CN105129062A - Robot fish and fishtail working principle thereof - Google Patents
Robot fish and fishtail working principle thereof Download PDFInfo
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- CN105129062A CN105129062A CN201510628246.8A CN201510628246A CN105129062A CN 105129062 A CN105129062 A CN 105129062A CN 201510628246 A CN201510628246 A CN 201510628246A CN 105129062 A CN105129062 A CN 105129062A
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Abstract
The invention provides a robot fish and a fishtail working principle thereof, and relates to the field of mechanical fish. The robot fish comprises a fish main body and a fishtail, wherein the fishtail comprises a plurality of first frame bodies which are hinged sequentially to form a fishtail main body; one end of the fishtail main body is hinged to a second frame body serving as a tail fin; the other end of the fishtail main body is hinged to a third frame body; a mounting groove is formed in the third frame body; the robot fish further comprises a connecting part; the middle part of the connecting part is hinged to the third frame body; an adjustable eccentric wheel device which allows the third frame body to swing horizontally in the horizontal direction relative to the connecting part is arranged at one end, extending to the mounting groove, of the connecting part, and the other end of the connecting part is connected to the fish main body; a driver for driving the adjustable eccentric wheel device is arranged in the fish main body. The robot fish has the benefits that complete fishtail-type swinging of the fishtail can be realized, the robot fish can swim freely in water, and swimming of the robot fish can be more real.
Description
Technical field
The present invention relates to mechanical fish field, particularly relate to the principle of work of a kind of Biomimetic Fish and fish tail thereof.
Background technology
Biomimetic Fish is the machine of a kind of outer image fish, and it can at water middle reaches number.Usual Biomimetic Fish in order to find pollutant substance, and draws the real-time three-dimensional figure at harbour, thus shows there is what chemical substance in current seawater and where be positioned at.The utilization of Biomimetic Fish can increase port management department and monitor Pollution From Ships, other types noxious pollutant and from the alerting ability of submarine pipeline exhaust emission material and comformability.Except being of value to the supervisory work at European Union harbour, this project can also bring the important advance of Robotics, underwater communication and intelligent robot.Existingly bionically be divided into three parts: head (comprising fin), health, afterbody; Health is the main portion of fish, and all wherein, afterbody makes it swing by the connecting rod of electric machine control, thus Biomimetic Fish is moved in water for control circuit and motor and associated driver circuitry.There is following problem in present Biomimetic Fish: 1. comparatively stiff during tail swing, the power produced during swing is less, and the moving velocity of Biomimetic Fish in water is restricted.2. the controlling point of afterbody is few, even only has one, causes the wobbling action of control afterbody that cannot be accurate, fine and smooth, affects the alerting ability of Biomimetic Fish.
Summary of the invention
The invention provides the principle of work of a kind of Biomimetic Fish and fish tail thereof, to solve under power that in existing Biomimetic Fish, fish tail swing provides, wobbling action cannot accurately control, and causes the problem of Biomimetic Fish very flexible.
The present invention adopts following technical scheme:
A kind of Biomimetic Fish, comprise fish body main body and fish tail, fish tail comprises a plurality of first support body, and it is hinged successively that a plurality of first support body can rotate in the horizontal direction, forms fish tail main body; What one end of fish tail main body can be rotated in the horizontal direction be hinged with one as the second support body of tail fin, and what the other end can rotate in the horizontal direction is hinged with a triframe body; Triframe body is provided with mounting groove; This Biomimetic Fish also comprises attaching parts, what the middle part of this attaching parts can be rotated in the horizontal direction is articulated with triframe body, one end of attaching parts to extend in mounting groove and is equiped with an adjustable eccentric wheel apparatus that triframe body is swung in the horizontal direction relative to attaching parts, and the other end is connected with fish body main body; The actuator for driving adjustable eccentric wheel apparatus (50) is provided with in above-mentioned fish body main body.
Further, above-mentioned adjustable eccentric wheel apparatus comprises flower wheel and rotating shaft, rotating shaft can along its length slidably be vertically arranged at attaching parts, and this rotating shaft is provided with the driving wheel with flower wheel phase internal messing, and flower wheel and driving wheel are eccentric wheel; Be provided with in triframe body two with the periphery of flower wheel the inconsistent and limiting stopper of opposed setting, rotating shaft is slided the socket that driving wheel and flower wheel can be made to engage each other or can mutually rotate along its length.
Further, above-mentioned first support body is along the two ends in fish tail principal length direction the convex surface be in the shape of the letter V, first support body is provided with electromagnet along the one end in fish tail principal length direction in the both sides of hinged place, the other end is provided with armature in the both sides of hinged place, and the electromagnet of adjacent two first support bodys and the opposed setting of armature; Armature is arranged in the first support body along fish tail principal length direction telescopically, and electromagnet is arranged in the first support body, and one end of electromagnet is concordant with the surface of the first support body.
Particularly, above-mentioned driving wheel comprises disk, and the lower surface of upper disk is provided with the lower disc that diameter is greater than the diameter of disk, and the upper surface of lower disc is provided with a plurality of projection radially spaced apart; Flower wheel is provided with through hole, and this through hole comprises epimere and hypomere, and epimere is provided with a plurality of vertical setting and raised line radially spaced apart each other, forms the gap of matching with projection between adjacent two raised lines; When driving wheel and flower wheel are socketed mutually, the periphery of upper disk contacts with raised line, and the periphery of lower disc contacts with the sidewall of hypomere.
Further, above-mentioned flower wheel is arranged with a bearing, and the inner ring of this bearing is connected with the periphery of flower wheel, and outer ring and the limiting stopper of bearing are inconsistent.
Further, the first support body cross-sectional profiles ovalize vertically, and fish tail main body is along its length in contraction-like, and this Biomimetic Fish surface is also coated with the film that one deck is made up of flexible waterproof material.
The principle of work of fish tail in above-mentioned Biomimetic Fish: make driving wheel and flower wheel phase internal messing by driver control axis of rotation, drives flower wheel to rotate by driving wheel; Because flower wheel is eccentric wheel, and attaching parts is articulated with triframe body, and the rotation of flower wheel makes triframe body swing back and forth in the horizontal direction relative to attaching parts; Because fish tail main body and triframe body are hinged, fish tail main body is followed the swing of triframe body and swings, be hinged between adjacent two first support bodys simultaneously due to fish tail main body and leave the space being convenient to swing in both sides, hinged place, making fish tail main body be the soft swing of bending.
The principle of work of fish tail in above-mentioned Biomimetic Fish: vertically declined by above-mentioned driver control rotating shaft and make the socket that driving wheel and flower wheel can rotate mutually, during axis of rotation, driving wheel and flower wheel relatively rotate, because driving wheel is eccentric wheel, driving wheel rotates and the distance size between rotating shaft and the center shaft of flower wheel is changed; Vertically risen by above-mentioned driver control rotating shaft and driving wheel is engaged again with flower wheel, because the distance size between rotating shaft and the center shaft of flower wheel changes, the amplitude of fluctuation of triframe body changes thereupon.
The principle of work of fish tail in above-mentioned Biomimetic Fish: by the magnetic effect between the electromagnet of adjacent two first support bodys and armature, for fish tail main body provides the power doing high speed swinging, to increase the amplitude of fluctuation of fish tail main body and to accelerate oscillation period; Stopped operating by above-mentioned driver control rotating shaft, and by the magnetic effect between electromagnet and armature, make fish tail main body towards fish body main body curving, make the second support body simultaneously and swing back and forth in the horizontal direction near the second support body of the second support body, turning in water to make Biomimetic Fish.
The principle of work of fish tail in above-mentioned Biomimetic Fish: the space be convenient to the first support body and rotated is left in adjacent two first both sides, support body hinged place, the size in space, both sides determines the full swing amplitude of fish tail main body, stretched out the size in the length change space of the first support body by adjustment armature, thus change the full swing amplitude of fish tail main body.
From the above-mentioned description to structure of the present invention, compared to the prior art, tool of the present invention has the following advantages:
In one, the present invention, comprise fish body main body, fish tail and attaching parts, fish tail comprises a plurality of first support body, and a plurality of first support body is hinged successively, forms fish tail main body; One end of fish tail main body is hinged with one as the second support body of tail fin, and the other end is hinged with a triframe body; Triframe body is provided with mounting groove; The middle part of above-mentioned attaching parts is articulated with triframe body, and one end of attaching parts to extend in mounting groove and is equiped with an adjustable eccentric wheel apparatus that triframe body is swung relative to attaching parts, and the other end is connected with fish body main body.By the driver control adjustable eccentric wheel apparatus running in fish body main body when Biomimetic Fish needs travelling, triframe body is swung, fish tail main body is followed the swing of triframe body and swings, be hinged between adjacent two first support bodys simultaneously due to fish tail main body, make fish tail main body be the soft swing of bending, allow Biomimetic Fish move about more soft, true.
Two, in the present invention, above-mentioned adjustable eccentric wheel apparatus comprises flower wheel and rotating shaft, rotating shaft can along its length slidably be vertically arranged at attaching parts, and this rotating shaft is provided with the driving wheel with flower wheel phase internal messing, and flower wheel and driving wheel are eccentric wheel; Be provided with in triframe body two with the periphery of flower wheel the inconsistent and limiting stopper of opposed setting, rotating shaft is slided the socket that driving wheel and flower wheel can be made to engage each other or can mutually rotate along its length.Drive flower wheel to do eccentric rotary by rotating shaft, and drive triframe body to swing relative to attaching parts, thus make whole fish tail swing; When rotating shaft vertically decline and the socket that driving wheel and flower wheel can be rotated mutually time, rotating shaft drives driving wheel to rotate relative to flower wheel, because driving wheel is eccentric wheel, driving wheel rotates and the distance size between rotating shaft and the center shaft of flower wheel is changed; When rotating shaft is vertically risen and made driving wheel again engage with flower wheel, because the distance size between rotating shaft and the center shaft of flower wheel changes, the amplitude of fluctuation of triframe body changes thereupon, thus changes the amplitude of fluctuation of fish tail.
Three, in the present invention, the two ends of the first support body are the convex surface be in the shape of the letter V, and first is provided with electromagnet in the both sides of hinged place, and the other end is provided with armature in the both sides of hinged place, and the electromagnet of adjacent two first support bodys and the opposed setting of armature.By the magnetic effect between electromagnet and armature, power can be provided for fish tail main body swings, to increase the amplitude of fluctuation of fish tail main body and to accelerate oscillation period; Make the wobbling action controllability of fish tail main body stronger simultaneously.Armature telescopically is arranged in the first support body, the space be convenient to the first support body and rotated is left in adjacent two first both sides, support body hinged place, the size in space, both sides determines the full swing amplitude of fish tail main body, the size in space can be changed by adjustment armature extension elongation, thus change the full swing amplitude of fish tail main body.
Four, in the present invention, flower wheel is arranged with a bearing, and the inner ring of this bearing is connected with the periphery of flower wheel, and outer ring and the limiting stopper of bearing are inconsistent, to reduce friction force when flower wheel rotates and between limiting stopper.
Accompanying drawing explanation
Fig. 1 is the structural representation one of fish tail in the present invention.
Fig. 2 is the structural representation two of fish tail in the present invention.
Fig. 3 is the structural representation of adjustable eccentric wheel apparatus.
Fig. 4 be triframe body amplitude of fluctuation maximum time, the view of adjustable eccentric wheel apparatus.
Fig. 5 be triframe body amplitude of fluctuation minimum time, the view of adjustable eccentric wheel apparatus.
Fig. 6 is the birds-eye view of fish tail in the present invention, and wherein A is the inner structure schematic diagram after partial enlargement.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, carry out clear, complete description to the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
See figures.1.and.2, a kind of Biomimetic Fish, comprise fish body main body (not shown in FIG.), fish tail and the attaching parts 4 for being connected fish tail and fish body main body, this fish tail comprises a plurality of first support body 1, it is hinged successively that a plurality of first support body 1 can rotate in the horizontal direction, forms one along its length in contraction-like fish tail main body 10.First support body 1 is along the two ends of fish tail main body 10 length direction the convex surface be in the shape of the letter V.First support body 1 cross-sectional profiles is vertically rectangle.In order to allow the shape of fish tail main body 10 more as true fish, also the first support body 1 cross-sectional profiles vertically can be designed to ellipse.What one end of fish tail main body 10 can be rotated in the horizontal direction be hinged with one in fan-shaped and as the second support body 2 of tail fin, what the other end can rotate in the horizontal direction is hinged with the profile triframe body 3 similar to the first support body 1.Triframe body 3 is provided with mounting groove 31.Attaching parts 4 is in Contraband font, what the middle part of attaching parts 4 can be rotated in the horizontal direction be articulated with triframe body 3 and with the opposed setting of the first support body 1, the open end of attaching parts 4 to extend in mounting groove 31 and is equiped with an adjustable eccentric wheel apparatus 50 that triframe body 3 is swung in the horizontal direction relative to attaching parts 4 at opening part, and it is outer and be connected with fish body main body (not shown in FIG.) that closing end extends to triframe body 3; The actuator (not shown in FIG.) for driving adjustable eccentric wheel apparatus 50 is provided with in fish body main body (not shown in FIG.).This Biomimetic Fish surface is also coated with the film (not shown in FIG.) that one deck is made as fish-skin and by flexible waterproof material, makes Biomimetic Fish outward appearance as true fish.
With reference to Fig. 2 and Fig. 3, adjustable eccentric wheel apparatus 50 comprises flower wheel 53 and rotating shaft 51, and rotating shaft 51 can the opening part being vertically arranged at attaching parts 4 slidably along its length.Rotating shaft 51 is provided with the driving wheel 52 with flower wheel 53 phase internal messing, and flower wheel 53 and driving wheel 52 are eccentric wheel.Preferably: driving wheel 52 comprises disk 521, the lower surface of upper disk 521 is provided with the lower disc 522 that diameter is greater than the diameter of disk 521, and the upper surface of lower disc 522 is provided with a plurality of projection 5221 radially spaced apart, formative gear.Flower wheel 53 is provided with through hole 530, this through hole 530 comprises epimere 531 and hypomere 532, epimere 531 is provided with a plurality of vertical setting and raised line 5311 radially spaced apart each other, and form the gap of matching with projection 5221 between adjacent two raised lines 5311, can engage each other to make flower wheel 53 and driving wheel 52.When driving wheel 52 and flower wheel 53 are socketed mutually, the periphery of upper disk 521 contacts with raised line 5311, and the periphery of lower disc 522 contacts with the sidewall of hypomere 532.The left and right madial wall of described triframe body 3 is provided with two opposed limiting stoppers 32, flower wheel 53 is arranged with a bearing 54, the inner ring of this bearing 54 and the periphery of flower wheel 53 are fixedly connected, outer ring and the limiting stopper 32 of bearing 54 are inconsistent, and flower wheel 53 is arranged between two limiting stoppers 32 in the mode that can rotate in the horizontal direction.
With reference to Fig. 1 and Fig. 6, the first support body 1 is provided with electromagnet 6 along one end of fish tail main body 10 length direction in the both sides of hinged place, and the other end is provided with armature 7 in the both sides of hinged place, and the electromagnet 6 of adjacent two first support bodys 1 and the opposed setting of armature 7.Wherein armature 7 is arranged in the first support body 1 along fish tail main body 10 length direction telescopically, and described electromagnet 6 is fixedly arranged in the first support body 1, and one end of electromagnet 6 is concordant with the surface of the first support body 1.
Referring to figs. 1 through Fig. 5, when only needing to allow fish tail swing by a small margin, the principle of work of fish tail in this Biomimetic Fish: when being rotated by actuator (not shown in FIG.) control rotating shaft 51 and made driving wheel 52 and flower wheel 53 phase internal messing, drive flower wheel 53 to rotate by driving wheel 52; Because flower wheel 53 is eccentric wheel, when flower wheel 53 rotates, there is eccentric rotary.Because the middle part of attaching parts 4 is articulated with triframe body 3, when flower wheel 53 rotates, triframe body 3 is made to be that attachment point swings back and forth in the horizontal direction relative to attaching parts 4 with hinged place by the limiting stopper 32 of both sides; Because fish tail main body 10 and triframe body 3 are hinged, fish tail main body 10 is followed the swing of triframe body 3 and swings, be hinged between adjacent two first support bodys 1 simultaneously due to fish tail main body 10, make fish tail main body 10 in the soft swing of bending, allow Biomimetic Fish move about more soft, true.
Referring to figs. 1 through Fig. 5, the principle of work of the adjustment fish tail swing amplitude of adjustable eccentric wheel apparatus 50: when actuator (not shown in FIG.) control rotating shaft 51 vertically declines, projection 5221 and raised line about 5311 are separated from each other, and make the socket that driving wheel 52 and flower wheel 53 can rotate mutually.When rotating shaft 51 drives driving wheel 52 to rotate, relatively rotate between driving wheel 52 and flower wheel 53.Because driving wheel 52 is eccentric wheel, driving wheel 52 relatively flower wheel 53 makes the distance size between the center shaft of rotating shaft 51 and flower wheel 53 change after rotating; When actuator (not shown in FIG.) control rotating shaft 51 is vertically risen and makes driving wheel 52 again engage with flower wheel 53, because the distance size between rotating shaft 51 and the center shaft of flower wheel 53 changes, the amplitude of fluctuation of triframe body 3 changes thereupon.As shown in Figure 4, the distance between the center shaft of rotating shaft 51 and flower wheel 53 is maximum, and now the amplitude of fluctuation of triframe body 3 is maximum; As shown in Figure 5, the distance between the center shaft of rotating shaft 51 and flower wheel 53 is minimum, and now the amplitude of fluctuation of triframe body 3 is minimum.
With reference to Fig. 1, Fig. 2 and Fig. 6, need to allow fish tail significantly swing, when accelerating the travelling speed of Biomimetic Fish, the principle of work of fish tail in this Biomimetic Fish: due to the inhibition of water, depend merely on adjustable eccentric wheel apparatus 50 the first support body 1 near tail fin cannot be made to produce significantly swing, cause the under power that fish tail swing produces, affect Biomimetic Fish and to move about reaching the standard grade of speed.By the magnetic effect between the electromagnet 6 of adjacent two first support bodys 1 and armature 7, coordinate the wobbling action of adjustable eccentric wheel apparatus 50, the degree of deflection between adjacent two first support bodys 1 can be strengthened, for fish tail main body 10 provide at a high speed, significantly swing time propulsive effort, to increase the amplitude of fluctuation of fish tail main body 10 and to accelerate oscillation period, thus significantly can increase the power that fish tail swing produces.
With reference to Fig. 1, Fig. 2 and Fig. 6, when needing Biomimetic Fish is turned to, the principle of work of fish tail in this Biomimetic Fish: rotating shaft 51 is stopped operating by actuator (not shown in FIG.), and by the magnetic effect in each first support body 1 between electromagnet 6 and armature 7, make fish tail main body 10 entirety towards fish body main body curving, make the second support body 2 simultaneously and swing back and forth in the horizontal direction near the second support body 1 of the second support body 2, turning in water to make Biomimetic Fish.Do not wait and magnetic effect between the electromagnet 6 at diverse location place and armature (7) by controlling the size, the angle formed between fish tail main body 10 and fish body main body (not shown in FIG.) can be adjusted accurately, thus accurate control fish body main body (not shown in FIG.) steering angle.
With reference to Fig. 1, Fig. 2 and Fig. 6, when needing restriction fish tail swing amplitude, the principle of work of fish tail in this Biomimetic Fish: the space 11 be convenient to the first support body 1 and rotated is left in adjacent two first both sides, support body 1 hinged place, the size in space, both sides 11 determines the full swing amplitude of fish tail main body 10, because armature 7 telescopically is arranged at the first support body 1, the size in space 11 can be changed by the extension elongation adjusting armature 7, thus change the full swing amplitude of fish tail main body (10).
Above are only the specific embodiment of the present invention, but design concept of the present invention is not limited thereto, all changes utilizing this design the present invention to be carried out to unsubstantiality, all should belong to the behavior of invading scope.
Claims (10)
1. a Biomimetic Fish, comprises fish body main body and fish tail, it is characterized in that: described fish tail comprises a plurality of first support body (1), and it is hinged successively that a plurality of described first support body (1) can be rotated in the horizontal direction, forms fish tail main body (10); What one end of described fish tail main body (10) can be rotated in the horizontal direction be hinged with one as second support body (2) of tail fin, and what the other end can rotate in the horizontal direction is hinged with a triframe body (3); Described triframe body (3) is provided with mounting groove (31); This Biomimetic Fish also comprises attaching parts (4), what the middle part of this attaching parts (4) can be rotated in the horizontal direction is articulated with triframe body (3), one end of attaching parts (4) to extend in mounting groove (31) and is equiped with an adjustable eccentric wheel apparatus (50) that triframe body (3) is swung in the horizontal direction relative to attaching parts (4), and the other end is connected with fish body main body; The actuator for driving adjustable eccentric wheel apparatus (50) is provided with in described fish body main body.
2. a kind of Biomimetic Fish as claimed in claim 1, it is characterized in that: described adjustable eccentric wheel apparatus (50) comprises flower wheel (53) and rotating shaft (51), described rotating shaft (51) can along its length slidably be vertically arranged at attaching parts (4), and this rotating shaft (51) is provided with the driving wheel (52) with flower wheel (53) phase internal messing, described flower wheel (53) and driving wheel (52) are eccentric wheel; Be provided with two and limiting stoppers (32) of opposed setting inconsistent with the periphery of flower wheel (53) in described triframe body (3), rotating shaft (51) is slided the socket that driving wheel (52) and flower wheel (53) can be made to engage each other or can mutually rotate along its length.
3. a kind of Biomimetic Fish as claimed in claim 2, it is characterized in that: described first support body (1) is along the two ends of fish tail main body (10) length direction the convex surface be in the shape of the letter V, described first support body (1) is provided with electromagnet (6) along one end of fish tail main body (10) length direction in the both sides of hinged place, the other end is provided with armature (7) in the both sides of hinged place, and the electromagnet (6) of adjacent two first support bodys (1) and armature (7) opposed setting; Described armature (7) is arranged in the first support body (1) along fish tail main body (10) length direction telescopically, and described electromagnet (6) is arranged in the first support body (1), and one end of electromagnet (6) is concordant with the surface of the first support body (1).
4. a kind of Biomimetic Fish as claimed in claim 2, it is characterized in that: described driving wheel (52) comprises disk (521), the lower surface of upper disk (521) is provided with the lower disc (522) that diameter is greater than the diameter of disk (521), and the upper surface of lower disc (522) is provided with a plurality of projection radially spaced apart (5221); Described flower wheel (53) is provided with through hole (530), this through hole (530) comprises epimere (531) and hypomere (532), epimere (531) is provided with a plurality of vertical setting and raised line radially spaced apart each other (5311), forms the gap of matching with projection (5221) between adjacent two raised lines (5311); When described driving wheel (52) and flower wheel (53) are socketed mutually, the periphery of upper disk (521) contacts with raised line (5311), and the periphery of lower disc (522) contacts with the sidewall of hypomere (532).
5. a kind of Biomimetic Fish as claimed in claim 2, it is characterized in that: described flower wheel (53) is arranged with a bearing (54), the inner ring of this bearing (54) is connected with the periphery of flower wheel (53), and outer ring and the described limiting stopper (32) of bearing (54) are inconsistent.
6. a kind of Biomimetic Fish as claimed in claim 1, it is characterized in that: described first support body (1) cross-sectional profiles ovalize vertically, and described fish tail main body (10) is along its length in contraction-like, this Biomimetic Fish surface is also coated with the film that one deck is made up of flexible waterproof material.
7. the principle of work of fish tail in Biomimetic Fish as claimed in claim 3: rotated by described driver control rotating shaft (51) and make driving wheel (52) and flower wheel (53) phase internal messing, driving flower wheel (53) rotation by driving wheel (52); Because flower wheel (53) is eccentric wheel, and attaching parts (4) is articulated with triframe body (3), and the rotation of flower wheel (53) makes triframe body (3) swing back and forth in the horizontal direction relative to attaching parts (4); Because fish tail main body (10) and triframe body (3) are hinged, fish tail main body (10) is followed the swing of triframe body (3) and swings, be hinged between adjacent two first support bodys (1) simultaneously due to fish tail main body (10) and leave the space being convenient to swing in both sides, hinged place, making fish tail main body (10) soft swing in bending.
8. the principle of work of fish tail in Biomimetic Fish as claimed in claim 7, it is characterized in that: vertically declined by described driver control rotating shaft (51) and make the socket that driving wheel (52) and flower wheel (53) can rotate mutually, when rotating shaft (51) is rotated, driving wheel (52) and driving wheel (53) relatively rotate, because driving wheel (52) is eccentric wheel, driving wheel (52) rotates and the distance size between the center shaft of rotating shaft (51) and flower wheel (53) is changed; Vertically risen by described driver control rotating shaft (51) and driving wheel (52) is engaged again with flower wheel (53), because the distance size between rotating shaft (51) and the center shaft of flower wheel (53) changes, the amplitude of fluctuation of triframe body (3) changes thereupon.
9. the principle of work of fish tail in Biomimetic Fish as claimed in claim 7, it is characterized in that: by the magnetic effect between the electromagnet (6) of adjacent two first support bodys (1) and armature (7), for fish tail main body (10) provides the power doing high speed swinging, to increase the amplitude of fluctuation of fish tail main body (10) and to accelerate oscillation period; By above-mentioned actuator, rotating shaft (51) is stopped operating, and by the magnetic effect between electromagnet (6) and armature (7), make fish tail main body (10) towards fish body main body curving, make the second support body (2) simultaneously and swing back and forth in the horizontal direction near second support body (1) of the second support body (2), turning in water to make Biomimetic Fish.
10. the principle of work of fish tail in Biomimetic Fish as claimed in claim 7, it is characterized in that: the space (11) be convenient to the first support body (1) and rotated is left in adjacent two first support body (1) both sides, hinged place, the size in space, both sides (11) determines the full swing amplitude of fish tail main body (10), stretched out the size of length change space (11) of the first support body (1) by adjustment armature (7), thus change the full swing amplitude of fish tail main body (10).
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| CN105620703A (en) * | 2016-02-25 | 2016-06-01 | 上海大学 | Fin dynamic principle imitating swing device |
| CN106143852A (en) * | 2016-07-05 | 2016-11-23 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN106143851A (en) * | 2016-07-05 | 2016-11-23 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN106364650A (en) * | 2016-11-05 | 2017-02-01 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN107757849A (en) * | 2016-08-18 | 2018-03-06 | 深圳市中科莲花净水科技有限公司 | Driven combination drive is actively added to imitate fish tail underwater propulsion unit |
| CN109533248A (en) * | 2018-10-30 | 2019-03-29 | 中国航天空气动力技术研究院 | A kind of fish shape fluid media (medium) motion-promotion force device |
| CN110077566A (en) * | 2019-05-17 | 2019-08-02 | 东南大学 | Multi-joint link-type tail structure and the bionic machine fish promoted using it |
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| CN106364650A (en) * | 2016-11-05 | 2017-02-01 | 杭州畅动智能科技有限公司 | Bionic robot fish |
| CN106364650B (en) * | 2016-11-05 | 2019-02-15 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN109533248A (en) * | 2018-10-30 | 2019-03-29 | 中国航天空气动力技术研究院 | A kind of fish shape fluid media (medium) motion-promotion force device |
| CN110077566A (en) * | 2019-05-17 | 2019-08-02 | 东南大学 | Multi-joint link-type tail structure and the bionic machine fish promoted using it |
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