CN106003091A - Bionic robot fish - Google Patents

Abstract

Disclosed is a bionic robot fish. The bionic robot fish comprises an upper jaw and a lower jaw. Two fish eye mounting holes are symmetrically formed in the upper jaw, and fish eyes are arranged in the fish eye mounting holes respectively. The bionic robot fish further comprises an eye driving mechanism. The eye driving mechanism comprises an eye driving motor, a crank and rocker mechanism and a parallelogram mechanism, wherein the eye driving motor is mounted on the upper jaw and connected with the parallelogram mechanism through the crank and rocker mechanism, and the parallelogram mechanism is connected with the fish eyes. According to the bionic robot fish, the fish eyes are driven by the eye driving motor, the crank and rocker mechanism and the parallelogram mechanism to rotate, the structure is simple, and the vivid bionic effect is achieved.

Description

Bionic machine fish

Technical field

The invention belongs to bio-robot technical field, be specifically related to a kind of bionic machine fish.

Background technology

The nineties in 20th century focuses primarily upon theoretical side, along with fish previously for the bionic research of Fish Class advances going deep into of study mechanism, robotics, bionics, electronic technology, material science and control skill The new development of art, the underwater robot bionic machine fish of simulation fish swimming mechanism receives domestic Outer extensive concern." flux driving is theoretical " that the rope made of hemp Institute of Technology of the U.S. advances according to the fish tail proposed, grinds Make bionical tuna and the bionical Mugil cephalus of length 0.8 meter of long 1.2 meters.Marine Science Center of Northeast USA university Marmem and linkage is utilized to develop the machine Anguillar japonica of undulatory propulsion.University of New Mexico of the U.S. Utilize polyelectrolyte ion exchange membrane IEM, be plated on the foil of bionic machine fish fin, pass through Extra electric field realizes artificial muscle motion, produces the travelling method of similar Anguillar japonica.Essex university of Britain devises There is the machine fish of three-dimensional motion ability.Tokyo Univ Japan have developed the robotic dolphin that two joint advances.Kato Etc. have studied the control to fin propulsive mechanism and developing machine fish model machine sea bass.Japan Nagoya university grinds Make marmem and drive miniature physical undulations formula underwater propeller and the dipterus type of Piezoelectric Ceramic Microrobot.At home, Harbin Institute of Engineering engineering university has carried out the research work of bionic machine Zhang Yu. BJ University of Aeronautics & Astronautics's robot research have developed machine Anguillar japonica, robotic dolphin and use flat roomy The SPC series bionic machine fish of axe shape hydrodynamic force external form.Chinese Academy of Sciences's Shenyang automation research be have developed two The bionic machine fish model in joint.Peking University's mechanics and engineering science system have developed bionical dolphin model machine.In Ke Yuan Beijing automation research developed microminiature machine fish, multisensor bionic machine fish etc..

But, the flake rotational structure of bionic machine fish is complicated the most both at home and abroad, and manufacturing cost is high.

Summary of the invention

It is an object of the invention to provide a kind of bionic machine fish for solving above-mentioned technical problem.

The embodiment of the present invention provides a kind of bionic machine fish, opens symmetrically on the upper jaw described in lower jaw including the upper jaw It is provided with two flake installing holes, and on each flake installing hole, is respectively provided with a flake, this bionic machine Fish also includes that eye drive mechanism, described eye drive mechanism include that eye drives motor, crank and rocker mechanism And parallel-crank mechanism, described eye drives motor to be assemblied on the upper jaw, and eye drives motor to pass through crank Endplay device is connected with parallel-crank mechanism, and parallel-crank mechanism is connected with flake.

Further, described crank and rocker mechanism includes that being set in eye drives the eye in motor shaft portion Rotating disk, is fixed on the eye crank in eye rotating disk card, the other end of described eye crank in hinged way Stretch out from eye rotating disk, and be articulated and connected with parallel-crank mechanism.

Further, described parallel-crank mechanism includes cutting with scissors with the eye crank in crank and rocker mechanism The first connecting rod connect in succession, the second connecting rod being connected to first connecting rod both side ends in hinged way, and by fish 2 flake pallets that eye is respectively assembled in the upper jaw on flake installing hole, and be respectively used to connect flake torr Dish and two montants of second connecting rod.

Further, first connecting rod is all horizontally disposed with second connecting rod, and first connecting rod is parallel to two fishes Eye line direction, second connecting rod is vertical relative to first connecting rod.

Further, one end of montant is fixed on a second connecting rod side end away from first connecting rod, the other end It is fixed on flake pallet in vertically mode.

Further, it is fixedly connected by connecting pin between described flake and flake pallet.

Further, state and on flake, offer the first pin-and-hole, described flake pallet offers the second pin-and-hole, The two ends of described connecting pin are plugged in the first pin-and-hole of flake and the second pin-and-hole of flake pallet the company of fixing respectively Connect.

Due to the application of technique scheme, the method have the advantages that

The flake of the bionic machine fish of the present invention drives motor, crank and rocker mechanism and parallel four limits by eye Shape mechanism drives flake to rotate, simple in construction, and has bionical effect true to nature.

Accompanying drawing explanation

Fig. 1 is the perspective view of the provided bionic machine fish of present pre-ferred embodiments.

Fig. 2 is the planar structure schematic diagram of Fig. 1.

Fig. 3 is the decomposing schematic representation of the fish head in Fig. 1.

Fig. 4 is the cross-sectional schematic of the fish head in Fig. 1.

Fig. 5 is the partial exploded view of the fish body in Fig. 1, the specially anterior decomposition with fish neck of fish trunk Schematic diagram.

Fig. 6 is the decomposition after the partial exploded view of the fish body in Fig. 1, specially fish trunk with fish tail portion Schematic diagram.

Fig. 7 is the schematic diagram of the fish body pendulous device in Fig. 1.

Fig. 8-10 is the schematic diagram that the fish body pendulous device in Fig. 1 drives that the trunk skeleton of fish body swings.

Figure 11 is the schematic diagram of the fin in Fig. 1.

Figure 12 is the schematic diagram of the flexible joint in Figure 11.

Figure 13 is the schematic diagram of the motor box in Figure 11.

Figure 14 is the schematic diagram of the floating descending mechanism of bionic machine fish of the present invention.

Figure 15 is the schematic diagram of the control system of bionic machine fish of the present invention.

Detailed description of the invention

In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein In order to explain the present invention, it is not intended to limit the present invention.

Present pre-ferred embodiments provide bionic machine fish can be true to nature simulate Fish head float with Dive, can also simulate the mouth opening and closing of Fish simultaneously realistically.

Incorporated by reference to reference to Fig. 1, Fig. 2, Figure 14 and Figure 15, the bionic machine fish of the present invention, including fish head 1, Fish body 3, floating descending mechanism 6 and control system 7.First of all for being easy to this bionic mechanical machine fish is carried out Describe, initially set up and give advice coordinate system, definition X, Y, Z-direction be respectively first direction, second direction and Third direction, first direction horizontal direction and be line direction before fish, second direction be horizontal direction its with the One direction is vertical, and third direction is vertically, and fish rises and dive along third direction.

Specifically refer to Fig. 3 and Fig. 4, in the present embodiment, described fish head 1 includes the upper jaw 11, lower jaw 12 and open/close mechanism 13, the upper jaw 11 is connected with lower jaw 12 by open/close mechanism 13, and open/close mechanism 13 For driving lower jaw 12 to carry out opening and closing campaign relative to the upper jaw 11, to present face portion in this bionic machine fish Position open and close.In the present embodiment, described open/close mechanism 13 is arranged on the upper jaw 11 and lower jaw 12 Near one end of fish body 3, in order to the opening and close of the face position of bionic machine fish.

In the present embodiment, described open/close mechanism 13 includes opening and closing motor the 14, first gear 15 and the second tooth Wheel 16, opening and closing motor 14 is affixed with the upper jaw 11, and the first gear 15 is connected with the rotating shaft of opening and closing motor 14, Second gear 16 engages with the first gear 15, and the second gear 16 is affixed with lower jaw 12 and with the upper jaw 11 Hinged.So this open/close mechanism 13 is operationally, and opening and closing motor 14 drives the second tooth by the first gear 15 Wheel 16 rotates around the pin joint of the second gear 16 with the upper jaw 11 so that the second gear 16 drives lower jaw 12 pin joints carried out around the second gear 16 with the upper jaw 11 rotate, and then achieve this lower jaw 12 phase Opening and closing campaign is carried out for the upper jaw 11.It should be noted that the first gear 15 is circular gear, the second tooth Wheel 16 is sector gear.

Specifically, when opening and closing motor 14 drives the first gear 15 to rotate clockwise, described second gear 16 Rotating counterclockwise under the transmission of the first gear 15, the second gear 16 drives lower jaw 12 to do relative to the upper jaw 11 motions opened；Otherwise, the second gear 16 drives lower jaw 12 to do the motion relative to the upper jaw 11 Guan Bi. Further, the second gear 16 is positioned at the rear of the first gear 15, in order to simulate Fish realistically Mouth opening and closing, it should be noted that the rear that the second gear 16 is positioned at the first gear 15 refers to relatively For the first gear 15, the second gear 16 is closer to fish body.Preferably, the diameter of the second gear 16 is big Diameter in the first gear 15, in order to control the opening and closing degree of fish mouth.In the present embodiment, pivot 171 Hinged with the center of circle of the second gear 16, and the center of circle of the second gear 16 is relative to the teeth portion of the second gear 16 Closer to fish body 3, simulate the mouth opening and closing of Fish realistically with guarantee while, realize quickly opening of fish mouth Close.

In the present embodiment, described open/close mechanism 13 also includes that fixed mount 17, described fixed mount 17 are arranged on Between the described upper jaw 11 and lower jaw 12 and affixed with the upper jaw 11, described fixed mount 17 includes longitudinally disposed First fixed plate 170, in the horizontal direction, the first fixed plate 170 extends along a first direction, opening and closing electricity Machine 14 is arranged on fixed mount 17, and the rotating shaft of opening and closing motor 14 vertically passes the first fixed plate 170 It is connected with the first gear 15 afterwards.First fixed plate 170 is provided with pivot 171, and the second gear 16 passes through pivot The connection that axle 171 and the first fixed plate 170 pivot so that the second gear 16 is affixed with lower jaw 12 and with upper Jaw 11 is hinged, with this ensure the upper jaw 11 by open/close mechanism 13 and lower jaw 12 hinged while, opening and closing machine Structure 13 can also drive lower jaw 12 and the upper jaw 11 to carry out opening and closing campaign.

In the present embodiment, fixed mount 17 also includes the second fixed plate 172 of horizontally set, the first fixed plate 170 vertical with the second fixed plate 172 are connected, and the second fixed plate 172 is by the fixtures such as screw and the upper jaw 11 Affixed, and the main body of opening and closing motor 14 is fixed in the second fixed plate 172, i.e. and opening and closing motor 14 passes through Second fixed plate 172 is affixed with the upper jaw 11.Second fixed plate 172 is set and can ensure that fixed mount 17 can Tightened together with the upper jaw 11 by fixtures such as screws, strengthen the structural strength of bionic machine fish.

In the present embodiment, fixed mount 17 also includes longitudinally disposed 3rd fixed plate 173, the 3rd fixed plate 173 With the second fixed plate 172 and the first fixed plate 170 is the most vertical is connected, on the medial surface of the 3rd fixed plate 173 It is provided with the anti-flake 174 being connected with pivot 171, to protect the second gear 16 will not depart from from pivot 171.

In the present embodiment, described open/close mechanism 13 also includes fixation plate 18, fixation plate 18 and lower jaw 12 Affixed, fixation plate 18 is affixed with the second gear 16, and the i.e. second gear 16 is by fixation plate 18 and lower jaw 12 Affixed.Wherein, rivet, spot welding, soldering can be passed through between described fixation plate 18 and the second gear 16 Mode is attached fixing.Further, fixation plate 18 is in tongue shape, to ensure the head of realistic simulation Fish Portion.Further, fixation plate 18 is hinged with pivot 171, to strengthen the structural strength of bionic machine fish simultaneously It is easy to lower jaw 12 and does opening and closing campaign relative to the upper jaw 11.

In the present embodiment, the first fixed plate 170 is additionally provided with limit shaft 175, and limit shaft 175 is positioned at The lower section of two gears 16 and pivot 171 or the back lower place, with when lower jaw 12 rotates down, limit shaft 175 With fixation plate 18 against, limit lower jaw 12 maximum rotation amplitude, i.e. limit the maximum opening width of fish mouth. In the present embodiment, limit shaft 175 is positioned at the back lower place of the second gear 16 and pivot 171.

Continuing with combining with reference to Fig. 3 and Fig. 4, in the present embodiment, the described upper jaw 11 offers symmetrically Two flake installing holes 110, and on each flake installing hole 110, it is respectively provided with a flake 19, in order to Presenting the appreciation effect that in this bionic machine fish simulation Fish, flake rotates, the fish head of the present embodiment also includes setting It is placed between the upper jaw 11 and lower jaw 12 for driving flake 19 to enter in the flake installing hole 110 of the upper jaw 11 The eye drive mechanism 2 that row rotates.In the present embodiment, described eye drive mechanism 2 can drive flake 19 carry out synchronous axial system in the flake installing hole 110 of the upper jaw 11.

Specifically, described eye drive mechanism 2 includes that eye drives motor 21, crank and rocker mechanism 22 He Parallel-crank mechanism 23, described eye drives motor 21 to be assemblied on the upper jaw 11, and specifically, eye drives Galvanic electricity machine 21 is arranged in the second fixed plate 172, and in other words, namely eye drives motor 21 to pass through Second fixed plate 172 is assemblied on the upper jaw 11.Eye drives motor 21 by crank and rocker mechanism 22 with flat Row quadrangular mechanism 23 connects, and parallel-crank mechanism 23 is connected with flake 19, and eye drives motor 21 Drive parallel-crank mechanism 23 to rotate by crank and rocker mechanism 22 and then drive flake 19 at the upper jaw 11 Flake installing hole 110 in rotate.

Wherein, described crank and rocker mechanism 22 includes that being set in eye drives the eye on the shaft of motor 21 Portion's rotating disk 220, is fixed on the eye crank 221 in eye rotating disk 220 card in hinged way, wherein said The other end of eye crank 221 stretches out from eye rotating disk 220, and carries out with parallel-crank mechanism 23 It is articulated and connected, to drive parallel-crank mechanism 23 to carry out rotation operation.That is, eye drives motor 21 Operationally, parallel-crank mechanism 23 can be driven to carry out rotating work by this crank and rocker mechanism 22 Industry.

Described parallel-crank mechanism 23 includes cutting with scissors with the eye crank 221 in crank and rocker mechanism 22 The first connecting rod 230 connect in succession, the second connecting rod being connected to first connecting rod 230 both side ends in hinged way 231, and two the flake pallets 232 flake 19 being respectively assembled in the upper jaw 11 on flake installing hole 110, And it is respectively used to two montants 233 connecting flake pallet 232 with second connecting rod 231.Wherein, first Connecting rod 230 is all horizontally disposed with second connecting rod 231, and first connecting rod 230 length bearing of trend and two Flake 19 line direction is parallel, and second connecting rod 231 is vertical relative to first connecting rod 230.Further, institute The one end stating montant 233 is fixed on the second connecting rod 231 side end away from first connecting rod 230, the other end Being fixed in vertical manner on flake pallet 232, so this flake pallet 232 is using and can connect with second Bar 231 does the rotation relative to first connecting rod 230, and then drives correspondence to be fixed on flake pallet 232 Flake 19 carries out rotation operation.In the present embodiment, it is logical between described flake 19 and flake pallet 232 Cross connecting pin 26 to be fixedly connected, specifically, described flake 19 offers the first pin-and-hole 190, institute Stating and offer the second pin-and-hole 235 on flake pallet 232, the two ends of described connecting pin 26 are plugged in flake respectively First pin-and-hole 190 of 19 and the second pin-and-hole 235 of flake pallet 232 also fixing are connected.It is understood that Its flake of the bionic machine fish of the present invention drives crank and rocker mechanism 22 to carry parallel four by eye drive mechanism 2 Bian Xing mechanism 23 rotates and then drives flake 19 to rotate, and has the bionical effect of flake true to nature and simple in construction.

Incorporated by reference to reference to Fig. 1, Fig. 2, Fig. 5 and Fig. 6, in the present embodiment, fish body 3 includes trunk skeleton 30 and the afterbody skeleton 40 that is connected with trunk skeleton 30.

Trunk skeleton 30 includes multiple joint of trunk 31 being hingedly engaged to each other to form trunk skeleton 30. Joint of trunk 31 takes the shape of the letter U, and including in the form of sheets and first 310 of horizontally set, is positioned at first 310 Lower section and in the form of sheets second 311, and two ends vertical connect with first 310 and second 311 respectively The connecting portion 312 connect.Wherein, two first about 310 of two adjacent joint of trunk 31 stacked and By vertically arranged hinge, two second about 311 of two adjacent joint of trunk 31 is stacked And by vertically arranged hinge.

Specifically, in the present embodiment, connecting portion 312 offered mouth the end of neighbouring first 310 313, first 310 another body of insertion in one of them joint of trunk 31 of adjacent two joint of trunk 31 On the connecting portion 312 in dry joint 31 cross mouth 313 in and two first 310 lean and pass through vertically to set The hinge put, two second about 311 of two adjacent joint of trunk 31 is distributed and contacts with each other And by vertically arranged hinge, thus achieve being articulated and connected between two joint of trunk 31, And two joint of trunk 31 with them between bearing pin swing for rotating shaft.

In the present embodiment, fish body 3 also include affixed with fish head 1 and with trunk skeleton 30 be positioned at forefront The hinged fish neck frame 32 of joint of trunk 31.Specifically, fish neck frame 32 takes the shape of the letter U, including laterally setting The first installing plate 320 of putting, it is positioned at the second installing plate 321 below the first installing plate 320 and two ends respectively Vertical with the second installing plate 321 with the first installing plate 320 it is connected stator 322.Specifically, in this enforcement In example, stator 322 is fixing with fish head 1 to be connected.At the present embodiment, stator 322 such as passes through screw Pins etc. are fixing with the 3rd fixed plate 173 to be connected, so that fish body 3 is connected with fish head 1.Wherein, fish Neck frame 32 sees below detailed description for installing the storage displacement can controlling fish head rising and dive.

In the present embodiment, the first installing plate 320 extends respectively with the free end of the second installing plate 321 One pin-joint piece 323, the pin-joint piece 323 of the first installing plate 320 inserts the mistake of the joint of trunk 31 being positioned at front end In mouthfuls 313 and with first 310 against and by vertically arranged hinge, on the second installing plate 321 Pin-joint piece 323 and second 311 against and by hinge, and then achieve joint of trunk 31 And being pivotally connected between fish neck frame 32, trunk skeleton 30 relative to fish neck frame 32 with between them Bearing pin is to put about rotating shaft.

In the present embodiment, afterbody skeleton 40 is pivotally connected with trunk skeleton 30, including multiple mutually hinged Together to form the caudal articular process 41 in fish tail portion, caudal articular process 41 includes a connecting piece of horizontally set 410, be positioned at below a connecting piece 410 second connection sheet 412, and two ends respectively with a connecting piece 410 and second the 3rd connection sheets 413 connecting sheet 412.Described 3rd connects sheet 413 connects neighbouring first The end of sheet 410 offers wears mouth 414.One of them caudal articular process 41 of adjacent two caudal articular processes 41 In a connecting piece 410 insert on the 3rd connection sheet 413 of another caudal articular process 41 wear mouth 414 in and Two a connecting piece 410 lean and by vertically arranged hinge, two adjacent tail portions joints 41 Two second connection sheets about 412 be distributed and contact with each other and by vertically arranged hinge, so It is achieved that being articulated and connected between two caudal articular processes 41, and two caudal articular processes 41 are with between them Bearing pin be about rotating shaft put.

The joint of trunk 31 being positioned at caudal articular process 41 foremost and trunk skeleton 30 in afterbody skeleton 40 Hinged.It is understood that the caudal articular process 41 of afterbody skeleton 40 and the joint of trunk of trunk skeleton 30 The structure of 31 is essentially identical, and simply the afterbody of fish varies in size with trunk, therefore to realistic simulation fish The form of class, the size of caudal articular process 41 is less than the size of joint of trunk 31, further, closes with trunk Saving 31 hinged caudal articular processes 41 is transition joints, as the second connection of the caudal articular process 41 of transition joints Sheet 412 extends obliquely downward and is formed with oblique connection sheet 415 and the free end from this oblique connection sheet 415 prolongs Stretch out and the lateral connection sheet 416 hinged with the bottom of the second of joint of trunk 31 311, with at afterbody bone When frame 40 is connected with trunk skeleton 30, it is achieved the change between two skeleton difference in size, and then imitation true to nature Go out the form of Fish.

Please gather with reference to Fig. 1, Fig. 2 and Fig. 7, in the present embodiment, fish body 3 also includes fish body pendulous device 33.Fish body pendulous device 33 is divided into the tail swing device for driving afterbody skeleton 40 to swing and for driving The trunk pendulous device that dynamic trunk skeleton 30 swings.Each fish body pendulous device 33 includes fish body oscillating motor 34, reel 35 and the wherein said reel of stay cord 36 35 that is wrapped on reel 35 are set in fish body On the shaft of oscillating motor 34, the two ends of described stay cord 36 are protruding from reel 35.Trunk swings In the fish body oscillating motor 34 of device is arranged on the joint of trunk 31 of trunk skeleton 30 and be particularly located at first Between 310 and second 311, drive drawing corresponding to the fish body oscillating motor 34 of trunk skeleton 30 swing The two ends of rope 36 extend the most forward or backward along the arragement direction of multiple joint of trunk 31 and wear successively After multiple joint of trunk 31 be positioned at foremost or the joint of trunk 31 of rearmost end is fixed.So this fish body pendulum Operationally, fish body oscillating motor 34 drives reel 35 to rotate to galvanic electricity machine 34, and pulls and be wrapped in Stay cord 36 on reel 35 makes its two ends do corresponding retracting and relaxation exercise, and then achieves this fish body Oscillating motor 34 drives trunk skeleton 30 to swing, thus imitates out the action that Fish trunk swings.

In the present embodiment, trunk skeleton 30 is provided with the electric-controlled box 301 for loading control system 7, Trunk skeleton 30 is divided into anterior trunk skeleton and rear portion trunk skeleton by electric-controlled box 301, anterior trunk skeleton It is positioned at the free end of first 310 and second 311 of joint of trunk 31 of rear end towards electric-controlled box 301 And be such as connected by screw is fixing with electric-controlled box 301, the joint of trunk being positioned at front end of rear portion trunk skeleton The free end of first 310 of 31 and second 311 arrange towards electric-controlled box 301 and with electric-controlled box 301 example As connected by screw is fixing.The quantity of trunk pendulous device is two, the fish body pendulum of this trunk pendulous device Galvanic electricity machine 34 is separately positioned in the joint of trunk 31 of anterior trunk skeleton and rear portion trunk skeleton, to drive Anterior trunk skeleton and rear portion trunk skeleton, simulate, with vivider, the action that Fish trunk swings.Need Illustrate, the stay cord 36 of fish body oscillating motor 34 correspondence being arranged on anterior trunk skeleton, its two ends After simultaneously along the arragement direction of multiple joint of trunk 31 extending and wear multiple joint of trunk 31 successively the most forward Fix with the joint of trunk 31 being positioned at foremost；The fish body oscillating motor 34 being arranged on the trunk skeleton of rear portion Corresponding stay cord 36, its two ends extend back along the arragement direction of multiple joint of trunk 31 and successively simultaneously After wearing multiple joint of trunk 31 be positioned at rear end volume joint of trunk 31 and fix.

As shown in Fig. 8 to Figure 10, drive the fish body oscillating motor 34 that anterior trunk skeleton swings when start, During with corresponding with this fish body oscillating motor 34 reel 35 coiling, reel 35 simply will when coiling The stay cord 36 being positioned at reel 35 side is wrapped on reel 35, makes the stay cord 36 of this side be furled, Stay cord 36 quilt such as when fish body oscillating motor 34 drives reel 35 to turn clockwise, on the right side of reel 35 Furling on reel 35, shortening of the stay cord 36 on the right side of reel 35, anterior trunk skeleton swings to the right, Otherwise anterior trunk skeleton swings the most to the left, and the swing principle of rear portion trunk skeleton is same as described above, at this not Repeat again.Anterior trunk skeleton and the swing of rear portion trunk skeleton, can make bionic machine fish turn, and This bionical effect is true to nature.

In the present embodiment, the top of connecting portion 312 offers two perforation 313 symmetrically, wears for these two The stay cord 36 corresponding to fish body oscillating motor 34 that hole 313 swings for driving trunk skeleton passes.Drive body When the stay cord 36 corresponding to fish body oscillating motor 34 that dry skeleton swings is tightened up, can be worn by corresponding Power is acted on and on joint of trunk 31, joint of trunk 31 is swung by hole 313.In the present embodiment, connect Portion 312 includes that the first of triangular shape connects plate body and vertically extend second from the first bottom connecting plate body Connecting plate body, being arranged such connecting portion 312 can be with Appropriate application space, it is to avoid interfering between element, And alleviate the overall weight of fish body.Further, in the present embodiment, cross mouth 313 and be opened in first Connect on plate body.

Fish body oscillating motor 34 in tail swing device is arranged on the body being positioned at rearmost end of trunk skeleton 30 In dry joint 31, specifically it is arranged on first of the joint of trunk 31 being positioned at rearmost end of trunk skeleton 30 Between 310 and second 311, drive drawing corresponding to the fish body oscillating motor 34 of afterbody skeleton 40 swing The two ends of rope 36 extend back simultaneously along the arragement direction of multiple caudal articular processes 41 and wear multiple tail successively Fix with last caudal articular process 41 behind joint, portion 41.The trunk being positioned at rearmost end of trunk skeleton 30 closes Joint 31 refers to that joint being connected with afterbody skeleton 40 of trunk skeleton 30.The fish of tail swing device Operationally, the fish body oscillating motor 34 driving afterbody skeleton 40 to swing drives this fish body to body oscillating motor 34 The reel 35 of oscillating motor 34 correspondence rotates, and pulls the stay cord 36 being wrapped on reel 35 Make its two ends furl accordingly and loosen, and then achieving fish body oscillating motor 34 and drive afterbody skeleton 40 to enter Row swings, thus imitates out the action of Fish tail swing.

In the present embodiment, the 3rd connection sheet 413 of caudal articular process 41 offers in top and to be symmetrically distributed Two cable-through holes 416, so drive the stay cord corresponding to fish body oscillating motor 34 that afterbody skeleton 40 swings 36 through the cable-through hole 416 on the 3rd connection sheet 413 of caudal articular process 41 and close with the afterbody being positioned at rear end Joint 41 is fixed.

In the present embodiment, fish body 3 also includes flexible member 37 and multiple lug 38 of strip, lug 38 On be provided with through hole 380.Lug 38 is distributed on each joint of trunk 31 and caudal articular process 41, concrete position In the top of joint of trunk 31 with caudal articular process 41, more specifically it is in first of key joint 31 310 with the top on a connecting piece 410 of caudal articular process 41.Flexible member 37 wears through hole 380 also And the two ends of flexible member 37 are fixed on fish body 3, such fish body 3 swing time, the pliability of fish body 3 By force.In the present embodiment, flexible member 37 for example, Elastic Steel cord.

Further, a lug 38 in multiple lugs 38 is distributed on fish neck frame 32, be specially with The top of fish neck frame 32, is more specifically positioned on the top of the first installing plate 320 of fish neck frame 32. Flexible member 37 wears the through hole 380 on the lug 38 of fish neck frame 32, with relative at trunk skeleton 30 When fish neck frame 32 rotates, strengthen the pliability between trunk skeleton 30 and fish neck frame 32.In this enforcement In example, owing to trunk skeleton 30 is divided into anterior trunk skeleton and rear portion trunk skeleton by electric-controlled box 301, therefore, Flexible member 37 quantity is two, and one of them flexible member 37 is through anterior trunk skeleton and fish neck frame The through hole 380 on lug 38 on 32, the two ends of this flexible member 37 respectively with anterior trunk skeleton and fish Neck frame 32；Another flexible member 37 is through rear portion trunk skeleton and the lug 38 on afterbody skeleton 40 On through hole 380, the two ends of this flexible member 37 are fixed with rear portion trunk skeleton and afterbody skeleton 40 respectively.

Incorporated by reference to reference to Fig. 1, Figure 11 to Figure 13, in the present embodiment, fish body 3 is additionally provided with fin 5, Fin 5 is arranged in pairs and is symmetrically disposed in the both sides of trunk skeleton 30.

Described fin 5 includes fin skeleton 50 and the fin support 51 being connected with fin skeleton 50, and fin props up Frame 51 is connected with fish body 3.Wherein, fin skeleton 50 includes skeleton substrate 501 and is positioned apart from skeleton Multiple flexible joints 502 being hinged on substrate 501, wherein, the length of skeleton substrate 501 extends Direction is vertical with the length bearing of trend of fish body 3, the length bearing of trend of flexible joint 502 and fish body 3 Length bearing of trend is parallel.

All fixing with skeleton substrate 501 and along fish body 3 the length in one end of each flexible joint 502 is prolonged Stretch direction to arrange.Each soft energy property joint 502 includes the sub-joint 503 of multiple lamellar, two sons of adjacent company Joint 503 is connected by connection rotating shaft 505, and connection rotating shaft 505 is arranged with a torsion spring 504, each The two ends of torsion spring 504 are respectively held against two sub-joints 503, can keep fish when fin skeleton 50 swings The pliability of fin skeleton 50, will allow fin skeleton 50 that moderate finite deformation occurs because of the change of hydraulic pressure, and Reinstatement under the effect of torsion spring 504 after fin skeleton 50 deformation.

In the present embodiment, fin 5 also includes fin pendulous device 52 and fin motor box 58.Fin is put Dynamic device 52 includes fin oscillating motor 520, fin rotating disk 521 and fin crank 522.Wherein, fin Oscillating motor 520 is arranged on interior and fin oscillating motor 520 the shaft of fin motor box 58 and passes fin Motor box 58.Described fin rotating disk 521 is set on the shaft of fin oscillating motor 520, described fin The two ends of crank 522 are pivotally connected with fin rotating disk 521 and fin support 51 respectively, fin support 51 Medium position is pivotally connected by the front end face of connecting shaft 581 with fin motor box 58, it should be noted that The front end face of fin motor box 58 refers to the fin motor box 58 face towards fish head 1.It is understood that Fin rotating disk 521, fin crank 522 and fin support 51 constitute a double leval jib linkage structure, so should Fin oscillating motor 520 operationally, can pass through fin rotating disk 521 and fin crank 522 transmission, fin Portion's support 51 swings up and down operation.In the present embodiment, fin motor box 58 is arranged on trunk skeleton In the joint of trunk 31 of 30, concrete fin motor box 58 arrange first 310 of this joint of trunk 31 with Between second 311, and specifically such as it is fixed on second 311 by fixtures such as screws, Ke Yili Solving, fin support 51 is connected with the trunk skeleton 30 of fish body 3 by fin motor box 58.

In the present embodiment, it is arranged on same fin with two fin oscillating motors 520 in a pair fin 5 In portion's motor box 58, fin motor box 58 is fixed on the first of the predetermined joint of trunk of trunk skeleton 30 31 Between portion 310 and second 311.The front portion of this fin motor box 58 arranges cover plate 59, fin crank 522 The pivot linked together is arranged on fin motor box 58.The cover plate 59 of fin motor box 58 is provided with confession The perforation 591 that the shaft of two fin oscillating motors 520 wears, connecting shaft 581 is arranged on cover plate 59.

In the present embodiment, fin 5 also includes the fin tumbler for driving fin skeleton 50 to swing 53.Fin tumbler 53 includes fin rotary electric machine 531, shaft coupling 532 and connecting rod 533, this fin The rotating shaft of portion's rotary electric machine 531 is the most vertical with the length bearing of trend of fish body 3, fin rotary electric machine 531 Fixing with fin support 51 and be connected, fin rotary electric machine 531 is connected with connecting rod 533 by shaft coupling 532, Connecting rod 533 is fixing with skeleton substrate 501 to be connected, the fin rotary electric machine 531 of fin tumbler 53 Being dynamically connected bar 533 in rotational band, connecting rod 533 rotates and then drives fin skeleton 50 to rotate.

It is understood that fin 5 can be divided into anterior fin and rear portion fin, the structure of anterior fin is such as Described above, rear portion fin only can swing up and down will not swing, in other words, namely rear portion fish Fin does not include fin tumbler 53.It is understood that fin 5 is not including fin tumbler 53 Time, the fin support 51 of fin 5 and fin skeleton 50 such as can be by fixtures such as screws or weld Mode is fixed together.More particularly, the fin motor box 58 of anterior fin is fixed on anterior trunk skeleton The joint of trunk 31 being connected with electric-controlled box 301 in, the fin motor box 58 of rear portion fin is fixed on rear portion In the joint of trunk 31 of trunk skeleton.

It should be noted that fin 5 swing can fish rise with during dive in horizontal plane become to Before or tilt backwards certain angle, such as between 15 ° to 30 °, such fish rise be subject to during dive The opposition of water will diminish, and beneficially fish rises and dive.

At the present embodiment, described bionic machine fish also includes floating and dive for realizing this bionic machine fish Floating descending mechanism 6, floating descending mechanism 6 includes that the first storage floated with dive for controlling fish head 1 is arranged Water pot 61 and the first storage air accumulator 62 of being connected of displacement can 61 and be used for controlling air accumulator 62 and first The air pump 63 of gas exchange is carried out between storage displacement can 61.When needs fish head 1 floats, air pump 63 will storage Gas in gas tank 62 enters in the first storage displacement can 61, and then is discharged by the water in the first storage displacement can 61, Make the weight of fish head 1, it is achieved fish head 1 floats；Otherwise, then realize fish head 1 and sink.Specifically, Air pump 63 turns clockwise and can be entered by the gas in air accumulator 62 in first storage displacement can 61, air pump 63 Turn counterclockwise and the gas in the first storage displacement can 61 can be entered gas tank 62.In the present embodiment, automatically controlled Being provided with the dividing plate that electric-controlled box 301 is divided into Liang Ge chamber resettling in box 301, one of them chamber installs control System 7 processed, the air pump 62 in floating descending mechanism 6 is installed by another chamber resettling, and air pump 62 is fixed On dividing plate, it should be noted that in the present embodiment, electric-controlled box 301 is divided between the upper and lower every setting by dividing plate The Liang Ge chamber resettling put.Air accumulator 62 is arranged in the joint of trunk 31 of trunk skeleton 30.Concrete, The quantity of air accumulator 62 such as can be two in this embodiment, and two air accumulators 62 are arranged at anterior body In the joint of trunk 31 of dry skeleton, in being specifically located at the joint of trunk 31 being connected with fish neck frame 32 and In the joint of trunk 31 being connected with electric-controlled box 301 of anterior trunk skeleton, it is located at and is connected with electric-controlled box 301 Air accumulator 62 in joint of trunk 31 is positioned at the top of fin motor box 58, to reach Appropriate application space, And can be the first storage displacement can 61 and the second storage displacement can 65 provides sufficient gas and two storages of suction Gas in displacement can, it is achieved fish head 1 and the floating of fish body 3 and sinking.

Specifically, the first storage displacement can 61 is arranged on the first installing plate 320 and the second peace of fish neck frame 32 Between dress plate 321, the first installing plate 320 is provided with opening 324, for the gas on the first storage displacement can 61 Mouth passes through, and is connected with air accumulator 62 to facilitate valve to pass through airway, and then convenient to bionic mechanical machine fish In gas circuit arrange.Second installing plate 321 is provided with elastomeric element 325, the first storage displacement can 61 Bottom abuts elastomeric element 325, in order to convenient installation the first storage displacement can 61 also relies on elastomeric element 325 Elastic-restoring force prevent the first storage displacement can 61 from loosening.In the present embodiment, elastomeric element 325 is for example, Elastic arch sheet, in order to install the first storage displacement can 61.In the present embodiment, air accumulator 62 such as sets Putting in fish neck frame 32, in other embodiments, the first storage displacement can 61 can directly arrange fish head 1 In.

In the present embodiment, the first storage displacement can 61 includes the first tank body 610 and is arranged on this first tank body The first air bag 612 in 610, wherein said first tank body 610 offers the first water inlet, and by being somebody's turn to do First water inlet connects with extraneous aqueous phase.It is understood that when fish head 1 needs floating or dive, Gas in air accumulator 62 is entered in the first air bag 612 by air pump 63, and the first air bag 612 expands first Water in tank body 610 enters the external world, alleviates the first storage displacement can 61 weight, and then alleviates the weight of fish head 1, Fish head 1 is floated；Otherwise then increase the weight of fish head 1, make fish head sink.Latent dive on fish head 1 After reception.

In the present embodiment, floating descending mechanism 6 also include for controlling fish body 3 and floating, the second of dive Storage displacement can 65, air pump 63 is connected with the second storage displacement can 65, since control air accumulator 62 and second and store up Gas exchange is carried out between displacement can 65.When needing fish body 3 to float, air pump 63 is by the gas in air accumulator 62 Body enters in the second storage displacement can 65, and then is discharged by the water in the second storage displacement can 65 so that fish body 3 Weight, it is achieved fish body 3 floats；Otherwise, then realize fish body 3 and sink.

In the present embodiment, the second storage displacement can 65 includes the second tank body 650 and is arranged on this second tank body The second air bag 652 in 650, wherein said second tank body 650 offers the second water inlet, and by being somebody's turn to do Second water inlet connects with extraneous aqueous phase.It is understood that when fish body 3 needs floating or dive, Gas in air accumulator 62 is entered in the second air bag 652 by air pump 63, and the second air bag 652 expands second Water in tank body 650 enters the external world, alleviates the second storage displacement can 65 weight, and then alleviates the weight of fish body 3, Fish body 3 is floated；Otherwise then increase the weight of fish body 3, make fish body 3 dive.Under fish body 3 is dived After latent end.

Concrete, at the present embodiment, the second storage displacement can 65 is arranged on the middle part of trunk skeleton 30, and has Body is arranged in the joint of trunk 31 being connected with electric-controlled box of fish rear portion trunk.Described second storage displacement can 65 Apply in this bionic machine fish, for driving fish body 3 to carry out floating dive, whole due to fish body 3 Weight is greater than the total quality of fish head 1, to this end, the quantity of the present embodiment is two, and symmetrical point Cloth is in the both sides of trunk skeleton 30, and is arranged on the skeleton joint that rear portion trunk skeleton is connected with electric-controlled box 301 Between first 410 of 41 and second 411.

Further, in the present embodiment, floating descending mechanism 6 includes first electromagnetic valve the 66, second electromagnetism Valve 67 and the 3rd electromagnetic valve 68, first electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electromagnetic valve 68 are respectively Include two the first air guide port A, the second air guide port B and the first air guide port A and the second air guide port respectively The 3rd air guide port C that B connects, the first valve controlling the first air guide port A and the 3rd air guide port C conducting is opened Close, and control the second valve switch of the second air guide port B and the 3rd air guide port C conducting.First electromagnetic valve The first air guide port A and the second air guide port B of 66 stores up displacement can 65 with the first storage displacement can 61 and second respectively Connect, the of corresponding 3rd electromagnetic valve 68 of the first air guide port A and the second air guide port B of the second electromagnetic valve 67 Two air guide port B and the first air guide port A connect, and air accumulator 62 is connected to the first inducing QI of the second electromagnetic valve 67 Between mouth A and the second air guide port B of the 3rd electromagnetic valve 68, the 3rd air guide port C of the first electromagnetic valve 66 It is connected between the second air guide port B and the first air guide port A of the 3rd electromagnetic valve 68 of the second electromagnetic valve 67, 3rd air guide port C of the 3rd electromagnetic valve 68 is connected with the 3rd air guide port C of the second guide valve by air pump 62. When needs fish body 3 floats, air pump 62 is bled the most clockwise, and the second valve of three electromagnetic valves is opened Guan Jun opens, and makes the gas in air accumulator 62 enter in the first storage displacement can 61, by the first storage displacement can 61 Interior water is discharged, thus realizes fish head 1 and float, otherwise then fish head 1 sinks.When needs fish body 3 floats, Air pump 62 is bled the most clockwise, and the second valve switch of three electromagnetic valves is all opened, and makes air accumulator Gas in 62 enters the second storage displacement can 65, is discharged by the water in the second storage displacement can 65, thus realizes Fish body 3 floats, otherwise then fish body 3 sinks.

Control system 7 includes microprocessor 701, microprocessor 701 and the fish driving trunk skeleton 30 to swing Body oscillating motor 34 connects, to control the start of the fish body oscillating motor 34 driving trunk skeleton 30 to swing, To realize the swing at trunk skeleton 30 position, and then realize bionic machine fish turning.When turning, micro-place The fish body oscillating motor 34 that reason device 701 controls to drive trunk skeleton 30 to swing drives corresponding reel 35 Stay cord 36 is carried out coiling, drives trunk skeleton 30 to rotate to side, it is achieved bionic machine fish is turned, After turning terminates, the fish body oscillating motor 34 driving trunk skeleton 30 to swing drives reel 35 to rotate and makes body Dry stay cord 36 return, stops operating after i.e. returning to initial position.

Microprocessor 701 is also connected with the fish body oscillating motor 34 driving afterbody skeleton 40 to swing, to control Drive the start of the fish body oscillating motor 34 of afterbody skeleton 40 swing, it is achieved the swing of afterbody skeleton 40, for Bionic machine fish provides driving force, and then realizes bionic machine fish advance.When needing bionic machine fish to advance, The fish body oscillating motor 34 that microprocessor 701 controls to drive trunk skeleton 30 to swing rotates and reverse, and it is right to make The reel 35 answered be pointed to respectively left side stay cord 36 and be positioned at right side stay cord 36 carry out coiling, drive Trunk skeleton 30 swings, and provides driving force for bionic machine fish, after bionic machine fish halts, The fish body oscillating motor 34 controlling to drive afterbody skeleton 40 to swing is stopped operating, makes bionic machine fish stop Advance.

Microprocessor 701 is also connected with the fin oscillating motor 520 in fin pendulous device 52.To control fin The start of portion's oscillating motor 520, with when bionic machine fish advances, makes the fin 5 of bionic machine fish swing, Steady and bionical better true to nature to move about when bionic machine fish advances.

Microprocessor 701 is also connected with fin rotary electric machine 531, to control the work of fin rotary electric machine 531 Dynamic, during being floating or dive, microprocessor 701 controls fin rotary electric machine 531 and rotates, with band Dynamic fin 5 rotates forward or backward as set angle, to reduce the water opposition to fin 5, has It is beneficial to floating and the dive of bionic machine fish.

Control system 7 also include fish body positional detecting device 71, fish body positional detecting device 71 be divided into for Gather the position signalling of afterbody skeleton 40 and transmit the tail position detection device to microprocessor 701, and For gathering the position signalling of trunk skeleton 30 and being sent to the trunk position detection device of microprocessor 70.

Microprocessor 701 is for judging afterbody skeleton 40 according to the position signalling of the afterbody skeleton 40 received Position and control for driving the fish body oscillating motor 34 of tail swing to carry out corresponding start.Specifically, The position signalling of afterbody skeleton 40 includes afterbody maximum left avertence position signalling, afterbody maximum right avertence position signalling and Afterbody initial position signal, when afterbody amount of deflection reaches maximum, microprocessor 701 controls to be used for driving The fish body oscillating motor 34 of tail swing rotates round about and then drives afterbody skeleton 40 to swing, When afterbody skeleton 40 swings to initial position, microprocessor 701 can be controlled for driving afterbody skeleton 40 The fish body oscillating motor 34 swung stops operating.It is understood that pass through wireless communication at microprocessor 701 Number receive 702 control instructions receiving outside input such as stop swinging fish tail time, microprocessor 701 is i.e. Control for driving the fish body oscillating motor 34 of tail swing to drive afterbody skeleton 40 to swing to initial position, And swing to initial position control for driving the fish body oscillating motor 34 of tail swing to stop at afterbody skeleton 40 Spline is moved；Certainly, microprocessor 701 can also be according to the operation program of its storage inside, at tail swing Control after reaching the setting time for drive the fish body oscillating motor 34 of tail swing drive afterbody skeleton 40 to Initial position swings, and swings to initial position control for the fish body driving tail swing at afterbody skeleton 40 Oscillating motor 34 stops operating.

Microprocessor 70 is additionally operable to the position signalling according to trunk skeleton 30 and controls for driving trunk skeleton 30 The fish body oscillating motor 34 swung carries out corresponding start.Specifically, the position signalling bag of trunk skeleton 30 Including trunk maximum left avertence position signalling, trunk maximum right avertence position signalling and trunk initial position signal, at body After the deflection of dry skeleton 30 reaches peak excursion position, microprocessor 701 controls to be used for driving trunk skeleton 30 to put Dynamic fish body oscillating motor 34 rotates to opposite direction and then drives trunk skeleton 30 to swing, at bone of body When frame 30 returns to initial position, processor 701 controls the fish body for driving trunk skeleton 30 to swing and swings Motor 34 stops operating, so that trunk skeleton 30 is parked in home position.It is understood that in micro-process Device 701 receives the control instruction of outside input by reception of wireless signals 702 and such as stops swinging bone of body During frame 30, microprocessor 701 i.e. controls to drive trunk for the fish body oscillating motor 34 driving trunk to swing Skeleton 30 swings to initial position, and swings to initial position control for driving trunk at trunk skeleton 30 The fish body oscillating motor 34 swung stops operating；Certainly, microprocessor 701 can also be according to its storage inside Operation program, trunk swing reach the setting time after control fish body for driving trunk to swing and swing electric Machine 34 drives trunk skeleton 30 to swing to initial position, and swings to initial position control at trunk skeleton 30 Fish body oscillating motor 34 for driving trunk to swing stops operating.

Specifically, each fish body positional detecting device 71 includes the first fish body Hall element 711, the second fish body Hall element the 712, the 3rd fish body Hall element 713 and fish body Magnet 714.First fish body hall sensing Device 711, the second fish body Hall element the 712, the 3rd fish body Hall element 713 for fish body Magnet During 714 alignment, correspondence produces maximum left avertence position signalling, initial position signal and maximum right avertence position signalling. Specifically, the first fish body Hall element 711 in tail position detection device, the second fish body hall sensing Device the 712, the 3rd fish body Hall element 713 is arranged on caudal articular process 41 foremost, fish body Magnet 714 It is arranged on the fish body oscillating motor 34 for driving afterbody skeleton 40 to swing, such tail position detection dress The first fish body Hall element 711 in putting, the second fish body Hall element the 712, the 3rd fish body hall sensing Device 713 will swing along with caudal articular process 41 and swing, and fish body Magnet 714 will not swing, such first fish Body Hall element 711, the second fish body Hall element the 712, the 3rd fish body Hall element 713 is along with tail Portion's skeleton 40 swings and aligns with fish body Magnet 714 respectively, corresponding generation afterbody maximum right avertence position signalling, tail Portion's initial position signal and afterbody maximum right avertence position signalling.

First fish body Hall element 711 of trunk position detection device, the second fish body Hall element 712, 3rd fish body Hall element 713 is arranged on and is provided with the fish body oscillating motor driving trunk skeleton 30 to swing On the joint of trunk 31 that the joint of trunk 31 of 34 closes on, fish body Magnet 714 is arranged on for driving bone of body On the fish body oscillating motor 34 that frame 30 swings, so fish body position in trunk position detection device is visited Surveying the first fish body Hall element 711 of device 71, the second fish body Hall element the 712, the 3rd fish body is suddenly Swing along with joint of trunk 31 is swung by sensor 713 by you, and fish body Magnet 714 will not swing, this Sample the first fish body Hall element 711, the second fish body Hall element the 712, the 3rd fish body Hall element 713 align with fish body Magnet 714 respectively along with trunk skeleton 30 swings, corresponding generation trunk maximum right avertence position Confidence number, trunk initial position signal and trunk maximum right avertence position signalling.

In the present embodiment, fish body positional detecting device 71 also includes installing rack 715.Installing rack 715 includes First mounting blocks the 716, second mounting blocks 717 and connection support 718, the first mounting blocks 716 and second is installed Block about 717 is stacked and hinged, the bottom of the second mounting blocks 717 with is connected support 718 company of fixing It is connected together.First fish body Hall element 711, the second fish body Hall element the 712, the 3rd fish body Hall Sensor 713 is arranged on the first mounting blocks 716, and fish body Magnet 714 is arranged on the second mounting blocks 717. Gather the fish body positional detecting device 71 of trunk skeleton 31 swing position information and gather the pendulum of afterbody skeleton 40 The fish body positional detecting device 71 of dynamic positional information, the first mounting blocks 716 in them is separately positioned on and pacifies The joint of trunk closed on equipped with the joint of trunk 31 of the fish body oscillating motor 34 driving trunk skeleton 30 to swing First 310 and this afterbody of this joint of trunk 31 it is particularly located on caudal articular process 41 on 31 and foremost On a connecting piece 410 in joint, the second mounting blocks 717 in them is arranged on by connecting support 715 The fish body oscillating motor 34 driving trunk skeleton 31 and the fish body oscillating motor driving afterbody skeleton 40 to swing On 34.So, trunk skeleton 31 and afterbody skeleton 40 are when swinging, and the fish body position sensing of its correspondence fills Put the first fish body Hall element 711 in 71, the second fish body Hall element 712 and the 3rd fish body Hall Sensor 713 can occur position to offset relative to fish body Magnet 714 so that the first fish body Hall element 711, the second fish body Hall element 712 and the 3rd fish body Hall element 713 can be with fish body Magnet 714 Alignment, and then produce fish body position signalling.

In the present embodiment, connect and on support 715, be additionally provided with connection axostylus axostyle 719, the first mounting blocks 716 With the second mounting blocks 717 all in triangular shape, two that the first mounting blocks 716 is relative with the second mounting blocks 717 Summit is by connecting linking together of axostylus axostyle 719 rotation, so that the first mounting blocks 716 and the second peace Dress block 717 can relatively rotate.

In the present embodiment, control system 7 also includes fin positional detecting device, fin positional detecting device It is positioned at initial position signal for obtaining fin, and controls fin oscillating motor according to fin initial position message After fin returns to initial position, stop controlling fin and swing up and down.Wherein, fin positional detecting device bag Including fin Hall element (not shown) and fin Magnet (not shown), fin Hall element sets Putting on fin support 51, fin Magnet is arranged on cover plate 59, is positioned at initial position at fin support 51 Time, fin Magnet aligns with fin Hall element, and fin Hall element senses fin Magnet and produces Fin is positioned at initial position signal and sends to microprocessor 701, when need not fin and swinging, microprocessor 701 receive fin return to initial position signal stop drive fin swing.It is understood that fin When swinging, fin support 51 opposing cover plates 59 rotates, and such fin Hall element will be with fin Magnet Staggering, fin Hall element will not produce fin and be positioned at initial position signal.Fin position sensing is set The main purpose of device is to facilitate fin to return to initial position.

Microprocessor 701 also with air pump the 63, first electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electromagnetic valve 68 connect, to control the opening and closing of air pump 63, and the first electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electricity The first valve on magnet valve 68 and the opening and closing of the second valve, with bionic machine fish need float or sink time, Make bionic machine fish float or sink.Bionic machine fish float and the principle sunk and in foregoing in detail Thin description, does not repeats them here.

In the present embodiment, the control system 7 in the present invention also includes first be connected with microprocessor 701 Water depth sensor 74 and the second water depth sensor 75, the first water depth sensor 74 and the second water depth sensor 75 Being separately mounted on fish head 1 and fish body 3, the first water depth sensor 74 and the second water depth sensor 75 are used for Gather the fish head 1 of bionic machine fish and fish body 3 is in water the degree of depth the depth of water is converted into digital signal transmission To microprocessor 701, microprocessor 701 is according to the first water depth sensor 74 and the second water depth sensor 75 The water signal collected to control the start of air pump 63, first, second and third electromagnetic valve 66,67, The opening and closing of the valve switch of 68.

Concrete, the water signal collected according to the first water depth sensor 74 when microprocessor 701 is judged When fish head 1 is positioned at the first set depth, close the first of first, second and third electromagnetic valve 66,67,68 Valve switch, no longer enters the first air bag 612, no longer by the first storage displacement can by the gas in air accumulator 62 Water in 61 is discharged, and the weight of the first storage displacement can 61 no longer alleviates, and fish head 1 stops floating；When micro-place According to the water signal that the second water depth sensor 75 collects, reason device 701 judges that fish body 3 floats up to first and sets When depthkeeping is spent, microprocessor 701 air pump 63 cuts out close simultaneously first, second and third electromagnetic valve 66, 67, second valve switch of 68, no longer enters the gas in air accumulator 62 in second air bag 652, the One storage displacement can 65 no longer draining, the weight of fish body 3 no longer alleviates, and fish body no longer floats.

Microprocessor 701 collects water signal according to the first water depth sensor 74 and judges that fish head 1 is positioned at During two set depths, close the first valve switch of first, second and third electromagnetic valve 66,67,68, no Gas in first air bag 612 enters air accumulator 62 again, and the first storage displacement can 61 is no longer poured water, fish head 1 Weight no longer strengthen, fish head 1 no longer dive；When microprocessor 701 is according to the second water depth sensor 75 The water signal collected judges that, when fish body 3 is positioned at the second set depth, microprocessor 701 is by air pump 63 Close and simultaneously close off the second valve switch of first, second and third electromagnetic valve 66,67,68, no longer by the Gas in two air bags 652 enters cylinder air accumulator 62, and the first storage displacement can 65 is no longer poured water, fish body 3 Weight no longer strengthen, fish body no longer sinks.

It should be noted that the first set depth and the second set depth are stored in microprocessor 701, micro- The degree of depth breath that processor 701 collects according to the first water depth sensor 74 and the second water depth sensor 75 is sentenced Whether disconnected bionic machine fish is positioned at the first set depth in floating-upward process, whether is positioned at the in sinking watching Two set depths, during the two, if result is for being that microprocessor 701 controls on air pump 63 carries out The start stated.

In the present embodiment, microprocessor 701 is also connected with the opening and closing motor 14 in open/close mechanism 13, uses In controlling the start of opening and closing motor 14 to control opening and Guan Bi of fish mouth.Specifically, when needs fish mouth opening and closing, Microprocessor 701 controls opening and closing motor 14 and first drives the first gear 15 rotating forward to drive the second gear 16 to invert, Second gear 16 drives lower jaw 12 to rotate down around pivot 171, so that fish mouth is opened, and the most micro-place Reason device 701 controls opening and closing motor 14 and drives the first gear 15 reversion to drive the second gear 16 to rotate forward, the second tooth Wheel 16 drive lower jaw 12 is rotated up around hinge axis 171, so that fish mouth Guan Bi, thus complete fish mouth Opening and closing.

In the present embodiment, processor 701 also drives motor 21 to be connected with eye, is used for controlling eye and drives The start of motor 21, with when needs rotate flake 19, makes eye drive motor 21 to work, drives crank Endplay device 22 drives parallel-crank mechanism 23 start, and then drives flake 19 to rotate.

The wireless signal receiver 702 that control system 7 is also connected with microprocessor 701, reception of wireless signals Device 702 is used for receiving the wireless remote control signals of outside and sending wireless remote control signals to microprocessor 701, Microprocessor 701 controls float means 6 in each start driving motor and dive according to wireless remote control signals Start so that bionic machine fish is according to the movement pattern specified by wireless remote control signals.In this reality Executing in example, microprocessor 701 and wireless signal receiver 702 are respectively provided with on circuit boards, and circuit board seals In electric-controlled box 301.

Motor pattern specified by wireless remote control signals includes multiple monomer motor pattern and free cruise mode. Multiple monomer motor patterns include that fish head floats, floating with fish, fish head sinks, fish body sinks, fish mouth is opened, Fish mouth Guan Bi, eye rotation, trunk swing, fin swings up and down, fish tail swing and fin rotate.Permissible Being understood by, fish head floats and floats synthesizing bionic machine fish floating with fish.Fish head sinks and fish body sinks to closing Become bionic machine fish dive.Fish mouth is opened and is closed synthesizing bionic machine fish fish mouth opening and closing with fish mouth.Trunk swings Formation bionic machine is turned.Fish tail swing advances for bionic machine fish provides motive force, forms bionic machine fish Travelling.Fin swings the balance for ensureing bionic machine fish.Fin rotate for floating with fish or When fish body sinks, the fin skeleton 50 of fin 5 is turned to the angle of inclination set, to reduce the resistance of water, It is easy to floating and fish body sinking with fish.Bionic machine fish is when the water surface moves about, and first bionic machine fish floats, After bionic machine fish floats, carrying out fish tail swing, forming the bionic machine fish water surface and move about, in other words, Namely bionic machine fish floats and the fish tail swing formation bionic machine fish water surface moves about；Raw machine fish is at wet concentration Time travelling, first bionic machine fish sinks, and after bionic machine fish sinks, is carrying out fish tail swing, is formed imitative Move about under life device fish and water, namely bionic machine fish sinks and fish tail swing formation bionic machine fish and water middle reaches are moved.

Free cruise mode includes at least two monomer motor pattern in multiple monomer motor pattern.Concrete example As, first bionic machine fish carries out the bionic machine fish water surface and moves under water, and carries out bionic machine fish during moving under water Fish mouth opening and closing, bionic machine fish moves under water at the water surface after certain time, moves under water under water, moves under water under water During carry out bionic machine fish fish mouth opening and closing.

Above-mentioned monomer moves, its motor process and principle, and has described in detail, at this not Repeat again.

It should be noted that the fish body 3 of the bionic machine fish of the present invention is also at the joint of trunk of trunk skeleton 31 Multiple battery case 101 is set between first 310 of 31 and second 312, is provided with in battery case 101 Accumulator, thinking provides electric energy with electric device in the present invention.

The simple in construction of the bionic machine fish of the present invention, low cost, it addition, bionic machine fish of the present invention has Bionical effect true to nature.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this Any amendment, equivalent and the improvement etc. made within bright spirit and principle, should be included in the present invention Protection domain within.

Claims (7)

1. a bionic machine fish, including the upper symmetry of the upper jaw (11) and lower jaw (12) the described upper jaw (11) Offer two flake installing holes (110), and be respectively provided with one on each flake installing hole (110) Individual flake (19), it is characterised in that also include eye drive mechanism (2), described eye drive mechanism (2) Motor (21), crank and rocker mechanism (22) and parallel-crank mechanism (23), institute is driven including eye Stating eye drives motor (21) to be connected with parallel-crank mechanism (23) by crank and rocker mechanism (22), Parallel-crank mechanism (23) is connected with flake (19).

2. bionic machine fish as claimed in claim 1, it is characterised in that described crank and rocker mechanism (22) The eye rotating disk (222) in motor (21) shaft portion is driven including being set in eye, solid in hinged way The eye crank (221) being scheduled in eye rotating disk (222) card, another of described eye crank (221) End stretches out from eye rotating disk (222), and is articulated and connected with parallel-crank mechanism (23).

3. bionic machine fish as claimed in claim 2, it is characterised in that described parallel-crank mechanism (23) Including the first connecting rod (230) carrying out being articulated and connected with the eye crank (221) in crank and rocker mechanism (22), It is connected to the second connecting rod (231) of first connecting rod (230) both side ends in hinged way, and by flake (19) It is respectively assembled at 2 flake pallets (232) on flake installing hole (110) in the upper jaw (11), and It is respectively used to two montants (233) connecting flake pallet (232) with second connecting rod (231).

4. bionic machine fish as claimed in claim 3, it is characterised in that first connecting rod (230) and the Two connecting rods (231) are all horizontally disposed with, and first connecting rod (230) is parallel to two flake (19) lines Direction, second connecting rod (231) is vertical relative to first connecting rod (230).

5. bionic machine fish as claimed in claim 4, it is characterised in that one end of montant (233) is solid Being scheduled on the second connecting rod (231) side end away from first connecting rod (230), the other end is in vertically mode It is fixed on flake pallet (232).

6. bionic machine fish as claimed in claim 5, it is characterised in that described flake (19) and flake It is fixedly connected by connecting pin (26) between pallet (232).

7. bionic machine fish as claimed in claim 6, it is characterised in that state and offer on flake (19) First pin-and-hole (190), described flake pallet (232) offers the second pin-and-hole (235), described connection The two ends of pin (26) are plugged in the first pin-and-hole (190) and the flake pallet (232) of flake (19) respectively The second pin-and-hole (235) and fixing connect.