CN207225630U - A kind of bionic machine fish - Google Patents

Abstract

The utility model discloses a kind of bionic machine fish, the bionic machine fish includes head, trunk and afterbody, and the head, trunk and afterbody through the axis of the head, trunk and afterbody by linking into an integrated entity；The head and afterbody are relative to the trunk horizontal movement；The power set for driving the head and afterbody movement are equipped with the trunk.

Description

A kind of bionic machine fish

Technical field

It the utility model is related to bionics techniques field, and in particular to a kind of bionic machine fish.

Background technology

After the 1990s, with fish promotion tactics research go deep into, robot technology, bionics, electronic technology, The new development of material science and control technology, simulation fish swimming mechanism underwater robot --- bionic machine fish is subject to Extensive concern both domestic and external." flux driving is theoretical " that Massachusetts Institute Technology promotes according to the fish tail of proposition, is developed Bionical tuna 1.2 meters long and bionical mullet 0.8 meter long；Marine Science Center of Northeast USA university is closed using shape memory Gold and linkage develop the machine sea eel of undulatory propulsion；University of New Mexico of the U.S. utilizes polyelectrolyte ion exchange Film (IEM), is plated in the metal book on piece of Biomimetic Fish Fin, and artificial synthesis muscular movement is realized by extra electric field, produces similar eel The travelling mode of fish；Essex universities of Britain devise the machine fish with three-dimensional motion ability.Tokyo Univ Japan have developed two The self-propelled robotic dolphin in joint；Kato etc. have studied the control to pectoral fin propulsive mechanism, and develop machine fish model machine sea bass； Japan Nagoya university develops marmem and drives miniature physical undulations formula underwater propeller and Piezoelectric Ceramic Dipterus type Micro-Robot.In China, Harbin Engineering University has carried out the research work of bionic machine octopus；Beijing Aviation navigates Its university's robot research have developed machine sea eel, robotic dolphin and using flat roomy Ax-shaped hydrodynamic force external form SPC series bionic machine fish；The made diarticular bionic machine fish model of Chinese Academy of Sciences's Shenyang automation research；Peking University Mechanics have developed bionical dolphin model machine with engineering science system；Chinese Academy of Sciences's Beijing automation research develop microminiature machine fish, Multisensor bionic machine fish etc..

But current Biomimetic Fish exist move it is dumb, complicated the shortcomings that, thus cause it is of high cost, can not Large-scale promotion application, can not even more reach the associated movement of people computer system.

Utility model content

In view of this, the utility model embodiment is intended to provide a kind of bionic machine fish, simple in structure, and movement is flexible, can Large-scale promotion application, and be the associated movement equipment that people computer system can be achieved.

To reach above-mentioned purpose, what the technical solution of the utility model was realized in：

The utility model embodiment provides a kind of bionic machine fish, and the bionic machine fish includes head, trunk and tail Portion, the head, trunk and afterbody through the axis of the head, trunk and afterbody by linking into an integrated entity；The head and Afterbody is relative to the trunk horizontal motion；The power dress for driving the head and afterbody movement is equipped with the trunk Put.

Preferably, the head and afterbody are swung relative to the trunk horizontal direction, and the pendulum of the head and afterbody Dynamic order is opposite；The afterbody is equipped with the tail fin of preset length.

Preferably, the head and trunk junction are equipped with forelimb, the forelimb and head linkage；The afterbody and Trunk junction is equipped with hind leg, the hind leg and afterbody linkage.

Preferably, the power set include driving motor and battery, the power input connection institute of the driving motor State battery；The output shaft of the power set is connected by transmission mechanism with the head and afterbody.

Preferably, the transmission mechanism includes at least two pitch wheels and linkage, and the gear turns It is dynamic to drive the linkage to drive the head and afterbody swing in the horizontal direction.

Preferably, the trunk includes the waterproof compartment of sealing, and the driving motor and battery are installed in the waterproof compartment.

Preferably, the trunk further includes buoyancy compartment, and the buoyancy compartment is equipped with the compression member being compressed to air；Institute It is adjacent with the waterproof compartment to state buoyancy compartment.

Preferably, the bionic machine fish further includes the control for setting panel and controlling the power set and compression member Component, described control unit one end connect the power set and compression member respectively, and the other end connects the bionic machine fish Setting panel；The control unit is arranged at the waterproof compartment.

Preferably, the trunk includes chest section and belly section, and chest section and belly the section upper surface is respectively equipped with chest Pad and abdominal pad；The chest pad is moved relative to the chest section horizontal direction, and the abdominal pad is relative to the belly section level side To movement.

Preferably, the forelimb is equipped with easy to grasp handle, and the handle is equipped with the behaviour for operating the bionic machine fish Make button.

Preferably, the forelimb and hind leg are equipped with least one folding joint for being used to collapse the forelimb or hind leg.

Preferably, the bionic machine fish is equipped with motion state monitoring component and Geographic mapping component, the movement Status monitoring component is arranged at the head, and the Geographic mapping component is arranged in the waterproof compartment.

The bionic machine fish that the utility model embodiment provides, including head, trunk and afterbody, the head, trunk and Afterbody through the axis of the head, trunk and afterbody by linking into an integrated entity；The head and afterbody are relative to the trunk Horizontal motion；The power set for driving the head and afterbody movement are equipped with the trunk；As it can be seen that the utility model is real The bionic machine fish of example is applied, the movement on the head, afterbody horizontal direction of bionic machine fish is driven by power set, to reach mould The purpose that imitative fish move about in the water surface, and simple in structure, movement is flexible, and can intelligent control movement also manual operation is transported It is dynamic；Further, since design structure is no longer as the prior art is so complicated, accordingly, it is capable to reduce the research and development and production of bionic machine fish Cost, and application easy to spread.

Brief description of the drawings

Fig. 1 is the schematic diagram of the utility model embodiment bionic machine fish；

Fig. 2 is the schematic diagram of the side view of Fig. 1；

Fig. 3 is the power transmission schematic diagram of the utility model embodiment bionic machine fish.

Embodiment

The utility model embodiment provides a kind of bionic machine fish, and the bionic machine fish includes head, trunk and tail Portion, the head, trunk and afterbody through the axis of the head, trunk and afterbody by linking into an integrated entity；The head and Afterbody can be relative to the trunk horizontal motion；The power dress for driving the head and afterbody movement is equipped with the trunk Put.

Here, the bionic machine fish can be the sports equipment for amusement and travel, more specifically can be to imitate fish Class and the bionic movement equipment of reptile movement；The bionic machine fish can be used for the water surface move about, under water move about or sandy beach Creep；Wherein, can be that user lies prone or rides over and carries out manned travelling on the bionic machine fish, people needs when the water surface is travelling Diving equipment has been dressed, can also be unmanned individually travelling, pass through remote control control；Can be that user lies prone when underwater travelling Manned diving is carried out on the bionic machine fish, people also needs to have dressed diving equipment；Can be user when sandy beach is creeped Lie prone carried out on the bionic machine fish it is manned walking or it is unmanned individually creep, pass through remote control control.

The principle of the utility model embodiment is：Head, the afterbody level side of bionic machine fish are driven by power set To movement, moved about with achieving the purpose that to imitate fish in the water surface, and simple in structure, movement is flexible；Further, since design knot Structure is no longer so complicated as the prior art, accordingly, it is capable to reduce research and development and the production cost of bionic machine fish, and it is easy to spread should With.

The characteristics of in order to more fully hereinafter understand the utility model embodiment and technology contents, below in conjunction with the accompanying drawings with And specific Application Example is further elaborated the utility model, appended attached drawing purposes of discussion only for reference, is not used To limit the utility model embodiment.

Fig. 1 is the composition structure diagram of the utility model embodiment bionic machine fish, and Fig. 2 is showing for the side view of Fig. 1 It is intended to；As depicted in figs. 1 and 2, the bionic machine fish includes head 11, trunk 21 and afterbody 31, the head 11, trunk 21 Linked into an integrated entity with afterbody 31 by the axis (being not shown) through the head 11, trunk 21 and afterbody 31；It is described Head 11 and afterbody 31 can be relative to 21 horizontal motions of trunk；It is equipped with the trunk 21 and drives 11 He of head The power set (being not shown) that afterbody 31 moves.

Specifically, the head 11 and afterbody 31 can be swung relative to 21 horizontal direction of trunk, and the head 11 It is opposite with the swing order of afterbody 31；The afterbody 31 is equipped with the tail fin of preset length；

Here, the tail fin of the afterbody 31 is the major impetus that the bionic machine fish advances, and the length of the tail fin can Determined with the desin speed according to the bionic machine fish and the power of power set；The swing of the head 11 and afterbody 31 is suitable Sequence is on the contrary, primarily to ensure the balance of bionic machine fish during exercise；

More specifically, the plane bearing easy to head oscillation is equipped between the head 11 and afterbody 31 and trunk 21；And And in order to further reduce the resistance of the bionic machine fish in water, lead between the head 11 and afterbody 31 and trunk 21 The connection of cross slide is crossed, i.e., described head 11 and afterbody 31 are while relative to 21 horizontal hunting of trunk, moreover it is possible to opposite Slided in the direction all around of the trunk 21.

Further, 11 both sides of head are respectively equipped with flipper 111, are needed in the bionic machine fish surface motions Play the role of helping to turn to when turning to.

The head 11 and 21 junction of trunk are equipped with forelimb 41, and the forelimb 41 and the head 11 are linked；The tail Portion 31 and 21 junction of trunk are equipped with hind leg 51, and the hind leg 51 and the afterbody 31 link；

As depicted in figs. 1 and 2, forelimb 41 is divided into left fore and right fore, the hind leg using the central axes of trunk 21 as boundary 51, using the central axes of the trunk 21 as boundary, are divided into left hind and right hind；In this way, when the head is swung to the left, it is described Left fore produces the effect struck backward, and right fore produces the effect struck forward, but by designing the forelimb 41 of suitable shape, Such as the flippers of one inverted V-shaped of design, it can cause efficiency of the pull is better than backward to strike forward, i.e., described forelimb 41 and the head Portion 11 link the result is that producing forward power；

Similarly, the movement of the hind leg 51 can also produce forward power；

In this way, by 51 swing in the horizontal direction of forelimb 41 and hind leg, before further increasing the bionic machine fish Into power.

Further, the forelimb 41 of the bionic machine fish and hind leg 51 are additionally provided with support ground cushion 411, in this way, described bionical Machine fish can be crawled at sandy beach by the swing in the horizontal direction of forelimb 41 and hind leg 51；

Moving about with the water surface, by designing the forelimb 41 and hind leg 51 of suitable shape, institute's forelimb 41 and hind leg 51 can be made In the horizontal direction swing produces the promotion forward power of bionic machine fish.

Specifically, the head 11, trunk 21, afterbody 31, forelimb 41 and hind leg 51 can use engineering plastics material Make, such as polyamide (Polyamide Resin), polytetrafluoroethylene (PTFE) (Polytetrafluoroethylene), ABS plastic (Acrylonitrile Butadiene Styrene plastic) etc. or plastic-steel, fiberglass reinforced plastics Composite materials such as (GFRP or FRP)；

Further, the support ground cushion 411 of the forelimb 41 and hind leg 51, can also in addition to it can use above-mentioned material Made of rubber material, it is so more resistant；The tail fin of the afterbody 31 is preferably made of fiberglass reinforced plastics, intensity More preferably.

The power set include driving motor and battery (being not shown), the power input of the driving motor End connects the battery；The output shaft (being not shown) of the power set passes through transmission mechanism and the head 11 and tail Portion 31 connects, and concrete structure combination Fig. 3 of connection is introduced.

Further, the trunk 21 includes the waterproof compartment (being not shown) of sealing, the driving motor and battery It is installed in the waterproof compartment；

Here, the driving motor is DC brushless motor, and the battery is the water-tight battery of dry type；The battery fills one Secondary electricity, can be used continuously about 4 it is small when.

Specifically, the position of the output shaft stretching waterproof compartment of the driving motor can use sealing ring to seal or fill out Material sealing.

Further, the trunk 21 further includes buoyancy compartment (being not shown), and the buoyancy compartment is equipped with can be to air The compression member being compressed；In this way, being compressed by compression member to air in buoyancy compartment, reaching makes the bionic machine The purpose that fish is dived beneath the water；Since purpose of design is sports equipment, submerged depth is no more than 40 meters.

Specifically, after compression member is compressed air in buoyancy compartment, pressure increase volume diminishes in buoyancy compartment, so that Buoyancy is set also to diminish, the machine fish sinks；On the contrary, after being reduced to compressed air, buoyancy compartment pressure reduces, and volume becomes Greatly, buoyancy also becomes larger, and the machine fish floats；The compression member can be air compressor；

The buoyancy compartment is adjacent with the waterproof compartment, and the buoyancy compartment and the waterproof compartment can be front and rear arrangements.

In the utility model embodiment, the bionic machine fish reaches as high as 6 kilometers/hour in the movement velocity of the water surface, Underwater movement velocity reaches as high as 4 kilometers/hour, and the speed creeped on ground is then significantly less than the movement velocity of the water surface, More than 1 kilometer/hour.

The bionic machine fish, which further includes, to be set panel 61 and controls the control unit of the power set and buoyancy compartment (not Shown in figure), described control unit one end connects the power set and compression member respectively, and other end connection is described bionical The setting panel 61 of machine fish；The control unit is arranged at the waterproof compartment；

Specifically, the control unit can be a micro-control unit (MCU, Microcontroller Unit), institute State the firmware for being provided with control unit and controlling the power set and compression member；

It is described to set panel 61 to be used to be configured the exercise performance of the bionic machine fish, for example speed can be set Degree, power, open the infrared ray component coordinated with remote controler, open lower rice root nematode etc.；

Further, it is described that the pattern choosing being additionally provided with panel 61 including intelligent mode, electric model, people's force mode is set Button is selected, for controlling the motor pattern of the bionic machine fish；

Corresponding with the mode selection button, the control unit is equipped with the fortune of three kinds of control biomimetic robot fish movements Dynamic model formula：" intelligent mode ", " electric model ", " people's force mode "；Wherein,

" intelligent mode " to be not required to user's operation, the bionic machine fish travels forward automatically, and general speed is fixed Low speed is arranged to, and moving region is default, can identify front obstacle in advance；" electric model " is user's control institute The direction of advance of bionic machine fish is stated, speed can be adjusted, and can also be fixed；" people's force mode " relies on to close power set Manpower is driven forward, for aiding in taking exercise in user's water, when the battery that " people's force mode " can be used for power set exhausts；

Specifically, the predetermined movement region in described " intelligent mode " can be set by limiting the distance being continuously advanced Put, that is, be continuously advanced after the distance of restriction and just turn 90 degree, the predetermined movement region of so described bionic machine fish can be In the equal rectangle of one length of side；

, it is understood that predetermined movement region can also be other similar regular shapes；

Further, the bionic machine fish is also provided with sonar sounding set (being not shown), in intelligence The barrier in identification front in energy pattern.

Further, the trunk 21 includes chest section 71 and belly section 81,81 upper table of the chest section 71 and belly section Face is respectively equipped with chest pad 711 and abdominal pad 811, and the chest pad 711 and abdominal pad 811 can be relative to the chest section 71 and belly sections 81 Horizontal direction moves；In this way, when user is lain prone or ridden on the bionic machine fish, the bionic machine fish is in motion process In be easier grasp balance；

Specifically, the chest section 71 connects the chest pad 711 and abdominal pad 811 with belly section 81 by cross slide.

Further, the forelimb 41 is equipped with easy to grasp handle 412, and it is described bionical that the handle 412 is equipped with operation The operation button of machine fish；

The operation button can include mode switching key, speed governing button, turn to button etc., the mode switching key For switching the motor pattern of the bionic machine fish, the debugging button is used to adjust the biomimetic robot fish movement speed, The direction for turning to button and being used to control the bionic machine fish.

Further, the forelimb 41 and hind leg 51 are equipped with least one for collapsing the forelimb 41 or hind leg 51 Folding joint；In this way, after the completion of use, the forelimb 41 and hind leg 51 can be collapsed, it is easy to carry.

Specifically, the folding joint can be provided with the hinge of latch, and the rotation of hinge is limited by latch, fold When, cancel rotation limitation of the latch to hinge, complete to fold；

, it is understood that the folding joint can also be other structures.

Further, the bionic machine fish is equipped with motion state monitoring component (being not shown) and geographical location is determined Position component (being not shown), the motion state monitoring component are arranged at the head 11, the Geographic mapping portion Part is arranged in the waterproof compartment；

The motion state monitoring component is used for the dynamic equilibrium for controlling the bionic machine fish, its principle is to pass through gravity Sensing element detects the gravity center shift situation on the head 11 to determine the motion state of the bionic machine fish, default to deviateing The situation of equilbrium position, the balance of bionic machine fish is adjusted by balancing device；

Specifically, the motion state monitoring component can be gyroscope (gyroscope), and the balancing device can be The ballasting balance weight that can be moved left and right, the ballasting balance weight are located in the waterproof compartment, equipped with the driving ballasting balance weight The balance motor moved left and right, the balance motor adjust the ballasting according to the monitoring result of the motion state monitoring component Position of the balance weight in the waterproof compartment；The power input of the balance motor connects the battery.

The Geographic mapping component, the bionic machine is obtained for taking the user outside the bionic machine fish The geographical location of fish, available for joint search and rescue, calling for help, coastal management etc..

Specifically, the Geographic mapping component can be global positioning system (GPS, Global Positioning System) locator；

More specifically, the user taken outside the bionic machine fish is communicated by being established with the bionic machine fish The server of connection obtains the geographical location of the bionic machine fish, and the control unit of the bionic machine fish is built-in with can be with institute State user identity identification (SIM, the Subscriber Identification Module) card of server connection.

Fig. 3 is the power transmission schematic diagram of the utility model embodiment bionic machine fish, as shown in figure 3, the bionical machine Device fish includes head 11, trunk 21 and afterbody 31, and the head 11, trunk 21 and afterbody 31 pass through through the head 11, body Dry 21 and the axis 90 of afterbody 31 link into an integrated entity；The transmission mechanism include by the power of power set be delivered to head 11 with First transmission mechanism of forelimb 41 and the second transmission mechanism that the power of power set is delivered to afterbody 31 and hind leg 51；Its In,

First transmission mechanism includes connecting the first gear 91 of the power set and the connection head 11 with before The second gear 92 of limb 41, three intermeshing idler gears are connected between the first gear 91 and second gear 92 93, the idler gear 93 is engaged with the first gear 91 and second gear 92 respectively；

Specifically, the output shaft (being not shown) of the power set could be provided as perpendicular to the axis 90, The gear set for driving the first gear 91 to rotate is set to be more convenient and (be not shown) so on output shaft；

, it is understood that can also be by setting the chain chain for driving the first gear 91 to rotate on output shaft The transmission parts such as wheel, band and belt wheel, transfer power to the first gear 91.

The second gear 92 connects the head 11 and forelimb 41 by connecting rod 94, due to the head 11 and forelimb 41 It is linkage, therefore the connecting rod 94 is connected to forelimb 41；

More specifically, one end of described two connecting rods 94 and the second gear 92 are hinged, two hinge joints and gear The distance in the center of circle is equal；The other end of described two connecting rods 94 is respectively articulated with left fore and right fore, and two hinge joints are with The distance of the axis of axis 90 is equal；

In this way, each connecting rod 94 constitutes double rocker mechanism with second gear 92 and forelimb 41, when power set pass through institute When stating first gear 91 and driving the second gear 92 to rotate, the connecting rod 94 can promote the forelimb 41 or head 11 in level Direction rotates；In order to achieve the purpose that swing, the power set are arranged to rotate and reverse alternate run, are normally advancing When, the time rotated and reverse is equal, if necessary to adjustment direction, then can adjust the time scale rotated and reverse； The operation of the power set is controlled by the control unit.

Second transmission mechanism includes the 3rd gear 101 for connecting the power set and the connection afterbody 31 with after 4th gear 102 of limb 51, two intermeshing center tooths are connected between the 3rd gear 101 and the 4th gear 102 Wheel 103, the idler gear 103 is engaged with the 3rd gear 101 and the 4th gear 102 respectively；

Since the idler gear 103 of the second transmission mechanism only has two, and the idler gear 93 of the first transmission mechanism has three It is a, therefore the afterbody 31, hind leg 51 are opposite with the swing order of the head 11, forelimb 41.

Specifically, the output shaft (being not shown) of the power set could be provided as perpendicular to the axis 90, Set the gear set (being not shown) for driving the 3rd gear 101 to rotate more convenient so on output shaft；

Since the afterbody 31 is the major impetus that the bionic machine fish advances, it is therefore desirable to is set and the hind leg 51 different amplitudes of fluctuation, therefore the 4th gear 102 is provided only with the connecting rod 104 for connecting the hind leg 51, additionally by band Transmission transfers power to belt wheel 105, and connecting rod 106 is then set on belt wheel 105, and connecting rod 106 connects the afterbody 31；

More specifically, one end of described two connecting rods 104 is hinged with the 4th gear 102, two hinge joints and gear The center of circle distance it is equal；The other end of described two connecting rods 104 is respectively articulated with left hind and right hind 51, two hinge joints It is equal with the distance of 90 axis of axis；One end of the connecting rod 106 is hinged with the belt wheel 105, the other end of the connecting rod 106 The hinged afterbody 31；

In this way, each 104 and the 4th gear 102 of connecting rod and hind leg 51 constitute double rocker mechanism, when power set pass through When 3rd gear 101 drives the 4th gear 102 rotation, the connecting rod 104 can promote the hind leg 51 in level side To rotation；In order to achieve the purpose that swing, the power set are arranged to rotate and reverse alternate run, in normal advance, The time rotated and reverse is equal, if necessary to adjustment direction, then can adjust the time scale rotated and reverse；It is described The operation of power set is controlled by the control unit；

Similarly, the connecting rod 106 constitutes double rocker mechanism with afterbody 31, and the connecting rod 106 can promote the afterbody 31 Swing in the horizontal direction；

Above-mentioned first gear 91, second gear 92, the 3rd gear 101, the 4th gear 102, idler gear 93 and center tooth Wheel 103 may each be involute spur gear wheel, is simplified form in Fig. 3, tooth form is not shown；Can certainly be it is other can Transmit the gear of torque；

Above-mentioned belt wheel 105 can be common V-belt belt wheel or Toothed belt pulley.

, it is understood that the bionic machine fish can also use the transmission mechanism of other structures, reach the head 11st, the purpose that forelimb 41, hind leg 51 and afterbody 31 are swung in the horizontal direction.

The above, is only the preferred embodiment of the utility model, is not intended to limit the protection of the utility model Scope, all any modification, equivalent and improvement made where within the spirit and principles of the present invention etc., should be included in Within the scope of protection of the utility model.

Claims (12)

1. a kind of bionic machine fish, it is characterised in that the bionic machine fish includes head, trunk and afterbody, the head, body Dry and afterbody through the axis of the head, trunk and afterbody by linking into an integrated entity；The head and afterbody are relative to described Trunk horizontal motion；The power set for driving the head and afterbody movement are equipped with the trunk.

2. bionic machine fish according to claim 1, it is characterised in that the head and afterbody are relative to the trunk water Square to swing, and the swing order of the head and afterbody is opposite；The afterbody is equipped with the tail fin of preset length.

3. bionic machine fish according to claim 2, it is characterised in that the head and trunk junction are equipped with forelimb, The forelimb and head linkage；Afterbody and the trunk junction is equipped with hind leg, the hind leg and afterbody linkage.

4. according to the bionic machine fish described in claim 1,2 or 3, it is characterised in that the power set include driving motor And battery, the power input of the driving motor connect the battery；The output shaft of the power set passes through transmission mechanism It is connected with the head and afterbody.

5. bionic machine fish according to claim 4, it is characterised in that the transmission mechanism is mutually nibbled including at least two The gear and linkage of conjunction, the rotation of the gear drive the linkage to drive the head and afterbody in the horizontal direction Swing.

6. bionic machine fish according to claim 5, it is characterised in that the trunk includes the waterproof compartment of sealing, described Driving motor and battery are installed in the waterproof compartment.

7. bionic machine fish according to claim 6, it is characterised in that the trunk further includes buoyancy compartment, the buoyancy Cabin is equipped with the compression member being compressed to air；The buoyancy compartment is adjacent with the waterproof compartment.

8. bionic machine fish according to claim 7, it is characterised in that the bionic machine fish further include set panel and The power set and the control unit of compression member are controlled, described control unit one end connects the power set and pressure respectively Contracting component, the other end connect the setting panel of the bionic machine fish；The control unit is arranged at the waterproof compartment.

9. according to the bionic machine fish described in claim 1,2 or 3, it is characterised in that the trunk includes chest section and belly Section, chest section and belly the section upper surface is respectively equipped with chest pad and abdominal pad；The chest pad is relative to the chest section level side To movement, the abdominal pad is moved relative to the belly section horizontal direction.

10. bionic machine fish according to claim 3, it is characterised in that the forelimb is equipped with easy to grasp handle, institute State handle and be equipped with the operation button for operating the bionic machine fish.

11. bionic machine fish according to claim 3, it is characterised in that the forelimb and hind leg are equipped with least one For collapsing the folding joint of the forelimb or hind leg.

12. bionic machine fish according to claim 6, it is characterised in that the bionic machine fish is supervised equipped with motion state Survey component and Geographic mapping component, the motion state monitoring component are arranged at the head, the Geographic mapping Component is arranged in the waterproof compartment.