

[0086] 3.4 Evaluation of Blocking Effectiveness:

[0087] Permeability coefficient verification (Kozeny-Carman equation):

[0088] Initial permeability coefficient: = 0.435(1-0.4) 2 ×(0.5×10⁻³) 2 ≈1.28×10 -4 m / s

[0089] Permeability coefficient after sealing: 封堵 =0.18435(1-0.184)2 ×(0.5×10⁻³) 2 ≈3.2×10 -6 m / s

[0090] The seepage rate decreased by 97.5% (meeting the needs of emergency response).

[0091] Expansion pressure safety:

[0092] Expansion stress calculation (Terzaghi model, soil = 5 MPa): Expansion = 5 × ln(1 - 0.1841 - 0.4) ≈ 1.2 MPa.

[0093] The soil structure is kept below the shear strength of the soil (≈1.5MPa) to ensure its stability.

[0094] 4. Response Analysis of Intelligent Control Systems:

[0095] The control system uses PID control, and the transfer function is:

[0096]

[0097] The parameter K is selected using the Ziegler-Nichols tuning method. P =1.2,K i =0.5,K d =0.1, so that the system response time t s <2s, overshoot σ% <5%, ensuring fast and accurate positioning.

[0098] The main technical points of this invention are:

[0099] (1). Biomimetic Bobbite body structure:

[0100] Inspired by its hook-like predatory jaws, tubular head and body, and parapodia, this device features an innovative design incorporating hydraulic telescopic hooks, a telescopic expansion membrane, and pipe spikes to achieve fixed, controlled sealing and repair. It is also significantly lighter than large-scale piping sealing machines.

[0101] (2) Employing a stretchable expansion membrane structure:

[0102] Before the device enters the piping channel, the membrane is not extended, and the small size of the device ensures flexibility. After the membrane extends, it can extend the sealing distance, achieving long-distance continuous sealing. Compared with the single-point sealing of existing sealing balls, it can significantly enhance the sealing effect. It avoids the situation where materials are washed away by the gushing water, thereby reducing manpower and material costs.

[0103] (3) Repairing the soil structure:

[0104] The expanding material is inserted into the soil pores within the piping channel wall through the pipe spikes and expands, squeezing the soil and rocks, thus stabilizing the soil structure around the piping channel and preventing the piping from expanding further.

[0105] (4) Avoid material waste and environmental pollution:

[0106] By using hoses to controllably deliver expansion material from the outside, compared with traditional piping sealing balls, it ensures sufficient material supply, reduces material waste, adapts to different working conditions, and reduces environmental damage and material consumption.

Claims

1. A biomimetic Bobbit worm-inspired piping sealing and repair device, characterized in that, It includes a drive outer cavity (7), and a drive inner cavity (7.3) is coaxially arranged inside the drive outer cavity (7); A worm (1) is vertically mounted at one end of the drive outer cavity (7). The worm (1) is driven by a motor (7.4.1) in the drive inner cavity (7.3). The upper end of the worm (1) is meshed with multiple worm wheels (3). The multiple worm wheels (3) are symmetrically distributed in a ring. Each worm wheel (3) is mounted on a support plate (5) at the top of the drive outer cavity (7). Each worm wheel (3) is fixedly connected to a hydraulic telescopic hook (2). When the worm (1) drives the worm wheel (3), the worm wheel (3) drives the hook at the upper end of the hydraulic telescopic hook (2) to rotate away from the axis of the worm (1), and multiple hydraulic telescopic hooks (2) are in an open state. The hydraulic telescopic hook (2) is connected to a hydraulic telescopic structure to control the extension and retraction of the hook; Each worm gear (3) is also hinged to a connecting rod (4). Multiple valves (7.1) are also provided at the top of the drive outer cavity (7). The lower end of the connecting rod (4) is hinged to the valve (7.1). When the worm gear (3) drives the hydraulic telescopic claw (2) to open, it also drives the connecting rod (4) to push the valve (7.1) downward. The motor (7.4.1) is mounted inside the motor protective housing (7.4) via a fixing rod (7.4.2); An intelligent attitude adjustment module (7.5) is located below the motor protective housing (7.4); The other end of the drive cavity (7) is connected to the telescopic expansion membrane (9), which includes an outer membrane (9.1) and an inner membrane (9.2). The outer membrane (9.1) and the inner membrane (9.2) are coaxially arranged and form an annular cavity between them. It also includes multiple delivery hoses (6), which enter the annular cavity of the telescopic expansion membrane (9) through the drive outer cavity (7). The delivery hoses (6) are connected to an external pump to deliver the expansion material into the annular cavity. The internal cavity of the inner membrane (9.2) is connected to the drive outer cavity (7). After the valve (7.1) is opened, water can enter the inner membrane (9.2) through the drive outer cavity (7) from the valve (7.1) and expand the telescopic membrane (9). Inner membrane pores are distributed on the inner membrane (9.2); Multiple pipe spikes (8) are distributed on the outer wall of the outer membrane (9.1), and a positioner (10) is provided inside the expansion membrane (9).

2. The biomimetic Bobbit worm piping sealing and repair device according to claim 1, characterized in that, Multiple cavity membrane connecting components (7.2) are provided between the driving outer cavity (7) and the driving inner cavity (7.3). The cavity membrane connecting components (7.2) are fixed to the inner wall of the driving outer cavity (7). The cavity membrane connecting components (7.2) are provided with internal thread rods (7.2.1) for threaded connection with external thread rods (7.2.2) fixed on the telescopic expansion membrane (9).

3. The biomimetic Bobbit worm piping sealing and repair device according to claim 1, characterized in that, The aforementioned pipe spike (8) includes a pipe (8.1) and a barb (8.2). The pipe (8.1) connects the annular cavity and the through hole at the top of the barb (8.2). The barb (8.2) is used to pierce the inside of the surging wall to allow the expanding material to enter the inside of the surging wall.

4. A biomimetic Bobbit worm-inspired piping sealing and repair method, characterized in that, The specific process of using the biomimetic Bobbit worm piping sealing and repair device according to any one of claims 1 to 3 includes: When a through-type piping occurs, a vortex will be generated on the upstream water surface. After connecting the biomimetic Bobbit worm piping sealing and repair device to the pump, it is thrown into the vortex. The hydraulic telescopic claw (2) begins to maintain a closed state. Under the action of the vortex force, the biomimetic Bobbit worm piping sealing and repair device gradually approaches the piping inlet. At the same time, the intelligent posture adjustment module (7.5) will adjust its posture according to the real-time external situation to ensure that one end of the telescopic expansion membrane (9) enters the inlet first. One end of the telescopic expansion membrane (9) enters, and the dam monitoring system detects that the locator (10) has entered the dam. It sends a signal to start the motor (7.4.1), which drives the worm gear (1) to rotate, which in turn drives the worm wheel (3) to rotate, which in turn drives the hydraulic telescopic claw (2) to open. During the opening process, the dam monitoring system calculates the approximate diameter of the piping inlet based on the feedback vortex information, and then controls the hydraulic telescopic claw (2) to extend appropriately. After the hydraulic telescopic claw (2) opens, the biomimetic Bobbit worm piping sealing and repair device is fixed on the dam body. As the hydraulic telescopic hook (2) opens, the worm gear (3) will also drive the connecting rod (4) to move down, opening the valve (7.1), allowing water to enter the inner membrane (9.2). The impact causes the telescopic expansion membrane (9) to stretch as a whole. At the same time, the expansion material is delivered into the annular cavity inside the telescopic expansion membrane (9) through the pump and the delivery hose (6). The expansion material first enters the inner membrane (9.2) through the inner membrane hole and expands when it meets the water flow, causing the telescopic expansion membrane (9) to expand. An expansion pressure is formed between the telescopic expansion membrane (9) and the gushing wall, initially sealing the piping channel. Subsequently, the pipe spikes (8) on the outer membrane (9.1) pierce the inner wall of the channel, and some of the expansion material enters the soil pores inside the channel through the pipe spikes (8). It expands upon contact with water to fill the gaps, repair the soil structure, and prevent the piping from continuing to expand.

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