Bionic filtering mechanical arm and filtering robot

Abstract

The present invention discloses a bionic filtering mechanical arm and a filtering robot, comprising a base, a tennis ball shrimp bristle filtering module, a driving module and a transmission mechanism; the tennis ball shrimp bristle filtering module has a plurality of filtering nets arranged according to the tennis ball shrimp bristles; the transmission mechanism is configured to connect the tennis ball shrimp bristle filtering module and the driving module; wherein the driving module is configured to rotate the plurality of filtering nets so as to change the water frontage areas of the plurality of filtering nets, and the driving module and the transmission mechanism are both configured on the base; the bionic filtering mechanical arm can adjust the water frontage areas of the filtering nets in a changeable marine environment.

Description

Technical Field

[0001] The invention relates to the technical field of marine filtering equipment, and in particular to a bionic filtering mechanical arm and a filtering robot. Background Art

[0002] While developing and utilizing marine resources, the pollution of the marine environment cannot be ignored. For a long time, due to the lack of correct treatment methods for plastic waste and insufficient environmental awareness in the process of developing marine resources, the marine environment has been seriously polluted by human behavior, and the pollution of marine microplastics is the pain point and difficulty. The pollution is so wide and deep that even the world's deepest Mariana Trench is not immune. It can even be said that the pollution of marine microplastics has caused extremely serious impacts on marine life, ecological environment, human health, economic development and other aspects. Therefore, it has become an urgent issue to take effective measures to deal with microplastics in the ocean and maintain the balance of marine ecology.

[0003] Once traditional underwater filtration devices encounter harsh working environments, such as direct impacts from strong ocean currents, the filter screen may be damaged or even the mechanical structure may be damaged, causing it to lose its original function and increasing the cost of repair and relocation. Summary of the invention

[0004] In order to solve the above-mentioned technical problems, the present invention provides a bionic filtering robot arm, which can adjust the water-facing area of ​​the filter screen in a changeable marine environment and can be adjusted so that the working load is always kept below the allowable load, thereby ensuring the safe and long-term operation of the device. Compared with traditional underwater filtering devices, it has better mechanical properties and environmental adaptability.

[0005] To solve the above problems, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present disclosure provides a bionic filtering mechanical arm, comprising: a base, a tennis ball shrimp bristle filtering module, a driving module and a transmission mechanism.

[0007] The tennis ball shrimp-like bristle filter module has a plurality of filter nets arranged according to the tennis ball shrimp-like bristle.

[0008] The transmission mechanism is configured to connect the tennis ball shrimp imitation bristle filtering module and the driving module.

[0009] The driving module is configured to rotate the plurality of filter screens so as to change the water-facing areas of the plurality of filter screens. The driving module and the transmission mechanism are both configured on the base.

[0010] Preferably, the base comprises: a fixing platform and an assembly frame.

[0011] The assembly rack is fixedly arranged on the fixing table.

[0012] The fixing platform is provided with a bracket, the driving module is fixedly provided on the bracket, and the transmission mechanism is provided on the assembly frame.

[0013] Preferably, the transmission mechanism comprises: a fixed connection block, a movable connection block, a mounting block, a guide rod, a pull rope, a front torsion assembly and a rear torsion assembly.

[0014] The fixed connection block is fixedly arranged on the assembly frame.

[0015] The mounting block is arranged between the fixed connection block and the movable connection block.

[0016] The guide rod is configured such that one end passes through the fixed connection block, the movable connection block and the mounting block, and the movable connection block and the mounting block can move axially along the guide rod.

[0017] The front torsion assembly is rotatably disposed between the fixed connection block and the mounting block, and is used to convert the tension applied by the pull rope into a torsion force acting on the filter net.

[0018] The rear torsion assembly is rotatably disposed between the movable connection block and the mounting block, and is used for converting the tension applied by the pull rope into a torsion force acting on the filter net.

[0019] One end of the pull rope is configured to be fixedly connected to the movable connection block or the rear torsion assembly, and the other end of the pull rope is configured to be connected to the driving module, and the driving module is used to apply tension to the pull rope.

[0020] The tennis ball shrimp-like bristle filter module comprises a first assembly rod and a second assembly rod, wherein the first assembly rod and the second assembly rod are respectively fixedly connected to two sides of the filter screen, the first assembly rod is configured to be fixedly connected to the front torsion assembly, and the second assembly rod is configured to be fixedly connected to the rear torsion assembly.

[0021] Preferably, the central axes of the front torsion assembly and the rear torsion assembly coincide with each other, and the rotation directions of the front torsion assembly and the rear torsion assembly are opposite.

[0022] Preferably, the front torsion assembly comprises: a first assembly block, a second assembly block, a first spring body and a first connecting rod.

[0023] The first assembly block is configured to be rotatably connected to the fixed connection block.

[0024] The second assembly block is configured to be rotatably connected to the mounting block.

[0025] The first spring body is arranged between the first assembly block and the second assembly block.

[0026] The first connecting rod is disposed between the first assembly block and the second assembly block, and two ends of the first connecting rod are movably connected to the first assembly block and the second assembly block respectively.

[0027] Preferably, the rear torsion assembly includes: a third assembly block, a fourth assembly block, a second spring body and a second connecting rod.

[0028] The third assembly block is configured to be rotatably connected to the mounting block.

[0029] The fourth assembly block is configured to be rotatably connected to the movable connection block.

[0030] The second spring body is arranged between the third assembly block and the fourth assembly block.

[0031] The second connecting rod is arranged between the third assembly block and the fourth assembly block, and two ends of the second connecting rod are movably connected to the third assembly block and the fourth assembly block respectively.

[0032] Preferably, the elastic coefficient of the first spring body is greater than the elastic coefficient of the second spring body, so that the front torsion assembly and the rear torsion assembly constitute a reverse asynchronous adjustment structure. The central axes of the first spring body, the second spring body, the first assembly block, the second assembly block, the third assembly block and the fourth assembly block coincide. There are multiple first connecting rods, and there are multiple second connecting rods, and the number of the first connecting rods is greater than the number of the second connecting rods. Multiple first connecting rods are distributed in a spiral shape between the first assembly block and the second assembly block. Multiple second connecting rods are distributed in a spiral shape between the third assembly block and the fourth assembly block. The rotation direction distribution of the multiple first connecting rods is configured to be opposite to the rotation direction distribution of the multiple second connecting rods.

[0033] Preferably, the first assembly block and the second assembly block are both octagonal, the third assembly block and the fourth assembly block are both quadrilateral, eight first connecting rods are configured, and four second connecting rods are configured.

[0034] Preferably, the pull rope is arranged through the first spring body and the second spring body.

[0035] In a second aspect, the present disclosure provides a filtering robot, comprising: a control module and a detection module, and also comprising the above-mentioned bionic filtering mechanical arm;

[0036] Wherein, the detection module is configured to be electrically connected to the control module, and the detection module is used to detect the direction of water flow.

[0037] Compared with the traditional underwater filtering device, the bionic filtering mechanical arm and filtering robot disclosed in the present invention have the following advantages:

[0038] The frontal area of ​​the filter can be adjusted in a changing marine environment so that the working load of the device is always kept below the allowable load, ensuring the safe and long-term operation of the device. Compared with traditional underwater filtration devices, it has better mechanical properties and environmental adaptability.

[0039] The filter screen can be adjusted in reverse asynchronously through a single-drive adjustment mode, which increases the adjustment range and reduces the weight of the filter device.

[0040] The energy of ocean currents is used efficiently to complete the filtering operation, so it has lower energy consumption and does not need to carry too much energy to operate continuously and stably for a long time in the deep ocean. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 This is a front view of a bionic filtering mechanical arm of the present invention.

[0043] Figure 2 This is a stereoscopic diagram of a bionic filtering mechanical arm of the present invention.

[0044] Figure 3 The figure is a side view of a bionic filtering mechanical arm of the present invention.

[0045] Figure 4 The figure is a schematic diagram of the partial structure of a bionic filtering mechanical arm of the present invention.

[0046] Figure 5 The figure is a schematic diagram of the partial structure of a bionic filtering mechanical arm of the present invention.

[0047] Figure 6 This is a schematic diagram of the distribution of a first connecting rod and a second connecting rod of a bionic filtering mechanical arm of the present invention.

[0048] Figure 7 This is a schematic diagram of the distribution of a first connecting rod and a second connecting rod of a bionic filtering mechanical arm of the present invention.

[0049] In the figure:

[0050] 10. Base; 11. Fixing table; 12. Assembly rack;

[0051] 20. Tennis ball shrimp bristle filter module; 21. Filter net; 22. First assembly rod; 23. Second assembly rod;

[0052] 30. drive module; 31. motor; 32. take-up reel;

[0053] 40. Transmission mechanism; 41. Fixed connecting block; 42. Movable connecting block; 43. Mounting block; 44. Guide rod; 45. Pull rope; 46. Front torsion assembly; 47. Rear torsion assembly; 461. First assembly block; 462. Second assembly block; 463. First spring body; 464. First connecting rod; 471. Third assembly block; 472. Fourth assembly block; 473. Second spring body; 474. Second connecting rod. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0055] Example

[0056] like Figures 1 to 5 As shown, this embodiment provides a bionic filtering mechanical arm, including a base 10 , a tennis ball shrimp bristle filtering module 20 , a driving module 30 and a transmission mechanism 40 .

[0057] The tennis ball shrimp bristle filter module 20 has five filter screens 21 arranged according to the tennis ball shrimp bristles; the transmission mechanism 40 is configured to connect the tennis ball shrimp bristle filter module 20 and the driving module 30.

[0058] The driving module 30 is configured to rotate the plurality of filter screens 21 so as to change the water-facing areas of the plurality of filter screens 21 . The driving module 30 and the transmission mechanism 40 are both configured on the base 10 .

[0059] In this embodiment, the base 10 includes a fixing platform 11 and an assembly rack 12 ; the assembly rack 12 is fixedly disposed on the fixing platform 11 .

[0060] A bracket is disposed on the fixing platform 11 , the driving module 30 is fixedly disposed on the bracket, and the transmission mechanism 40 is disposed on the assembly frame 12 .

[0061] In this embodiment, the transmission mechanism 40 includes a fixed connection block 41 , a movable connection block 42 , a mounting block 43 , a guide rod 44 , a pull rope 45 , a front torsion assembly 46 and a rear torsion assembly 47 .

[0062] The fixed connection block 41 is fixedly arranged on the assembly frame 12; the mounting block 43 is arranged between the fixed connection block 41 and the movable connection block 42; the guide rod 44 is configured to have one end passing through the fixed connection block 41, the movable connection block 42 and the mounting block 43, and the movable connection block 42 and the mounting block 43 can move axially along the guide rod 44; the front torsion assembly 46 is rotatably arranged between the fixed connection block 41 and the mounting block 43, and the front torsion assembly 46 is used to convert the tension applied by the pull rope 45 into a torsion force acting on the filter net 21; the rear torsion assembly 47 is rotatably arranged between the movable connection block 42 and the mounting block 43, and the rear torsion assembly 47 is used to convert the tension applied by the pull rope 45 into a torsion force acting on the filter net 21.

[0063] One end of the pull rope 45 is configured to be fixedly connected to the movable connection block 42 , and the other end of the pull rope 45 is configured to be connected to the driving module 30 , and the driving module 30 is used to apply tension to the pull rope 45 .

[0064] Among them, the tennis ball shrimp bristle filter module also has a first assembly rod 22 and a second assembly rod 23, which are respectively fixedly connected to the two sides of the filter net, the first assembly rod 22 is configured to be fixedly connected to the front torsion component 46, and the second assembly rod 23 is configured to be fixedly connected to the rear torsion component 47.

[0065] Exemplarily, the driving module 30 includes a servo motor 31 and a wire take-up drum 32 , the output shaft of the servo motor 31 is fixedly connected to the wire take-up drum 32 , and the wire take-up drum is fixedly connected to the pull rope 45 .

[0066] In this embodiment, the central axes of the front torsion assembly 46 and the rear torsion assembly 47 coincide with each other, and the front torsion assembly 46 and the rear torsion assembly 47 rotate in opposite directions when in use.

[0067] like Figure 5 As shown, the front torsion assembly 46 includes a first assembly block 461 , a second assembly block 462 , a first spring body 463 and a first connecting rod 464 .

[0068] Furthermore, the first spring body 463 is disposed between the first assembly block 461 and the second assembly block 462 , and two ends of the first spring body 463 are fixedly connected to the first assembly block 461 and the second assembly block 462 , respectively.

[0069] Furthermore, the first assembly rod 22 is fixedly connected to the first assembly block 461 .

[0070] Furthermore, the first assembly block 461 is configured to be rotatably connected to the fixed connection block 41; the second assembly block 462 is configured to be rotatably connected to the mounting block 43; the first connecting rod 464 is configured between the first assembly block 461 and the second assembly block 462, and the two ends of the first connecting rod 464 are respectively movably connected to the first assembly block 461 and the second assembly block 462.

[0071] Exemplarily, the first assembly block 461 is rotatably connected to the fixed connection block 41 through a slewing bearing, the first assembly block 461 is fixedly connected to the inner ring of the slewing bearing, and the fixed connection block 41 is fixedly connected to the outer ring of the slewing bearing. The second assembly block 462 is also rotatably connected to the mounting block 43 through a slewing bearing, the second assembly block 462 is fixedly connected to the inner ring of the slewing bearing, and the mounting block 43 is fixedly connected to the outer ring of the slewing bearing.

[0072] Exemplarily, the first assembly block 461 and the second assembly block 462 are both configured with a first joint swivel bearing, and the first assembly block 461 and the second assembly block 462 are movably connected to the second connecting rod 474 via the first joint swivel bearing (not shown).

[0073] like Figure 5 As shown, in this embodiment, the rear torsion assembly 47 includes a third assembly block 471 , a fourth assembly block 472 , a second spring body 473 and a second connecting rod 474 .

[0074] Furthermore, the second spring body 473 is disposed between the third assembly block 471 and the fourth assembly block 472 , and two ends of the second spring body 473 are fixedly connected to the third assembly block 471 and the fourth assembly block 472 , respectively.

[0075] Furthermore, the second assembly rod 23 is fixedly connected to the fourth assembly block 472 .

[0076] Furthermore, the third assembly block 471 is configured to be rotatably connected to the mounting block 43; the fourth assembly block 472 is configured to be rotatably connected to the movable connection block 42; the second connecting rod 474 is configured between the third assembly block 471 and the fourth assembly block 472, and the two ends of the second connecting rod 474 are respectively movably connected to the third assembly block 471 and the fourth assembly block 472.

[0077] Exemplarily, the third assembly block 471 and the mounting block 43 are also rotatably connected through a slewing bearing, the third assembly block 471 is fixedly connected to the inner ring of the slewing bearing, and the mounting block 43 is fixedly connected to the outer ring of the slewing bearing. The fourth assembly block 472 and the movable connection block 42 are also rotatably connected through a slewing bearing, the fourth assembly block 472 is fixedly connected to the inner ring of the slewing bearing, and the movable connection block 42 is fixedly connected to the outer ring of the slewing bearing.

[0078] Exemplarily, the central axes of the four slewing bearings coincide, and the first assembly block 461, the second assembly block 462, the third assembly block 471, the fourth assembly block 472, the fixed connection block 41, the movable connection block 42 and the mounting block 43 are all provided with mounting holes matched with the slewing bearings, and the slewing bearings and the mounting holes can also allow the pull rope to pass through, and the pull rope is arranged to pass through the first spring body and the second spring body.

[0079] Exemplarily, the third assembly block 471 and the fourth assembly block 472 are both configured with a second joint bearing (not shown), and the third assembly block 471 and the fourth assembly block 472 are movably connected to the second connecting rod 474 via the second joint bearing.

[0080] like Figure 6 and 7 As shown, in this embodiment, the elastic coefficient of the first spring body 463 is greater than the elastic coefficient of the second spring body 473, and the central axes of the first spring body 463, the second spring body 473, the first assembly block 461, the second assembly block 462, the third assembly block 471 and the fourth assembly block 472 coincide. The third assembly block 471 and the fourth assembly block 472 are both quadrilaterally arranged, and the first assembly block 461 and the second assembly block 462 are both octagonally arranged; there are eight first connecting rods 464, and four second connecting rods 474; the eight first connecting rods 464 are spirally distributed between the first assembly block 461 and the second assembly block 462; the four second connecting rods 474 are spirally distributed between the third assembly block 471 and the fourth assembly block 472; the rotation direction of the first connecting rod 464 is configured to be opposite to the rotation direction of the second connecting rod 474.

[0081] Exemplarily, eight first joint swivel bearings (not shown) are bonded at the eight vertices of the first assembly block 461, and eight first joint swivel bearings are bonded at the midpoints of the eight sides of the second assembly block 462; four second joint bearings are bonded at the four vertices of the fourth assembly block 472, and four second joint bearings are bonded at the midpoints of the four sides of the third assembly block 471.

[0082] The two ends of the first connecting rod 464 are respectively connected to the first joint slewing bearings on the first assembly block 461 and the second assembly block 462; the two ends of the second connecting rod 474 are respectively connected to the second joint bearings on the third assembly block 471 and the fourth assembly block 472, to form a reverse asynchronous adjustment structure that can convert compression and stretching into torsion.

[0083] Since the elastic coefficient of the first spring body 463 is greater than the elastic coefficient of the second spring body 473, when the pull rope is pulled, the rear torsion assembly rotates first. After the rear torsion assembly rotates, if the pull rope is continued to be pulled, the front torsion assembly rotates again, forming a two-stage adjustment as a whole, and the filter screen has good adjustability. It can achieve different angles with different compression amounts and achieve the purpose of buffering. The elastic coefficient of the rear torsion assembly 47 is small. When the filter screen is impacted by water flow, the second spring body 473 of the rear torsion assembly 47 can play a self-adjusting role, so that the filter screen can adapt to the impact force of the water flow on it.

[0084] Furthermore, the ratio of the elastic coefficient of the first spring body 463 to the elastic coefficient of the second spring body 473 is 10-20:1.

[0085] Since the rotation direction of the first connecting rod 464 is configured to be opposite to that of the second connecting rod 474, and its geometric properties determine that the rotation angle of the third assembly block 471 and the fourth assembly block 472 of the quadrilateral is smaller than that of the first assembly block 461 and the second assembly block 462 of the octagon under the same compression amount, the activity mode of the bristles of the tennis shrimp is imitated, so that the filter screen 21 has a relatively excellent adjustment ability like the bristles of the tennis shrimp, and the flexibility of adjusting the water-facing area is good; while expanding the adjustment range, the entire adjustment structure can achieve two-way adjustment under a single drive mode.

[0086] The present disclosure provides a filtering robot, comprising: a control module and a detection module, and also the above-mentioned bionic filtering mechanical arm.

[0087] The detection module is configured to be electrically connected to the control module, and the detection module is used to detect the direction of water flow.

[0088] It can realize automatic adjustment through programming, and can autonomously adjust the water-facing area of ​​the filter in a changeable marine environment, so that the working load of the device is always kept below the allowable load, ensuring the safe and long-term operation of the device. Compared with traditional underwater filtration devices, it has better mechanical properties and environmental adaptability.

[0089] Although the embodiments of the present application have been shown and described above, the scope of protection of the present invention is not limited thereto, and any changes or substitutions that are not conceivable through creative work should be included in the scope of protection of the present invention; unless explicitly stated, any elements, actions or instructions used in this document should not be interpreted as critical or necessary.

Claims

1. A bionic filtering mechanical arm, characterized in that: include: a base having a mounting frame; A tennis ball shrimp-like bristle filter module having a plurality of filter screens arranged according to the tennis ball shrimp-like bristle; Driver module; as well as A transmission mechanism configured to connect the tennis ball shrimp-like bristle filtering module and a driving module; Wherein, the driving module is configured to rotate the plurality of filter screens so as to change the water frontage areas of the plurality of filter screens, and the driving module and the transmission mechanism are both configured on the base; The transmission mechanism comprises: A fixed connection block, fixedly arranged on the assembly frame; Active connection block; A mounting block, disposed between the fixed connection block and the movable connection block; A guide rod, one end of which passes through the fixed connection block, the movable connection block and the mounting block, and the movable connection block and the mounting block can move axially along the guide rod; Pull rope; A front torsion assembly is rotatably disposed between the fixed connection block and the mounting block, and is used to convert the tension applied by the pull rope into a torsion force acting on the filter net; and A rear torsion assembly is rotatably disposed between the movable connection block and the mounting block, and is used to convert the tension applied by the pull rope into a torsion force acting on the filter net; Wherein, one end of the pull rope is configured to be fixedly connected to the movable connection block or the rear torsion assembly, and the other end of the pull rope is configured to be connected to the driving module, and the driving module is used to apply tension to the pull rope; Wherein, the tennis ball shrimp bristle filter module has a first assembly rod and a second assembly rod, the first assembly rod and the second assembly rod are respectively fixedly connected to both sides of the filter screen, the first assembly rod is configured to be fixedly connected to the front torsion assembly, and the second assembly rod is configured to be fixedly connected to the rear torsion assembly; The front torsion assembly and the rear torsion assembly have opposite directions of rotation, and the front torsion assembly and the rear torsion assembly form a reverse asynchronous adjustment structure.

2. A bionic filtering mechanical arm according to claim 1, characterized in that: The base comprises: Fixed table; The assembly rack is fixedly arranged on the fixing table; Wherein, a bracket is arranged on the fixing platform, the driving module is fixedly arranged on the bracket, and the transmission mechanism is arranged on the assembly frame.

3. A bionic filtering mechanical arm according to claim 2, characterized in that: The central axes of the front torsion assembly and the rear torsion assembly coincide with each other.

4. The bionic filtering mechanical arm according to claim 3, characterized in that: The front twisting assembly comprises: A first assembly block, configured to be rotatably connected to the fixed connection block; a second assembly block configured to be rotatably connected to the mounting block; A first spring body, disposed between the first assembly block and the second assembly block; as well as The first connecting rod is arranged between the first assembly block and the second assembly block, and two ends of the first connecting rod are movably connected to the first assembly block and the second assembly block respectively.

5. The bionic filtering mechanical arm according to claim 4, characterized in that: The rear torsion assembly comprises: a third assembly block configured to be rotatably connected to the mounting block; A fourth assembly block, configured to be rotatably connected to the movable connection block; A second spring body, arranged between the third assembly block and the fourth assembly block; as well as The second connecting rod is arranged between the third assembly block and the fourth assembly block, and two ends of the second connecting rod are movably connected to the third assembly block and the fourth assembly block respectively.

6. The bionic filtering mechanical arm according to claim 5, characterized in that: The elastic coefficient of the first spring body is greater than the elastic coefficient of the second spring body; The central axes of the first spring body, the second spring body, the first assembly block, the second assembly block, the third assembly block and the fourth assembly block coincide; There are a plurality of first connecting rods, and a plurality of second connecting rods, and the number of the first connecting rods is greater than that of the second connecting rods; A plurality of the first connecting rods are spirally distributed between the first assembly block and the second assembly block; A plurality of the second connecting rods are spirally distributed between the third assembly block and the fourth assembly block; The hand distribution of the first connecting rods is configured to be opposite to the hand distribution of the second connecting rods.

7. The bionic filtering mechanical arm according to claim 6, characterized in that: The first assembly block and the second assembly block are both octagonal, the third assembly block and the fourth assembly block are both quadrilateral, eight first connecting rods are configured, and four second connecting rods are configured.

8. The bionic filtering mechanical arm according to claim 7, characterized in that: The pull rope is arranged through the first spring body and the second spring body.

9. A filtering robot comprising: The control module and the detection module are characterized by further comprising a bionic filtering mechanical arm as claimed in any one of claims 1 to 8; Wherein, the detection module is configured to be electrically connected to the control module, and the detection module is used to detect the direction of water flow.

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