Bionic multi-link special-shaped bristle filtering palm and mechanical arm

Abstract

The application relates to the technical field of mechanical arms, and particularly discloses a bionic multi-linkage special-shaped bristle filtering palm and a mechanical arm, which comprises a retainer, a torsion mechanism, a driving mechanism and a plurality of bristle assemblies; the torsion mechanism is fixedly arranged on the retainer; the plurality of bristle assemblies are arranged on the torsion mechanism, and gaps exist between adjacent bristle assemblies; the driving mechanism is used for driving the torsion mechanism to rotate; when the torsion mechanism is driven by the driving mechanism, the torsion mechanism drives the bristle assemblies, so that the spacing and / or the included angle between adjacent bristle assemblies are changed; the bionic multi-linkage special-shaped bristle filtering palm can flexibly change the pressure drop, the blockage ratio and the filtering efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arms, in particular to a bionic multi-linkage special-shaped bristle filtering palm and a mechanical arm. BACKGROUND

[0002] With the development of society, people gradually realize that the land resources are very limited, however, the underwater resources development and utilization still have great space for mining. For example, the collection and utilization of underwater microorganisms and the exploitation of underwater minerals, and so on, the rational development and utilization of underwater resources have become an important part of future development. However, while humans exploit underwater resources, they also produce a lot of water garbage, and the output of these water garbage is still expanding, which seriously affects marine life, ecological environment, human health, economic development and other aspects. Therefore, the design and development of filtering mechanical arms have become a research hotspot.

[0003] Traditional filtering mechanical arms mostly use filter screen structures to filter and collect, however, the porosity, pressure drop and blockage ratio of such filter screen structures cannot be adjusted, and when facing the collection of pollutants with different concentrations, it is difficult to achieve a good balance between the filtering resistance and the filtering efficiency. Therefore, it is necessary to improve. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a bionic multi-linkage special-shaped bristle filtering palm, which can flexibly change the pressure drop, blockage ratio and filtering efficiency.

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

[0006] In a first aspect, the present disclosure provides a bionic multi-linkage special-shaped bristle filtering palm, comprising: a holder, a torsion mechanism, a driving mechanism and a plurality of bristle assemblies.

[0007] The torsion mechanism is fixedly arranged on the holder; a plurality of bristle assemblies are arranged on the torsion mechanism, and there is a gap between adjacent bristle assemblies; the driving mechanism is used to drive the torsion mechanism to rotate.

[0008] When the torsion mechanism is driven by the driving mechanism, the torsion mechanism drives a plurality of bristle assemblies, so that the at least partial distance and / or included angle between adjacent bristle assemblies is changed.

[0009] The bionic multi-linkage special-shaped stiff hair filtering palm provided by at least one embodiment of the present disclosure comprises a connecting plate, a first guide shaft, a first movable plate, a second movable plate, a first spring and a second spring; the connecting plate is fixedly connected with the holder; the first guide shaft is fixedly connected with the holder; the first movable plate is located behind the connecting plate and is in sliding connection with the first guide shaft; the second movable plate is located behind the first movable plate and is in sliding connection with the first guide shaft; the first spring is located between the connecting plate and the first movable plate; and the second spring is located between the first movable plate and the second movable plate.

[0010] A first connecting disc is rotatably arranged on the connecting plate, a second connecting disc and a third connecting disc are rotatably arranged on the first movable plate, a fourth connecting disc is rotatably arranged on the second movable plate, the first spring is connected with the first connecting disc and the second connecting disc at two ends respectively, and the second spring is connected with the third connecting disc and the fourth connecting disc at two ends respectively.

[0011] A plurality of joint bearings are arranged on the first connecting disc, the second connecting disc, the third connecting disc and the fourth connecting disc, a plurality of first connecting rods are arranged between the first connecting disc and the second connecting disc, the first connecting disc and the second connecting disc are movably connected with the plurality of first connecting rods through the plurality of joint bearings on them respectively, a plurality of second connecting rods are arranged between the third connecting disc and the fourth connecting disc, and the third connecting disc and the fourth connecting disc are movably connected with the plurality of second connecting rods through the plurality of joint bearings on them respectively.

[0012] When the twisting mechanism is not driven by the driving mechanism, the plurality of joint bearings on the first connecting disc are distributed in a staggered manner with the plurality of joint bearings on the second connecting disc, so as to incline the plurality of first connecting rods and form a spiral distribution,

[0013] When the twisting mechanism is not driven by the driving mechanism, the plurality of joint bearings on the third connecting disc are distributed in a staggered manner with the plurality of joint bearings on the fourth connecting disc, so as to incline the plurality of second connecting rods and form a spiral distribution.

[0014] The plurality of first connecting rods and the plurality of second connecting rods are distributed in a staggered manner.

[0015] A first rotating rod is fixedly arranged on the first connecting disc, a second rotating rod is fixedly arranged on the fourth connecting disc, the stiff hair assembly is located between the first rotating rod and the second rotating rod, and the stiff hair assembly is configured to be linked with the first rotating rod and the second rotating rod.

[0016] The bionic multi-linkage special-shaped bristle filtering palm provided by at least one embodiment of the present disclosure comprises at least one second guide shaft, a circular arc support frame and a bristle.

[0017] The end of the circular arc support frame is slidably arranged on the at least one second guide shaft, and one end of the bristle is slidably arranged on the circular arc support frame.

[0018] The connecting plate, the first movable plate and the second movable plate are all connected with the sliding pair of the at least one second guide shaft.

[0019] The driving mechanism of the bionic multi-linkage special-shaped bristle filtering palm provided by at least one embodiment of the present disclosure comprises a sliding groove, a collecting component, a main pull rope, a sub-pull rope and a pull rope device.

[0020] The sliding groove is fixedly connected with the holder, the collecting component is slidably connected with the sliding groove, one end of the main pull rope is fixedly connected with the collecting component, one end of the sub-pull rope is fixedly connected with the collecting component and the other end is arranged on the second movable plate, the sub-pull rope is arranged to move along with the collecting component and drive the second movable plate to move towards the connecting plate, and the pull rope device is fixedly arranged on the holder.

[0021] The other end of the main pull rope is connected with the pull rope device, and the pull rope device is used to pull the main pull rope, the sub-pull rope and the collecting component, so that the collecting component slides towards the pull rope device.

[0022] The bionic multi-linkage special-shaped bristle filtering palm provided by at least one embodiment of the present disclosure comprises a first spring and a second spring, and the elastic coefficient of the first spring is greater than the elastic coefficient of the second spring.

[0023] The bionic multi-linkage special-shaped bristle filtering palm provided by at least one embodiment of the present disclosure comprises a bristle, and the cross section of the bristle is in the shape of an eccentric ellipse with an eccentricity of 10-100 microns.

[0024] The bionic multi-linkage special-shaped bristle filtering palm provided by at least one embodiment of the present disclosure comprises a first rotating rod and a second rotating rod, at least one transmission belt is arranged between the first rotating rod and the second rotating rod, one end of the at least one transmission belt is fixedly connected with the first rotating rod, the other end of the at least one transmission belt is fixedly connected with the second rotating rod, the at least one transmission belt is arranged around the bristle, and the first rotating rod and the second rotating rod are connected with the bristle through the at least one transmission belt.

[0025] The bionic multi-linkage special-shaped bristle filtering palm provided by at least one embodiment of the present disclosure comprises a first connecting disc and a first limiting component arranged on the first connecting disc, and the first limiting component is used to limit the compression amount of the first spring.

[0026] The third connecting disc is provided with a second limiting component for limiting the compression amount of the second spring.

[0027] One end of the first limiting component is fixedly connected with the first connecting disc, and the other end of the first limiting component has a spacing with the second connecting disc.

[0028] One end of the second limiting component is fixedly connected with the third connecting disc, and the other end of the second limiting component has a spacing with the fourth connecting disc.

[0029] In the bionic multi-linkage special-shaped bristle filtering hand palm provided by at least one embodiment of the present disclosure, the first limiting component is inserted into the first spring, the first connecting disc and the second connecting disc are both provided with a first insertion slot, and the end of the first spring is inserted into the first insertion slot.

[0030] The second limiting component is inserted into the second spring, the third connecting disc and the fourth connecting disc are both provided with a second insertion slot, and the end of the second spring is inserted into the second insertion slot.

[0031] In a second aspect, the present disclosure provides a mechanical arm, comprising an arm body, and further comprising the above-mentioned bionic multi-linkage special-shaped bristle filtering hand palm.

[0032] The present disclosure has the following beneficial effects: a plurality of bristles can be simultaneously rotated by a pulling rope device, when the bristle spacing changes, the pressure drop, the blockage ratio and the filtering efficiency of the filtering hand palm also change, thereby the different working conditions can be adapted, the entire mechanism has a relatively light weight, and has good controllability. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0034] Figure 1 It is a whole structure schematic diagram of the bionic multi-linkage special-shaped bristle filtering hand palm.

[0035] Figure 2 It is a structure schematic diagram of the torsion mechanism.

[0036] Figure 3 It is a structure schematic diagram of the torsion mechanism.

[0037] Figure 4 It is a structure schematic diagram of the torsion mechanism after removing some components.

[0038] Figure 5 Structure diagram of the torsion mechanism.

[0039] Figure 6 Structure diagram of the second movable plate.

[0040] Figure 7 Structure diagram of the first connecting plate.

[0041] Figure 8 Distribution diagram of the bristles when the torsion mechanism is driven by the driven mechanism.

[0042] Figure 9 Connection diagram of the transmission belt.

[0043] Figure 10 Distribution diagram of the second guide shaft.

[0044] Figure 11 Connection diagram of the circular arc support frame and the bristles.

[0045] Figure 12 Local structure diagram of the bionic multi-linkage special-shaped bristle filtering palm.

[0046] Figure 13 Local structure diagram of the bionic multi-linkage special-shaped bristle filtering palm.

[0047] Figure 14 Perspective view of the mechanical arm in the first configuration.

[0048] Figure 15 Perspective view of the mechanical arm in the second configuration.

[0049] Figure 16 Perspective view of the mechanical arm in the third configuration.

[0050] Figure 17 Perspective view of the joint arm.

[0051] Figure 18 Perspective view of the bionic buffer block.

[0052] In the figure:

[0053] 10, retainer;

[0054] 20. Torsion mechanism; 21. Connecting plate; 22. First guide shaft; 23. First movable plate; 24. Second movable plate; 25. First spring; 26. Second spring; 211. First connecting plate; 231. Second connecting plate; 232. Third connecting plate; 241. Fourth connecting plate; 27. Spherical bearing; 28. First connecting rod; 29. ​​Second connecting rod; 212. First rotating rod; 242. Second rotating rod; 2111. First limiting component; 2321. Second limiting component;

[0055] 30. Drive mechanism; 31. Slide groove; 32. Cable assembly; 33. Main pull rope; 34. Sub-pull rope; 35. Pull rope device; 341. Stop bar;

[0056] 40. Bristle assembly; 41. Second guide shaft; 42. Arc support frame; 43. Bristle;

[0057] 50. Transmission belt;

[0058] 60. Arm body; 61. Main arm body; 62. Support arm body; 611. Movable groove; 612. Bionic buffer block; 613. Arc groove. Detailed Implementation

[0059] The technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments, not all embodiments.

[0060] Example

[0061] like Figures 1 to 13 As shown, this disclosure provides a biomimetic multi-linkage irregular bristle filter hand, including a retainer 10, a torsion mechanism 20, a drive mechanism 30, and a bristle assembly 40.

[0062] The torsion mechanism 20 is fixedly mounted on the retainer 10; the bristle assembly 40 is mounted on the torsion mechanism 20 and there is a gap between adjacent bristle assemblies 40; the drive mechanism 30 is used to drive the torsion mechanism 20 to rotate.

[0063] In this embodiment, the torsion mechanism 20 includes a connecting plate 21, a first guide shaft 22, a first movable plate 23, a second movable plate 24, a first spring 25, and a second spring 26; the connecting plate 21 is configured to be fixedly connected to the retainer 10; the first guide shaft 22 is configured to be fixedly connected to the retainer 10; the first movable plate 23 is located behind the connecting plate 21, and the first movable plate 23 is configured to be slidably connected to the first guide shaft 22.

[0064] The second movable plate 24 is located behind the first movable plate 23, and the second movable plate 24 is configured to be slidably connected to the first guide shaft 22.

[0065] The first spring 25 is located between the connecting plate 21 and the first movable plate 23; the second spring 26 is located between the first movable plate 23 and the second movable plate 24.

[0066] The first connecting disc 211 is rotatably arranged on the connecting plate 21, the second connecting disc 231 and the third connecting disc 232 are rotatably arranged on the first movable plate 23, the fourth connecting disc 241 is rotatably arranged on the second movable plate 24, the first spring 25 is connected at both ends with the first connecting disc 211 and the second connecting disc 231 respectively, and the second spring 26 is connected at both ends with the third connecting disc 232 and the fourth connecting disc 241 respectively.

[0067] The first connecting disc 211, the second connecting disc 231, the third connecting disc 232 and the fourth connecting disc 241 are all provided with a plurality of joint bearings 27.

[0068] A plurality of first connecting rods 28 are arranged between the first connecting disc 211 and the second connecting disc 231, and the first connecting disc 211 and the second connecting disc 231 are both movably connected with the plurality of first connecting rods 28 through the plurality of joint bearings 27 on them respectively.

[0069] A plurality of second connecting rods 29 are arranged between the third connecting disc 232 and the fourth connecting disc 241, and the third connecting disc 232 and the fourth connecting disc 241 are both movably connected with the plurality of second connecting rods 29 through the plurality of joint bearings 27 on them respectively.

[0070] When the torsion mechanism 20 is not driven by the driving mechanism 30, the plurality of joint bearings 27 on the first connecting disc 211 are distributed in a staggered manner with the plurality of joint bearings 27 on the second connecting disc 231, so that the plurality of first connecting rods 28 are inclined and form a spiral distribution.

[0071] When the torsion mechanism 20 is not driven by the driving mechanism 30, the plurality of joint bearings 27 on the third connecting disc 232 are distributed in a staggered manner with the plurality of joint bearings 27 on the fourth connecting disc 241, so that the plurality of second connecting rods 29 are inclined and form a spiral distribution.

[0072] The plurality of first connecting rods 28 and the plurality of second connecting rods 29 are distributed in a staggered manner.

[0073] The first rotating rod 212 is fixedly arranged on the first connecting disc 211, the second rotating rod 242 is fixedly arranged on the fourth connecting disc 241, and the bristle assembly 40 is located between the first rotating rod 212 and the second rotating rod 242, and the bristle assembly 40 is configured to be linked with the first rotating rod 212 and the second rotating rod 242.

[0074] Exemplarily, the first connecting disc 211, the second connecting disc 231, the third connecting disc 232 and the fourth connecting disc 241 each have 4 joint bearings, and the first connecting rod 28 and the second connecting rod 29 each have 4.

[0075] In the embodiment, the bristle assembly 40 comprises a second guide shaft 41, a circular arc support frame 42 and bristles 43.

[0076] The end of the circular arc support frame 42 is slidably arranged on the second guide shaft 41, and one end of the bristle 43 is slidably arranged on the circular arc support frame 42. The connecting plate 21, the first movable plate 23 and the second movable plate 24 are each connected with the second guide shaft 41 in a sliding pair.

[0077] In the embodiment, the driving mechanism 30 comprises a sliding groove 31, a collecting component 32, a main pull rope 33, a sub pull rope 34 and a pull rope device 35.

[0078] The sliding groove 31 is welded on the retainer 10, the collecting component 32 is arranged in sliding connection with the sliding groove 31, one end of the main pull rope 33 is arranged in fixed connection with the collecting component 32, and the first end of the sub pull rope 34 is arranged in fixed connection with the collecting component 32, and the tail end of the sub pull rope 34 is arranged on the second movable plate 24.

[0079] In use, the sub pull rope 34 moves along with the collecting component 32, and drives the second movable plate 24 to move towards the connecting plate 21, the pull rope device 35 is fixedly arranged on the retainer 10,

[0080] The other end of the main pull rope 33 is arranged in connection with the pull rope device 35, and the pull rope device 35 is used to pull the sub pull rope 34, so as to drive the collecting component 32 to slide towards the pull rope device 35.

[0081] Exemplarily, the pull rope device 35 comprises a steering engine and a wire reel, the wire reel is fixedly connected with the output shaft of the steering engine, and the main pull rope 33 is fixedly connected with the wire reel. Under the drive of one steering engine, multiple bristles can be simultaneously controlled to rotate, which greatly reduces the weight of the mechanism and has good controllability.

[0082] Exemplarily, the connecting plate 21, the first movable plate 23, the second movable plate 24, the first connecting disc 211, the second connecting disc 231, the third connecting disc 232 and the fourth connecting disc 241 are each provided with a perforation for the sub pull rope 34 to pass through, and the tail end of the sub pull rope 34 is fixedly provided with a stop lever 341 abutting against the outer side of the second movable plate 24.

[0083] Exemplarily, bearings are arranged on the connecting plate 21, the first movable plate 23 and the second movable plate 24, the first connecting disc 211 is rotatably connected with the connecting plate 21 through the bearing on the connecting plate 21, the second connecting disc 231 and the third connecting disc 232 are rotatably connected with the first movable plate 23 through the bearings on the first movable plate 23, and the fourth connecting disc 241 is rotatably connected with the second movable plate 24 through the bearing on the second movable plate 24.

[0084] In the embodiment, the elastic coefficient of the first spring 25 is greater than the elastic coefficient of the second spring 26. The elastic coefficients of the first spring 25 and the second spring 26 differ by one order of magnitude, which can enable the first rotating rod 212 and the second rotating rod 242 to rotate asynchronously, thereby improving the adjustment range of the bristles.

[0085] In the embodiment, according to the cross-sectional characteristics of African shrimp bristles, the cross section of the bristle 43 is arranged in an eccentric ellipse shape with an eccentricity of 10-100 μm, preferably 50 μm. When the torsion mechanism 20 is driven by the driving mechanism 30, the spacing and the included angle between adjacent bristles can be changed, like a folding fan unfolding, and each bristle is like a folding fan rib. When the spacing between adjacent bristles 43 changes, the pressure drop, the blockage ratio and the filtration efficiency of the bristle assembly 40 also change, thereby adapting to different working conditions.

[0086] In the embodiment, the first rotating rod 212 and the second rotating rod 242 are provided with a transmission belt 50, one end of the transmission belt 50 is configured to be fixedly connected with the first rotating rod 212, the other end of the transmission belt 50 is configured to be fixedly connected with the second rotating rod 242, the transmission belt 50 is arranged around the bristle 43, and the first rotating rod 212 and the second rotating rod 242 are configured to be linked with the bristle 43 through the transmission belt 50.

[0087] In the embodiment, the first connecting disc 211 is provided with a first limiting component 2111, and the third connecting disc 232 is provided with a second limiting component 2321. One end of the first limiting component 2111 is fixedly connected with the first connecting disc 211, and the other end of the first limiting component 2111 has a spacing with the second connecting disc 231. One end of the second limiting component 2321 is fixedly connected with the third connecting disc 232, and the other end of the second limiting component 2321 has a spacing with the fourth connecting disc 241.

[0088] The first limiting component 2111 is used to limit the compression amount of the first spring 25, and the second limiting component 2321 is used to limit the compression amount of the second spring 26, so as to limit the rotation amount of the first rotating rod 212 and the second rotating rod 242, thereby avoiding motion interference.

[0089] Another reason is that the elastic coefficient of the first spring 25 is much larger than that of the second spring 26, and the elastic force generated when the second spring 26 is compressed can only cause a slight displacement of the first movable plate 23. When the second limiting part 2321 contacts the second movable plate 24, the second movable plate 24 will not continue to rotate. At this time, continuing to pull the sub-pull rope 34 can make the first movable plate 23 better displace to the direction of the connecting plate 21.

[0090] In the embodiment, the first limiting part 2111 is inserted into the first spring 25, and the first connecting disc 211 and the second connecting disc 231 are both provided with a first slot, and the end of the first spring 25 is inserted into the first slot.

[0091] The second limiting part 2321 is inserted into the second spring 26, and the third connecting disc 232 and the fourth connecting disc 241 are both provided with a second slot, and the end of the second spring 26 is inserted into the second slot.

[0092] In use: the steering wheel drives the wire reel to rotate, so that the main pull rope 33 pulls the collection component 32 to move, the collection component 32 pulls the sub-pull rope 34, the sub-pull rope 34 moves at the same time to give the stop rod 341 a pulling force, the stop rod 341 drives the second movable plate 24 to translate to the direction of the connecting plate 21, at this time, the second spring 26 is compressed, the fourth connecting disc 241 is twisted, and the second rotating rod 242 rotates with the fourth connecting disc 241 to drive part of the bristles 43 to rotate under the transmission belt 50.

[0093] With the increase of the compression amount of the second spring 26, the pressure on the first spring 25 also increases. Once the first spring 25 is compressed, the first movable plate 23 moves to the direction of the connecting plate 21, and at the same time, the first connecting disc 211 is twisted to drive the first rotating rod 212 to rotate, and the first rotating rod 212 drives part of the bristles 43 to rotate. Due to the staggered distribution of the first connecting rod 28 and the second connecting rod 29, the directions of rotation of the first rotating rod 212 and the second rotating rod 242 are opposite.

[0094] Due to the asynchronous rotation of the first rotating rod 212 and the second rotating rod 242 realized by the torsion mechanism 20, the adjustment range of the bristles is large, and the flexibility is good.

[0095] As shown in Figures 14-18 The present disclosure also provides a mechanical arm, which comprises an arm body 60, and further comprises two bionic multi-linkage special-shaped bristle filtering palms.

[0096] Further, the arm body 60 comprises a main arm body 61 and a branch arm body 62, the main arm body 61 is connected to one of the bionic multi-linkage special-shaped bristle filtering palms through a pin shaft and a torsion spring to realize a hinged connection with self-resetting capability, and one end of the branch arm body 62 is fixedly connected to the bionic multi-linkage special-shaped bristle filtering palm through a bolt.

[0097] Further, the other end of the branch arm body 62 is also connected to another bionic multi-linkage special-shaped bristle filtering palm through a pin shaft and a torsional spring to achieve a self-resetting hinged connection.

[0098] Further, the main arm body 61 is hingedly connected by multiple joint arms, the joint arms are provided with movable grooves 611, the movable grooves 611 can provide a movable space for adjacent joint arms and retaining frames, etc., bionic buffer blocks 612 are fixedly arranged in the movable grooves 611, the bionic buffer blocks 612 are adopted, the bionic buffer blocks 612 are provided with bionic lines, the bionic lines imitate the joint connections of African shrimps, the bionic buffer blocks 612 are provided with multiple circular arc grooves 613 in the middle, the radii of the circular arc grooves 613 are 45°, and the spacing between the circular arc grooves 613 is 5 mm. The bionic buffer blocks 612 can effectively reduce the impact during the configuration transformation.

[0099] The mechanical arm further comprises a first pull rope device and a second pull rope device, the first pull rope device is used to pull the branch arm body 62, so as to adjust the configuration of the main arm body 61. The second pull rope device is used to pull the bionic multi-linkage special-shaped bristle filtering palm hingedly connected to the branch arm body 62, so as to control the bionic multi-linkage special-shaped bristle filtering palm to move towards or away from another bionic multi-linkage special-shaped bristle filtering palm.

[0100] The mechanical arm has three different configurations, and can flexibly transform the configuration under different working conditions to filter particles of different concentrations and different sizes.

[0101] Figure 14 It is a perspective view of the mechanical arm in the first configuration, the first configuration has a large working space and flexible movement.

[0102] Figure 15 It is a perspective view of the mechanical arm in the second configuration, the second configuration has moderate stability and working space.

[0103] Figure 16 It is a perspective view of the mechanical arm in the third configuration, the third configuration has the strongest stability and the smallest working space.

[0104] Although the embodiments of the present application have been shown and described above, the protection scope of the present application is not limited thereto, any changes or replacements not through creative labor should be covered in the protection scope of the present application; unless explicitly stated, any element, action or instruction used in the present application should not be interpreted as critical or necessary.

Claims

1. A bionic multi-linkage special-shaped bristle filter palm, characterized in that, The application relates to a hair curler, which comprises a holder, a torsion mechanism fixedly arranged on the holder, a plurality of bristle assemblies arranged on the torsion mechanism and having gaps between adjacent bristle assemblies, and a driving mechanism for driving the torsion mechanism to rotate. The torsion mechanism comprises a connecting plate fixedly connected with the holder, a first guide shaft fixedly connected with the holder, a first movable plate located behind the connecting plate and slidably connected with the first guide shaft, a second movable plate located behind the first movable plate and slidably connected with the first guide shaft, a first spring located between the connecting plate and the first movable plate, and a second spring located between the first movable plate and the second movable plate. The connecting plate is rotatably provided with a first connecting disc, the first movable plate is rotatably provided with a second connecting disc and a third connecting disc, the second movable plate is rotatably provided with a fourth connecting disc, the two ends of the first spring are connected with the first connecting disc and the second connecting disc respectively, and the two ends of the second spring are connected with the third connecting disc and the fourth connecting disc respectively. The bristle assembly comprises at least one second guide shaft, a circular-arc supporting frame slidably arranged on the at least one second guide shaft, and a bristle slidably arranged on the circular-arc supporting frame. The cross section of the bristle is eccentric ellipse. The first connecting disc is provided with a first limiting part for limiting the compression amount of the first spring, and the first limiting part is inserted into the first spring. The third connecting disc is provided with a second limiting part for limiting the compression amount of the second spring, and the second limiting part is inserted into the second spring. The first connecting disc, the second connecting disc, the third connecting disc and the fourth connecting disc are all provided with a plurality of joint bearings, a plurality of first connecting rods are arranged between the first connecting disc and the second connecting disc, the first connecting disc and the second connecting disc are both movably connected with the plurality of first connecting rods through the plurality of joint bearings on the first connecting disc and the second connecting disc respectively, a plurality of second connecting rods are arranged between the third connecting disc and the fourth connecting disc, and the third connecting disc and the fourth connecting disc are both movably connected with the plurality of second connecting rods through the plurality of joint bearings on the third connecting disc and the fourth connecting disc respectively. When the torsion mechanism is not driven by the driving mechanism, the plurality of joint bearings on the first connecting disc are distributed in a staggered manner with the plurality of joint bearings on the second connecting disc, so that the plurality of first connecting rods are inclined and distributed in a spiral shape. When the torsion mechanism is not driven by the driving mechanism, the plurality of joint bearings on the third connecting disc are distributed in a staggered manner with the plurality of joint bearings on the fourth connecting disc, so that the plurality of second connecting rods are inclined and distributed in a spiral shape. The plurality of first connecting rods and the plurality of second connecting rods are distributed in a staggered manner. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The first connecting disc is fixedly provided with a first rotating rod, and the fourth connecting disc is fixedly provided with a second rotating rod, and the bristle assembly is located between the first rotating rod and the second rotating rod, and the bristle assembly is configured to be linked with the first rotating rod and the second rotating rod; At least one transmission belt is arranged between the first rotating rod and the second rotating rod, one end of the at least one transmission belt is configured to be fixedly connected with the first rotating rod, the other end of the at least one transmission belt is configured to be fixedly connected with the second rotating rod, the at least one transmission belt is arranged around the bristle, and the first rotating rod and the second rotating rod are configured to be linked with the bristle through the at least one transmission belt.

2. A bionic multi-linkage special-shaped bristle filtering palm according to claim 1, characterized in that, The connecting plate, the first movable plate and the second movable plate are all connected with the at least one second guide shaft sliding pair.

3. A bionic multi-linkage special-shaped bristle filtering palm according to claim 2, characterized in that, The driving mechanism comprises: A sliding groove configured to be fixedly connected with the holder; A collection component configured to be slidingly connected with the sliding groove; A main pull rope, one end of which is configured to be fixedly connected with the collection component; A sub-pull rope, one end of which is configured to be fixedly connected with the collection component, and the other end of which is arranged on the second movable plate, the sub-pull rope being configured to move along with the collection component and drive the second movable plate to move towards the connecting plate; and A pull rope device fixedly arranged on the holder; Wherein, the other end of the main pull rope is configured to be connected with the pull rope device, and the pull rope device is used to pull the main pull rope and the sub-pull rope, so as to make the collection component slide towards the pull rope device.

4. A bionic multi-linkage special-shaped bristle filtering palm according to claim 2, characterized in that, The elastic coefficient of the first spring is greater than the elastic coefficient of the second spring.

5. A bionic multi-linkage special-shaped bristle filtering palm according to claim 3, characterized in that, The eccentricity of the bristle is 10-100 μm.

6. A bionic multi-linkage special-shaped bristle filtering palm according to claim 2, characterized in that, One end of the first limiting component is fixedly connected with the first connecting disc, and the other end of the first limiting component has a spacing with the second connecting disc; One end of the second limiting component is fixedly connected with the third connecting disc, and the other end of the second limiting component has a spacing with the fourth connecting disc.

7. A bionic multi-linkage special-shaped bristle filtering palm according to claim 6, characterized in that, The first connecting disc and the second connecting disc are both provided with a first insertion slot, and the end of the first spring is inserted into the first insertion slot; The third connecting disc and the fourth connecting disc are both provided with a second insertion slot, and the end of the second spring is inserted into the second insertion slot.

8. A robot arm comprising an arm body, characterized in that The application further comprises the bionic multi-linkage special-shaped bristle filter palm as claimed in any one of claims 1-7.

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