Bionic jellyfish type middle-layer water area garbage collection mechanism and robot

Abstract

The invention discloses a bionic jellyfish type middle-layer water area garbage collection mechanism and a robot thereof. The bionic jellyfish type middle-layer water area garbage collection mechanism comprises an umbrella body with an opening, a plurality of soft tentacles hinged to the end edge, away from the opening, of the umbrella body, a collector communicated with the opening and a driving part connected with the umbrella body. The driving piece is used for driving the soft tentacle to periodically expand or contract around the umbrella part body, so that water flow and garbage in the middle-layer water area are guided to converge from the opening and flow into the collector, and the umbrella part body is pushed to advance towards a preset track. The soft tentacles can achieve periodic expansion and contraction movement, the eddy current effect is generated during expansion, suspended garbage is guided in, and the pushing force generated by extruding the containing cavity is utilized during contraction, so that autonomous advancing is achieved; according to the invention, while the garbage collection efficiency is improved, the interference on the habitat of aquatic organisms is also obviously reduced, the problems of aquatic plant winding and fish disturbance are avoided, and the dual targets of water area cleaning and ecological protection are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater environmental protection equipment, and in particular to a bionic jellyfish-type mid-water garbage collection mechanism and robot. Background Art

[0002] Every year, massive amounts of plastic waste continue to pour into oceans and inland waters. These plastic fragments, with a density similar to that of water, are carried by currents across different water layers, gradually forming an irreversible ecological crisis. The mid-water layer (typically 1-10 meters underwater) is particularly vulnerable to the current pollution control system due to the long-term suspension of large amounts of large plastic waste, such as bottles and fishing nets. This waste cannot be effectively intercepted by surface pollution interception equipment, nor can it be removed by bottom dredging technologies. Traditional mechanical cleaning methods (such as propeller-driven vessels and suction filters) are prone to entanglement in aquatic plants and damage fish habitats, further exacerbating ecological vulnerability.

[0003] Faced with the challenges of managing the mid-layer waters, mainstream cleaning equipment mostly focuses on the surface or nearshore areas. Their design principles (such as propeller propulsion and bottom adsorption) do not match the characteristics of suspended garbage in the mid-layer waters and cannot effectively reach the mid-layer waters. Bionic flexible propellers or dynamic filter self-cleaning technologies are limited by the complex water flow disturbances in the mid-layer waters (such as turbulence and multi-directional flow), which leads to a decrease in the power efficiency of the equipment and makes it difficult to adapt to the dynamic environment. In terms of international research, European and American teams focus on bionic cluster technology or surface eddy current aggregation devices. Although the former can simulate biological movement, the manufacturing cost is high, and the latter cannot solve the mid-layer problem because its functional design focuses on surface garbage. Although Japanese research has explored degradable materials and flexible drive mechanisms, the equipment lacks durability in complex water environments and is difficult to implement in engineering. These technical bottlenecks have jointly led to the long-term blank state of "no effective solution" in the management of mid-layer waters.

[0004] In summary, the limitations of traditional management methods make it difficult to meet the protection needs of complex aquatic ecosystems: limited operating depths lead to gaps in the management area, and the strong disturbance caused by mechanical interventions leads to secondary ecological risks (such as accidental damage to organisms and habitat destruction). In this context, technological iteration of mid-water waste management is particularly urgent. Summary of the Invention

[0005] The embodiment of the present invention provides a bionic jellyfish-like mid-water garbage collection mechanism and robot to solve the technical problem in the prior art that it is unable to simultaneously meet the requirements of protecting the complex water ecosystem in the mid-water and efficiently collecting garbage.

[0006] In view of the above technical problems, an embodiment of the present invention provides a bionic jellyfish-type mid-water garbage collection mechanism, comprising an umbrella body with an opening, a plurality of soft tentacles hinged on the end edge of the umbrella body away from the opening, a collector connected to the opening, and a driving member connected to the umbrella body; the collector is arranged in a accommodating cavity surrounded by the umbrella body and the soft tentacles, and the driving member is used to drive the soft tentacles to periodically expand or contract around the umbrella body, thereby guiding the water flow and garbage in the mid-water area to converge from the opening into the collector, and push the umbrella body to move forward along a preset trajectory.

[0007] Optionally, the driving member includes an active driving member and a driven driving member, the active driving member includes a driving motor, a crank-connecting rod assembly connected to an output end of the driving motor, and a linkage member connected to the crank-connecting rod assembly; the driven driving member is hinged to the linkage member;

[0008] The crank-connecting rod assembly includes a first handle rod and a second handle rod, wherein one end of the first handle rod away from the second handle rod is hinged to the outer wall of the drive motor, one end of the second handle rod close to the first handle rod is hinged to the first handle rod, and one end of the second handle rod away from the first handle rod is hinged to the linkage member.

[0009] Optionally, the linkage member includes a set of push rods hinged to the second handle rod, a first ring slidably connected to an end of the push rod close to the second handle rod, and a second ring fixedly connected to an end of the push rod away from the second handle rod;

[0010] The driven driving element is movably connected between the first ring and the second ring.

[0011] Optionally, it further includes a frame body detachably connected to the bottom end of the umbrella body, the first ring is sleeved on the outer wall of the frame body, and the collector is detachably connected to an end of the frame body away from the opening.

[0012] Optionally, the driven driving element includes a plurality of connecting rod units, each connecting rod unit includes a first connecting rod, a second connecting rod and a third connecting rod, the first end of the first connecting rod is hinged to the first ring, the first end of the second connecting rod is hinged to the second ring, and the second end of the first connecting rod, the second end of the second connecting rod and the first end of the third connecting rod are hinged;

[0013] The second end of the third connecting rod abuts against the inner wall of the soft tentacle.

[0014] Optionally, the number of the connecting rod units is set to 6 groups, and the 6 groups of connecting rod units are evenly arranged on the periphery of the driven driving element.

[0015] Optionally, the collector includes a plurality of filter screens with different pore sizes, and the pore size of the filter screens ranges from 1 to 10 mm.

[0016] Optionally, the soft tentacle includes a basic connecting section, an elastic arc section and a flexible fin section connected in sequence; the basic connecting section is hinged to the end edge of the umbrella body away from the opening, and the second end of the third connecting rod abuts the end face of the elastic arc section toward the accommodating cavity.

[0017] Optionally, it also includes a controller, an acoustic wave obstacle avoidance sensor, a gyroscope, a pressure sensor and a propeller, the output ends of the acoustic wave obstacle avoidance sensor, the gyroscope, the pressure sensor and the propeller are electrically connected to the input end of the controller, and the output end of the controller is connected to the drive motor.

[0018] The present invention also provides a robot comprising the above-mentioned bionic jellyfish-type mid-water garbage collection mechanism.

[0019] In the present invention, when the driver drives the soft tentacles to cyclically expand around the umbrella body, the outward expansion of the tentacles generates directional water flow disturbances, forming a vortex effect. This causes the water and suspended debris in the mid-water layer to be precisely gathered at the opening and directed into the collector through the diversion channel. This low-disturbance propulsion method effectively avoids damage to aquatic habitats and reduces disruption to the ecosystem. When the driver drives the soft tentacles to cyclically contract around the umbrella body, the soft tentacles squeeze the accommodating cavity, causing the volume of the accommodating cavity to decrease. The water in the accommodating cavity and the collector is squeezed out of the cavity, generating thrust. This thrust propels the water toward the outside of the umbrella body, creating a reaction force that propels the umbrella body forward along a predetermined trajectory. In this way, the cyclical "expansion-contraction" motion of the soft tentacles not only achieves low-disturbance and efficient propulsion, but also simultaneously completes the continuous guided collection of suspended debris in the mid-water layer through a biomimetic motion mode. This effectively avoids the damage to aquatic habitats caused by traditional mechanical devices (such as entanglement with water plants and disturbing fish), significantly reducing the risk of ecological interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. 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 paying any creative labor.

[0021] Figure 1 This is an overall structural diagram of a bionic jellyfish-like mid-water garbage collection mechanism in one embodiment of the present invention;

[0022] Figure 2This is an overall structural diagram of a bionic jellyfish-like mid-water garbage collection mechanism in another embodiment of the present invention;

[0023] Figure 3 is a structural diagram of an active drive element of a bionic jellyfish-type mid-water garbage collection mechanism in another embodiment of the present invention;

[0024] Figure 4 is a partial structural diagram of a driving member of a bionic jellyfish-type mid-water garbage collection mechanism in another embodiment of the present invention;

[0025] Figure 5 It is a partial structural diagram of the umbrella body of a bionic jellyfish-type mid-water garbage collection mechanism in another embodiment of the present invention.

[0026] The reference numerals in the specification are as follows:

[0027] 1- umbrella body, 11- opening, 2- soft tentacle, 21- basic connecting section, 22- elastic arc section, 23- flexible fin section, 3- collector, 4- driving member, 41- active driving element, 411- driving motor, 412- linkage member, 4121- pushing rod, 4122- first ring, 4123- second ring, 413- first handle rod, 414- second handle rod, 42- driven driving element, 421- first connecting rod, 422- second connecting rod, 423- third connecting rod, 5- accommodating chamber, 6- frame body, 7- controller, 8- acoustic obstacle avoidance sensor, 9- gyroscope, 10- pressure sensor, 12- propeller. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] In the description of the present invention, it should be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0030] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0031] like Figures 1 to 2 As shown, one embodiment of the present invention provides a bionic jellyfish-like mid-water garbage collection mechanism, comprising an umbrella body 1 having an opening 11, a plurality of soft tentacles 2 hingedly connected to the end edge of the umbrella body 1 away from the opening 11, a collector 3 connected to the opening 11, and a drive member 4 connected to the umbrella body 1. The collector 3 is disposed within a receiving cavity 5 defined by the umbrella body 1 and the soft tentacles 2. The drive member 4 is configured to drive the soft tentacles 2 to periodically expand or contract around the umbrella body 1, thereby guiding the flow of water and garbage in the mid-water to converge from the opening 11 into the collector 3 and propel the umbrella body 1 forward along a predetermined trajectory. The opening 11 for water flow and suspended garbage to enter is provided at the top of the umbrella body 1, and the streamlined design of the umbrella body can reduce water flow resistance. Multiple soft tentacles 2 are hingedly connected to the bottom end of the umbrella body 1. These tentacles 2 are arranged around the bottom end of the umbrella body 1 to form a chamber 5 for mounting a collector 3. The drive member 4 is also mounted within the chamber 5. The opening 11 and the collector 3 form a diversion channel. The soft tentacles 2 can be made of silicone rubber, which exhibits excellent flexibility and elasticity, enabling them to simulate the oscillation of real jellyfish tentacles (oscillating approximately perpendicular to the central axis of the umbrella body 1).

[0032] In the present invention, when the driving member 4 drives the soft tentacles 2 to expand periodically around the umbrella body 1, directional water flow disturbances are generated during the outward expansion of the tentacles, forming a vortex effect, which causes the water flow and suspended garbage in the middle water area to be accurately gathered at the opening 11 and introduced into the collector 3 through the diversion channel. This low-disturbance propulsion method effectively avoids damage to the habitat of aquatic organisms and reduces interference with the ecosystem. When the driving member 4 drives the soft tentacles 2 to contract periodically around the umbrella body 1, the soft tentacles 2 squeeze the accommodating chamber 5, causing the volume of the accommodating chamber 5 to decrease. The water flow in the accommodating chamber 5 and the collector 3 is squeezed out of the cavity, generating thrust. This thrust pushes the water flow to the outside of the umbrella body 1, forming a reaction force, and then pushing the umbrella body forward along a preset trajectory. In this way, the "expansion-contraction" periodic movement of the soft tentacle 2 not only achieves low-disturbance and efficient propulsion, but also synchronously completes the continuous guidance and collection of garbage through the bionic motion mode, effectively avoiding the damage of traditional mechanical devices to the habitat of aquatic organisms (such as entanglement in water plants and disturbing fish), and significantly reducing the risk of ecological intervention.

[0033] In one embodiment, if Figures 1 to 4 As shown, the driving member 4 includes an active driving element 41 and a driven driving element 42, the active driving element 41 includes a driving motor 411, a crank-connecting rod assembly connected to the output end of the driving motor 411, and a linkage 412 connected to the crank-connecting rod assembly; the driven driving element 42 is hinged to the linkage 412; the crank-connecting rod assembly includes a first handle rod 413 and a second handle rod 414, the end of the first handle rod 413 away from the second handle rod 414 is hinged to the outer wall of the driving motor 411, the end of the second handle rod 414 close to the first handle rod 413 is hinged to the first handle rod 413, and the end of the second handle rod 414 away from the first handle rod 413 is hinged to the linkage 412. It can be understood that the active drive element 41 is composed of a drive motor 411 (which can be a linear reciprocating motor, set according to demand), a crank-connecting rod assembly and a linkage 412. When the drive motor 411 drives the crank-connecting rod assembly seat to rotate, the circular motion of the crank-connecting rod assembly is converted into the linear motion of the driven drive element 42 through geometric constraints (the driven drive element 42 performs linear motion along the direction of the central axis of the umbrella body 1). This linear motion is further transmitted to the soft tentacle 2 through the driven drive element 42, so that the tentacle can achieve periodic expansion and contraction. This structure can accurately control the movement of the soft tentacle 2, thereby effectively guiding water and garbage into the collector 3. At the same time, this conversion from rotational motion to linear motion also makes the entire drive system more compact and efficient, which helps to reduce energy loss.

[0034] In one embodiment, if Figure 1 and Figure 3As shown, the linkage 412 includes a set of push rods 4121 hingedly connected to the second handle 414, a first ring 4122 slidably connected to the push rod 4121 at the end near the second handle 414, and a second ring 4123 fixedly connected to the push rod 4121 at the end away from the second handle 414. The driven drive element 42 is movably connected between the first ring 4122 and the second ring 4123. As can be understood, when the circular motion of the crank-connecting rod assembly is converted into linear motion of the driven drive element 42 through geometric constraints, the linkage 412 transmits force to the push rods 4121, thereby driving the push rods 4121 and the second ring 4123 to move linearly along the central axis of the umbrella body 1. The first ring 4122, the second ring 4123, and the set of push rods 4121 form a mounting frame for accommodating the collector 3. The second handle 414 is in sliding contact with the inner wall of the first ring 4122.

[0035] In one embodiment, if Figures 1 to 3 As shown, the bionic jellyfish-like mid-water garbage collection mechanism further includes a frame body 6 detachably connected to the bottom end of the umbrella body 1, the first circular ring 4122 is sleeved on the outer wall of the frame body 6, and the collector 3 is detachably connected to the end of the frame body 6 away from the opening 11. It is understandable that the detachable connection method between the frame body 6 and the bottom end of the umbrella body 1, and the detachable connection method between the collector 3 and the frame body 6 include but are not limited to a snap connection, a bolt connection, an elastic snap ring, a wedge-locking connection, etc. This connection method allows a single person to complete component installation, replacement, or equipment maintenance within a few minutes.

[0036] In one embodiment, if Figure 1 and Figure 4As shown, the driven drive element 42 includes multiple groups of connecting rod units, each group of the connecting rod units includes a first connecting rod 421, a second connecting rod 422 and a third connecting rod 423, the first end of the first connecting rod 421 is hinged to the first ring 4122, the first end of the second connecting rod 422 is hinged to the second ring 4123, the second end of the first connecting rod 421, the second end of the second connecting rod 422 and the first end of the third connecting rod 423 are hinged; the second end of the third connecting rod 423 abuts against the inner wall of the soft tentacle 2. It can be understood that when the circular motion of the crank-connecting rod assembly is converted into the linear motion of the driven drive element 42 through geometric constraints, that is, the push rod 4121 makes a linear motion along the direction of the central axis of the umbrella body 1, at this time, the second ring 4123 is fixedly connected to the push rod 4121, and the second ring 4123 makes a linear motion with the push rod 4121, while the first ring 4122 remains stationary (this can be achieved by fixing the first ring 4122 on the outer wall of the frame body 6, or fixing the first ring 4122 on the outer shell wall of the drive motor 411), and the push rod 4121 slides along the inner ring wall of the first ring 4122. At this time, while the second connecting rod 422 rotates around the second ring 4123, it pushes the first connecting rod 421 to rotate around the first ring 4122, thereby driving the third connecting rod 423 to expand or contract, and the soft tentacle 2 swings periodically. The hinge points of the three-link form a nonlinear transmission chain, so that the swing trajectory of the soft tentacle 2 is an arc that is approximately perpendicular to the central axis of the umbrella (highly consistent with the natural movement of the jellyfish tentacles), maximizing the vortex generation efficiency while reducing the interference of lateral vibration on the stability of the mechanism.

[0037] In one embodiment, if Figure 2 and Figure 4As shown, the number of the connecting rod units is set to 6 groups, and the 6 groups of connecting rod units are evenly arranged on the periphery of the driven drive element 42. It can be understood that the six groups of connecting rod units are evenly arranged on the periphery of the driven drive element, forming a balanced distributed force network, which significantly improves the reliability and stability of the drive mechanism. This layout ensures that each group of connecting rod units can participate in the movement of the soft tentacle 2, evenly transmit power, and achieve smooth and coordinated swinging of the soft tentacle 2. In addition, this design also gives the system a certain fault tolerance. Even if a connecting rod unit fails due to fatigue, damage or other reasons, the adjacent connecting rod units can temporarily share its load through elastic deformation, maintain the basic movement function of the tentacle, and prevent the immediate failure of the entire drive system. The symmetrically distributed connecting rod units help to offset asymmetric loads, such as water flow impact or uneven garbage accumulation, thereby preventing the umbrella body 1 from deflecting or losing balance in posture, ensuring that the swing trajectory of the soft tentacle 2 maintains strict periodic symmetry, and improving the accuracy of vortex guidance of garbage. In addition, the layout of these six connecting rod units mimics the physiological structure of jellyfish tentacles and exhibits radial symmetry, making the swing frequency and amplitude of the soft tentacle 2 highly consistent with those of real jellyfish, further reducing the stress response stimulation to aquatic organisms and achieving harmonious interaction with the natural environment.

[0038] In one embodiment, if Figures 1 to 5 As shown, the collector 3 includes a variety of filter screens with different pore sizes (not shown), and the pore size range of the filter screens is 1-10 mm. Understandably, this design significantly improves the collector 3's ability to handle garbage of different particle sizes. The pore size of the filter screen can be selected and replaced according to actual needs to adapt to the cleaning of suspended garbage of different sizes and concentrations. This flexibility enables the collector 3 to efficiently capture and separate tiny particles in the water, thereby improving the accuracy and efficiency of garbage collection. In addition, by using filter screens with different pore sizes, the collector 3 can better adapt to different water environments and garbage types, whether it is cleaning large-sized plastic waste or fine microplastics, it can be effectively collected. This multi-pore filter screen design not only enhances the versatility of the collector 3, but also improves the adaptability and practicality of the entire garbage collection mechanism.

[0039] Understandably, in a specific embodiment, the collector 3 can use a three-level graded filter (coarse filter 10mm, medium filter 5mm, fine filter 1mm). The coarse filter intercepts large-sized garbage such as bottles and fishing nets, the medium filter filters medium-sized floating objects such as foam and wood blocks, and the fine filter intercepts plastic particles and suspended particles, achieving full particle size coverage of 1-10mm. For areas with dense fishing nets, a 5mm medium filter is replaced to intercept abandoned fishing gear, and for aquaculture areas, a 1mm fine filter is used to remove feed residues. The fine filter intercepts microplastic particles (diameter <5mm) to prevent them from spreading with ocean currents and forming "plastic snow". Combined with the detachable design of the collector 3, a closed-loop recovery of pollutants is achieved.

[0040] In one embodiment, if Figure 1 and Figure 2 As shown, the soft tentacle 2 includes a basic connecting section 21, an elastic arc section 22, and a flexible fin section 23 connected in sequence; the basic connecting section 21 is hinged to the end edge of the umbrella body 1 away from the opening 11, and the second end of the third connecting rod 423 abuts against the end face of the elastic arc section 22 facing the accommodating cavity 5. It can be understood that the basic connecting section 21 ensures that the soft tentacle 2 can effectively swing around the umbrella body 1 by hingedly connecting the bottom end of the umbrella body 1. The elastic arc section 22 generates controllable bending under the push of the third connecting rod 423, so that the tentacle can produce elastic deformation when encountering aquatic organisms or habitat structures, rather than rigid collision. The impact energy when the tentacle contacts the organism is absorbed by flexible deformation, avoiding mechanical damage caused by rigid collision. The flexible fin portion 23 reduces fluid resistance through its wavy surface, and the three work together to form a "rigid and flexible" movement mode: the root of the soft tentacle 2 is rigidly driven, the middle part elastically deforms to adapt to water flow disturbances, and the flexibility of the end reduces the resistance of the soft tentacle 2 when it swings, increases the flexibility of the tentacle, expands the vortex coverage, and significantly improves the garbage capture efficiency.

[0041] In one embodiment, if Figure 1As shown, the bionic jellyfish-like mid-water garbage collection mechanism also includes a controller 7, an acoustic obstacle avoidance sensor 8, a gyroscope 9, a pressure sensor 10, and a propeller 12. The outputs of the acoustic obstacle avoidance sensor 8, gyroscope 9, pressure sensor 10, and propeller 12 are electrically connected to the input of the controller 7, and the output of the controller 7 is connected to the drive motor 411. It can be understood that the acoustic obstacle avoidance sensor 8 detects obstacles ahead by emitting and receiving sound waves. When an obstacle is detected, the sensor transmits this information to the controller 7, which then adjusts the robot's path to avoid collisions. The gyroscope 9 can be, but is not limited to, a six-axis IMU, used to monitor and maintain the mechanism's balance and posture, ensuring stability during movement, which is crucial for maintaining collection efficiency and avoiding accidental damage. The pressure sensor 10 measures water pressure to determine the depth of the bionic jellyfish-like mid-water garbage collection mechanism, which is important for collecting garbage at a specific depth and also helps maintain the robot's stability in the water. Propeller 12 provides propulsion, enabling the mechanism to move through the water. The output of propeller 12 is electrically connected to the input of controller 7, allowing the movement of propeller 12 to be precisely controlled by controller 7 to achieve the desired trajectory and speed. As the core of the system, controller 7 receives data from acoustic obstacle avoidance sensor 8, gyroscope 9, and pressure sensor 10. Based on this information, it adjusts the operating state of drive motor 411 and propeller 12, achieving precise control of the movement of the bionic jellyfish-like mid-water waste collection mechanism. Furthermore, a power supply is required to power all electrical components and ensure that the mechanism can effectively perform its designed task.

[0042] The present invention also provides a robot, including the above-mentioned bionic jellyfish-type mid-water garbage collection mechanism, the bionic jellyfish-type mid-water garbage collection mechanism includes an umbrella body 1 with an opening 11, a plurality of soft tentacles 2 hinged on the end edge of the umbrella body 1 away from the opening 11, a collector 3 connected to the opening 11, and a driving member 4 connected to the umbrella body 1; the collector 3 is arranged in a accommodating cavity 5 surrounded by the umbrella body 1 and the soft tentacles 2, and the driving member 4 is used to drive the soft tentacles 2 to expand or contract around the umbrella body 1, thereby guiding the water flow and garbage in the mid-water layer to converge from the opening 11 into the collector 3, and push the umbrella body 1 to move forward along a preset trajectory.

[0043] In the robot of the above-described embodiment of the present invention, the soft tentacles 2 are driven by the drive member 4 to periodically expand around the umbrella body 1. During the outward expansion of the tentacles, directional water flow disturbances are generated, forming a vortex effect, which causes the water flow and suspended debris in the middle water area to be precisely gathered at the opening 11 and introduced into the collector 3 through the diversion channel. This low-disturbance propulsion method effectively avoids damage to the aquatic habitat and reduces interference with the ecosystem. When the drive member 4 drives the soft tentacles 2 to periodically contract around the umbrella body 1, the soft tentacles 2 squeeze the accommodating chamber 5, causing the volume of the accommodating chamber 5 to decrease. The water flow in the accommodating chamber 5 and the collector 3 is squeezed out of the cavity, generating thrust. This thrust propels the water flow to the outside of the umbrella body 1, forming a reaction force, which in turn propels the umbrella body forward along a preset trajectory. In this way, the "expansion-contraction" periodic movement of the soft tentacle 2 not only achieves low-disturbance and efficient propulsion, but also synchronously completes the continuous guidance and collection of garbage through the bionic motion mode, effectively avoiding the damage of traditional mechanical devices to the habitat of aquatic organisms (such as entanglement in water plants and disturbing fish), and significantly reducing the risk of ecological intervention.

[0044] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A bionic jellyfish-like mid-water garbage collection mechanism, characterized in that: The invention comprises an umbrella body (1) having an opening (11), a plurality of soft tentacles (2) hingedly connected to the end edge of the umbrella body (1) away from the opening (11), a collector (3) connected to the opening (11), and a driving member (4) connected to the umbrella body (1); the collector (3) is arranged in a receiving cavity (5) surrounded by the umbrella body (1) and the soft tentacles (2); the driving member (4) is used to drive the soft tentacles (2) to expand or contract periodically around the umbrella body (1), thereby guiding the water flow and garbage in the middle water area to converge from the opening (11) and flow into the collector (3), and push the umbrella body (1) to move forward along a preset trajectory.

2. The bionic jellyfish-like mid-water garbage collection mechanism according to claim 1, characterized in that: The driving member (4) comprises an active driving element (41) and a passive driving element (42); the active driving element (41) comprises a driving motor (411), a crank-connecting rod assembly connected to an output end of the driving motor (411), and a linkage member (412) connected to the crank-connecting rod assembly; the passive driving element (42) is hingedly connected to the linkage member (412); The crank-connecting rod assembly includes a first handle rod (413) and a second handle rod (414), wherein an end of the first handle rod (413) away from the second handle rod (414) is hinged to the outer wall of the drive motor (411), an end of the second handle rod (414) close to the first handle rod (413) is hinged to the first handle rod (413), and an end of the second handle rod (414) away from the first handle rod (413) is hinged to the linkage member (412).

3. The bionic jellyfish-like mid-water garbage collection mechanism according to claim 2, characterized in that: The linkage member (412) includes a set of push rods (4121) hinged to the second handle rod (414), a first ring (4122) slidably connected to one end of the push rod (4121) close to the second handle rod (414), and a second ring (4123) fixedly connected to one end of the push rod (4121) away from the second handle rod (414); The driven driving element (42) is movably connected between the first circular ring (4122) and the second circular ring (4123).

4. The bionic jellyfish-like mid-water garbage collection mechanism according to claim 3, characterized in that: It also includes a frame body (6) detachably connected to the bottom end of the umbrella body (1), the first ring (4122) is sleeved on the outer wall of the frame body (6), and the collector (3) is detachably connected to the end of the frame body (6) away from the opening (11).

5. The bionic jellyfish-like mid-water garbage collection mechanism according to claim 3, characterized in that: The driven driving element (42) includes a plurality of connecting rod units, each of the connecting rod units includes a first connecting rod (421), a second connecting rod (422) and a third connecting rod (423), the first end of the first connecting rod (421) is hinged to the first circular ring (4122), the first end of the second connecting rod (422) is hinged to the second circular ring (4123), and the second end of the first connecting rod (421), the second end of the second connecting rod (422) and the first end of the third connecting rod (423) are hinged; The second end of the third connecting rod (423) abuts against the inner wall of the soft tentacle (2).

6. The bionic jellyfish-like mid-water garbage collection mechanism according to claim 5, characterized in that: The number of the connecting rod units is set to 6 groups, and the 6 groups of connecting rod units are evenly arranged on the periphery of the driven driving element (42).

7. The bionic jellyfish-like mid-water garbage collection mechanism according to claim 4, characterized in that: The collector (3) comprises a plurality of filter screens with different pore sizes, and the pore size of the filter screens ranges from 1 to 10 mm.

8. The bionic jellyfish-like mid-water garbage collection mechanism according to claim 5, characterized in that: The soft tentacle (2) comprises a base connecting section (21), an elastic arc section (22) and a flexible fin portion (23) connected in sequence; the base connecting section (21) is hinged to the end edge of the umbrella body (1) away from the opening (11), and the second end of the third connecting rod (423) abuts against the end surface of the elastic arc section (22) toward the accommodating cavity (5).

9. The bionic jellyfish-like mid-water garbage collection mechanism according to claim 2, characterized in that: The invention also includes a controller (7), an acoustic wave obstacle avoidance sensor (8), a gyroscope (9), a pressure sensor (10) and a propeller (12), wherein the output ends of the acoustic wave obstacle avoidance sensor (8), the gyroscope (9), the pressure sensor (10) and the propeller (12) are electrically connected to the input end of the controller (7), and the output end of the controller (7) is connected to the drive motor (411).

10. A robot, characterized in that: It comprises the bionic jellyfish-type mid-water garbage collection mechanism as described in any one of claims 1 to 9.

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