CN106081035B

CN106081035B - Bionic machine fish

Info

Publication number: CN106081035B
Application number: CN201610539841.9A
Authority: CN
Inventors: 应佳伟; 陈辉
Original assignee: Hangzhou Chang Intelligent Technology Co Ltd
Current assignee: Zhejiang Zhenxing Axiang Group Co ltd
Priority date: 2016-07-05
Filing date: 2016-07-05
Publication date: 2018-05-01
Anticipated expiration: 2036-07-05
Also published as: CN106081035A; WO2018006613A1

Abstract

The invention discloses a kind of bionic machine fish,The fish body being connected including fish head and with fish head,Fish head includes the upper jaw,Lower jaw,Flake is provided with the upper jaw,Fish body includes trunk skeleton,Afterbody skeleton and the fin on trunk skeleton,Fin includes fin skeleton,Bionic machine fish further includes the open/close mechanism for being connected and being used for the upper jaw and lower jaw and drive lower jaw to do opening and closing campaign relative to the upper jaw,Eye driving mechanism in fish head and for driving flake rotation,Fish body pendulous device in trunk skeleton and for driving trunk skeleton and the swing of afterbody skeleton,For the fin pendulous device for driving fin skeleton to swing,For the fin tumbler for driving fin skeleton to rotate,For driving fish head and the floating descending mechanism of floating dive with fish and control open/close mechanism,Eye driving mechanism,Fish body pendulous device,Fin pendulous device,Fin tumbler and the control system of floating descending mechanism start.

Description

Bionic machine fish

Technical field

The invention belongs to bio-robot technical field, and in particular to a kind of bionic machine fish.

Background technology

The 1990s focuses primarily upon theoretical side previously for the bionic research of fish, with fish pusher Reason research is goed deep into, the new development of robot technology, bionics, electronic technology, material science and control technology, simulation fish trip Motivation reason underwater robot --- bionic machine fish receives extensive concern both domestic and external.The rope made of hemp Institute of Technology of U.S. root " flux driving is theoretical " promoted according to the fish tail of proposition, develops bionical tuna 1.2 meters long and bionical shuttle 0.8 meter long Fish.Marine Science Center of Northeast USA university develops the machine eel of undulatory propulsion using marmem and linkage Fish.University of New Mexico of the U.S. utilizes polyelectrolyte amberplex IEM, is plated in the sheet metal of bionic machine fish fin On, artificial myokinesis is realized by extra electric field, produces the travelling method of similar sea eel.Essex universities of Britain, which devise, to be had The machine fish of three-dimensional motion ability.Tokyo Univ Japan have developed the robotic dolphin of two joint propulsion.Kato etc. have studied to fish The control of fin propulsive mechanism simultaneously develops machine fish model machine sea bass.It is micro- that Japan Nagoya university develops marmem driving The dipterus type microrobot of type physical undulations formula underwater propeller and Piezoelectric Ceramic.At home, Harbin Institute of Engineering work Cheng great Xue has carried out the research work of bionic machine Zhang Yu.BJ University of Aeronautics ＆ Astronautics's robot research have developed machine eel Fish, robotic dolphin and the SPC series bionic machine fish using flat roomy Ax-shaped hydrodynamic force external form.Chinese Academy of Sciences Shenyang is automatic Change the diarticular bionic machine fish model of Research Institute.Peking University's mechanics have developed bionical dolphin sample with engineering science system Machine.Chinese Academy of Sciences's Beijing automation research develops microminiature machine fish, multisensor bionic machine fish etc..

However, bionic machine is complicated both at home and abroad at present, manufacture is of high cost.

The content of the invention

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

The embodiment of the present invention provides a kind of bionic machine fish, including fish head and the fish body that is connected with fish head, the fish head bag The upper jaw, lower jaw are included, flake is provided with the upper jaw, the fish body includes trunk skeleton, afterbody skeleton and on trunk skeleton Fin, the fin includes the fin stent being connected with trunk skeleton and the fin skeleton being connected with fin stent, described imitative Raw machine fish, which is further included, to be connected with the upper jaw and lower jaw and for driving lower jaw to do the open/close mechanism of opening and closing campaign relative to the upper jaw, set In in fish head and for driving eye driving mechanism that flake rotates, in trunk skeleton and for driving trunk skeleton and tail The fish body pendulous device that portion's skeleton is swung, for driving the fin pendulous device of fin skeleton swing, for driving fin skeleton The fin tumbler of rotation, for driving fish head and the floating descending mechanism of floating dive with fish and control open/close mechanism, eye Portion's driving mechanism, fish body pendulous device, fin pendulous device, fin tumbler and the control system of floating descending mechanism start System.

Further, the open/close mechanism includes opening and closing motor, first gear and second gear, and opening and closing motor is consolidated with the upper jaw Connect, first gear is connected with the shaft of opening and closing motor, and second gear is engaged with first gear, and second gear and lower jaw are affixed And it is connected with the upper jaw.

Further, the eye driving mechanism includes eye driving motor, crank and rocker mechanism and parallelogram machine Structure, the eye driving motor are connected by crank and rocker mechanism with parallelogram mechanism, parallelogram mechanism and flake Connection.

Further, the crank and rocker mechanism includes being set in the eye turntable in eye driving motor on shaft, The eye crank being fixed in hinged way in eye turntable card, the other end of the eye crank is from eye turntable to extension Stretch, and be articulated and connected with parallelogram mechanism.

Further, the parallelogram mechanism includes being articulated and connected with the eye crank in crank and rocker mechanism First connecting rod, be connected to the second connecting rod of first connecting rod both side ends in hinged way, and flake is respectively assembled at the upper jaw A flake pallet on middle flake mounting hole, and it is respectively used to two montants of connection flake pallet and second connecting rod.

Further, trunk skeleton includes multiple be hingedly engaged to each other to form the joint of trunk of trunk skeleton, afterbody Skeleton is hingedly engaged to each other to form the caudal articular process in fish tail portion including multiple, and the caudal articular process positioned at front end is with being located at rear end Joint of trunk connection, be provided with least two fish body pendulous devices with the fish, each fish body pendulous device includes fish body Oscillating motor, reel and the drawstring being wrapped on reel, wherein the reel is set in the shaft of fish body oscillating motor In portion, the both ends of the drawstring are protruding from reel, and the fish body pendulous device is divided into trunk pendulous device and afterbody pendulum Dynamic device, the fish body oscillating motor of trunk pendulous device are installed in the joint of trunk of trunk skeleton, and the both ends of drawstring are along more The arragement direction of a joint of trunk extend forward or backward at the same time and wear successively after multiple joint of trunk be located at front end or The joint of trunk of rearmost end is fixed；The fish body oscillating motor of tail swing device is mounted in the joint of trunk of rearmost end, The arragement direction of the both ends of drawstring along multiple caudal articular processes extend back at the same time and with sequentially pass through after multiple caudal articular processes with Caudal articular process positioned at rearmost end is fixed.

Further, fin pendulous device includes fin oscillating motor, fin turntable and fin crank, wherein, fin pendulum Dynamic motor is arranged in fin motor box and the shaft of fin oscillating motor is pierced by fin motor box, the fin turntable set It is located on the shaft of fin oscillating motor, the both ends of the fin crank are pivoted with fin turntable and fin stent respectively to be connected Connect, fin stent is pivotally connected with fin motor box.

Further, fin tumbler includes fin rotary electric machine and connecting rod, fin rotary electric machine and fin stent It is fixedly connected, connecting rod is fixedly connected with fin skeleton, and connecting rod is connected with the shaft of fin rotary electric machine.

Further, floating descending mechanism includes being used to control fish head to float with the first storage displacement can of dive, for controlling With fish processed it is floating with the second storage displacement can of dive, with the first storage displacement can and the tank connected air accumulator of the second storage draining and For controlling air accumulator and second to store up the air pump of progress gas exchanges between displacement can and the first storage displacement can, the first storage row Water pot is installed on the front portion of fish body, and the second storage displacement can is installed on the middle part of fish body.

Further, the control system includes microprocessor and the wireless signal receiver being connected with microprocessor, institute State wireless signal receiver to be used to receive the wireless remote control signals of outside and be sent to microprocessor, microprocessor is used to judge nothing Motor pattern representated by line remote signal, and control the open/close mechanism, eye driving mechanism, fish body pendulous device, fin Driving device in pendulous device, fin tumbler and floating descending mechanism carries out corresponding start.

Due to the application of above-mentioned technical proposal, the invention has the advantages that：

The bionic machine fish of the present invention is simple in structure, and cost is low and bionical effect is true to nature.

Brief description of the drawings

Fig. 1 is provided the dimensional structure diagram of bionic machine fish by present pre-ferred embodiments.

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

Fig. 3 is the decomposition diagram of the fish head in Fig. 1.

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

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

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

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

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

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.

Embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not For limiting the present invention.

Present pre-ferred embodiments provide bionic machine fish can be true to nature simulate fish head float and dive, The mouth opening and closing of fish can also be realistically simulated at the same time.

Incorporated by reference to reference to Fig. 1, Fig. 2, Figure 14 and Figure 15, bionic machine fish of the invention, including fish head 1, fish body 3, floating Descending mechanism 6 and control system 7.First of all for easy to which the bionic mechanical machine fish is described, initially sets up and give advice coordinate System, it is respectively first direction, second direction and third direction to define X, Y, Z-direction, first direction horizontal direction and for before fish Line direction, it is vertical with first direction for horizontal direction for second direction, third direction be it is vertical, fish along third direction rising and Dive.

Fig. 3 and Fig. 4 are specifically refer to, in the present embodiment, the fish head 1 includes the upper jaw 11, lower jaw 12 and opening and closing machine Structure 13, the upper jaw 11 are connected by open/close mechanism 13 with lower jaw 12, and open/close mechanism 13 is used to drive lower jaw 12 relative to the upper jaw 11 carry out opening and closing campaign, the opening and closure at face position in the bionic machine fish is presented.In the present embodiment, the opening and closing Mechanism 13 is arranged on the upper jaw 11 and lower jaw 12 close to one end of fish body 3, in order to the face position of bionic machine fish opening and Closure.

In the present embodiment, the open/close mechanism 13 includes opening and closing motor 14, first gear 15 and second gear 16, opening and closing Motor 14 and the upper jaw 11 are affixed, and first gear 15 is connected with the shaft of opening and closing motor 14, and second gear 16 is nibbled with first gear 15 Close, and second gear 16 is affixed with lower jaw 12 and hinged with the upper jaw 11.So the open/close mechanism 13 at work, opening and closing motor 14 drive second gear 16 to be rotated around second gear 16 and the hinge joint of the upper jaw 11 by first gear 15 so that the second tooth The drive lower jaw 12 of wheel 16 rotated around second gear 16 and the hinge joint of the upper jaw 11, and then it is opposite to realize the lower jaw 12 Opening and closing campaign is carried out in the upper jaw 11.It should be noted that first gear 15 is circular gear, second gear 16 is sector gear.

Specifically, when opening and closing motor 14 drives first gear 15 to rotate clockwise, the second gear 16 is in the first tooth Rotated counterclockwise under the transmission of wheel 15, second gear 16 drives lower jaw 12 to do the movement opened relative to the upper jaw 11；Conversely, the Two gears 16 drive lower jaw 12 to do the movement closed relative to the upper jaw 11.Further, second gear 16 is located at first gear 15 Rear, in order to realistically simulate the mouth opening and closing of fish, it is necessary to which explanation, second gear 16 is located at first gear 15 Rear refer to that for first gear 15 second gear 16 is closer to fish body.Preferably, second gear 16 is straight Footpath is more than the diameter of first gear 15, in order to control the opening and closing degree of fish mouth.In the present embodiment, pivot 171 and second gear 16 center of circle is hinged, and the center of circle of second gear 16 relative to the teeth portion of second gear 16 closer to fish body 3, it is true to nature to ensure Simulation goes out to realize the quick opening and closing of fish mouth while the mouth opening and closing of fish.

In the present embodiment, the open/close mechanism 13 further includes fixed frame 17, and the fixed frame 17 is arranged on the upper jaw Between 11 and lower jaw 12 and affixed with the upper jaw 11, the fixed frame 17 includes the first longitudinally disposed fixed plate 170, in level side Upwards, the first fixed plate 170 extends along a first direction, and opening and closing motor 14 is arranged on fixed frame 17, and opening and closing motor 14 Shaft be vertically pierced by the first fixed plate 170 after be connected with first gear 15.First fixed plate 170 is equipped with pivot 171, and second The connection that gear 16 is pivoted by 171 and first fixed plate 170 of pivot so that second gear 16 and lower jaw 12 be affixed and and the upper jaw 11 is hinged, and while ensureing the upper jaw 11 by open/close mechanism 13 and hinged lower jaw 12 with this, open/close mechanism 13 can also drive down Jaw 12 carries out opening and closing campaign with the upper jaw 11.

In the present embodiment, fixed frame 17 further includes the second fixed plate 172 laterally set, the first fixed plate 170 and Two fixed plates, 172 vertical connection, the second fixed plate 172 is affixed by the fixing pieces such as screw and the upper jaw 11, and opening and closing motor 14 Main body be fixed in the second fixed plate 172, i.e., opening and closing motor 14 is affixed by the second fixed plate 172 and the upper jaw 11.Set the Two fixed plates 172 can ensure that fixed frame 17 can be tightened together by fixing pieces such as screws with the upper jaw 11, strengthen bionical machine The structural strength of device fish.

In the present embodiment, fixed frame 17 further includes longitudinally disposed 3rd fixed plate 173, the 3rd fixed plate 173 and second 172 and first fixed plate of fixed plate, 170 equal vertical connection, the medial surface of the 3rd fixed plate 173 are equipped with what is be connected with pivot 171 Anti- flake 174, to protect second gear 16 not depart from from pivot 171.

In the present embodiment, the open/close mechanism 13 further includes fixation plate 18, and fixation plate 18 and lower jaw 12 are affixed, fixation plate 18 is affixed with second gear 16, i.e., second gear 16 is affixed by fixation plate 18 and lower jaw 12.Wherein, the fixation plate 18 and Fixation can be attached between two gears 16 by way of rivet, spot welding, soldering.Further, fixation plate 18 is in tongue Shape, to ensure the head of realistic simulation fish.Further, fixation plate 18 and pivot 171 are hinged, to strengthen bionic machine fish Structural strength does opening and closing campaign easy to lower jaw 12 relative to the upper jaw 11 at the same time.

In the present embodiment, the first fixed plate 170 is additionally provided with limit shaft 175, limit shaft 175 be located at second gear 16 with The lower section or the back lower place of pivot 171, with when lower jaw 12 rotates down, limit shaft 175 and fixation plate 18 are against limiting lower jaw 12 Maximum rotation amplitude, that is, limit fish mouth maximum opening width.In the present embodiment, limit shaft 175 be located at second gear 16 with The back lower place of pivot 171.

Continuing with combining with reference to Fig. 3 and Fig. 4, in the present embodiment, two flakes are symmetrically offered on the upper jaw 11 Mounting hole 110, and a flake 19 is set respectively on each flake mounting hole 110, in order to which bionic machine fish simulation is presented The appreciation effect that flake rotates in fish, the fish head of the present embodiment, which further includes to be arranged between the upper jaw 11 and lower jaw 12, to be used to drive The eye driving mechanism 2 that flake 19 is rotated in the flake mounting hole 110 of the upper jaw 11.In the present embodiment, the eye Driving mechanism 2 can drive flake 19 to synchronize rotation in the flake mounting hole 110 of the upper jaw 11.

Specifically, the eye driving mechanism 2 includes eye driving motor 21, crank and rocker mechanism 22 and parallelogram Mechanism 23, the eye driving motor 21 are assemblied on the upper jaw 11, and specifically, eye driving motor 21 is installed on the second fixed plate On 172, in other words, that is, eye driving motor 21 is assemblied on the upper jaw 11 by the second fixed plate 172.Eye driving electricity Machine 21 is connected by crank and rocker mechanism 22 with parallelogram mechanism 23, and parallelogram mechanism 23 is connected with flake 19, eye Portion drives motor 21 to drive parallelogram mechanism 23 to rotate to drive flake 19 in the upper jaw 11 by crank and rocker mechanism 22 Flake mounting hole 110 in rotated.

Wherein, the crank and rocker mechanism 22 includes the eye turntable being set on the shaft of eye driving motor 21 220, the eye crank 221 being fixed in hinged way in 220 card of eye turntable, wherein the eye crank 221 is another End stretches out from eye turntable 220, and is articulated and connected with parallelogram mechanism 23, to drive parallelogram mechanism 23 carry out rotation operation., can be parallel to drive by the crank and rocker mechanism 22 that is, eye driving motor 21 is at work Quadrangular mechanism 23 carries out rotation operation.

The parallelogram mechanism 23 includes what is be articulated and connected with the eye crank 221 in crank and rocker mechanism 22 First connecting rod 230, the second connecting rod 231 for being connected to 230 both side ends of first connecting rod in hinged way, and flake 19 is filled respectively Two flake pallets 232 on flake mounting hole 110 in the upper jaw 11 are fitted over, and are respectively used to connection flake pallet 232 and the Two montants 233 of two connecting rods 231.Wherein, first connecting rod 230 and second connecting rod 231 are horizontally disposed, and first connecting rod 230 length extending directions are parallel with two 19 line directions of flake, and second connecting rod 231 is vertical relative to first connecting rod 230.Into one Step ground, one end of the montant 233 are fixed on a side end of the second connecting rod 231 away from first connecting rod 230, and the other end is with vertical Mode be fixed on flake pallet 232, so the flake pallet 232 with second connecting rod 231 using can do relative to first The rotation of connecting rod 230, and then drive the corresponding flake 19 being fixed on flake pallet 232 to carry out rotation operation.In the present embodiment In, between the flake 19 and flake pallet 232 it is fixedly connected by connecting pin 26, specifically, on the flake 19 The first pin hole 190 is offered, the second pin hole 235 is offered on the flake pallet 232, the both ends of the connecting pin 26 are inserted respectively It is located at the first pin hole 190 of flake 19 and the second pin hole 235 of flake pallet 232 and is fixedly connected.It is understood that this hair Its flake of bright bionic machine fish drives crank and rocker mechanism 22 to be rotated with parallelogram mechanism 23 by eye driving mechanism 2 Then drive flake 19 to rotate, there is the bionical effect of flake true to nature and simple in structure.

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 and bone of body The afterbody skeleton 40 that frame 30 connects.

Trunk skeleton 30 includes multiple be hingedly engaged to each other to form the joint of trunk 31 of trunk skeleton 30.Joint of trunk 31 take the shape of the letter U, including in the form of sheets and laterally set first 310, positioned at first 310 lower section and in the form of sheets second 311, And both ends respectively with first 310 and second 311 connecting portion 312 connected vertically.Wherein, two adjacent joint of trunk Two first about 310 of 31 is stacked and is hinged by vertically arranged axis pin, two of adjacent two joint of trunk 31 It is stacked and is hinged by vertically arranged axis pin for second about 311.

Specifically, in the present embodiment, connecting portion 312 offered mouth 313 in end first 310 neighbouring, adjacent The connecting portion 312 of first 310 another joint of trunk 31 of insertion in one of joint of trunk 31 of two joint of trunk 31 On cross mouth 313 in and two first 310 lean and be hinged by vertically arranged axis pin, two adjacent joint of trunk Two second about 311 of 31 is distributed and contacts with each other and be hinged by vertically arranged axis pin, thereby realizes two Articulated connection between joint of trunk 31, and two joint of trunk 31 are swung using the axis pin between them as shaft.

In the present embodiment, fish body 3 further includes affixed with fish head 1 and with trunk skeleton 30 the trunk positioned at forefront and closes Save 31 hinged fish neck framves 32.Specifically, fish neck frame 32 takes the shape of the letter U, including laterally set the first installing plate 320, be located at Second installing plate 321 of the lower section of the first installing plate 320 and both ends are vertical with the second installing plate 321 with the first installing plate 320 respectively Connect fixinig plate 322.Specifically, in the present embodiment, fixinig plate 322 is fixedly connected with fish head 1.In the present embodiment, fixinig plate 322 are fixedly connected such as by screw pin with the 3rd fixed plate 173, so that fish body 3 is connected with fish head 1.Wherein, fish Neck frame 32 is used to install the rising of control fish head and the storage displacement can of dive sees below detailed description.

In the present embodiment, a pin-joint piece is respectively extended in the free end of the first installing plate 320 and the second installing plate 321 323, the insertion of the pin-joint piece 323 of the first installing plate 320 positioned at the joint of trunk 31 of front end cross in mouth 313 and with first 310 Be hinged against and by vertically arranged axis pin, the pin-joint piece 323 on the second installing plate 321 with second 311 against and lead to Cross axis pin to be hinged, and then realize being pivotally connected between joint of trunk 31 and fish neck frame 32, trunk skeleton 30 is relative to fish Neck frame 32 is put by shaft or so of the axis pin between them.

In the present embodiment, afterbody skeleton 40 is pivotally connected with trunk skeleton 30, including it is multiple be hingedly engaged to each other with The caudal articular process 41 in fish tail portion is formed, caudal articular process 41 includes the first connection sheet 410 laterally set, positioned at the first connection sheet 410 lower section the second connection sheet 412, and both ends respectively with the first connection sheet 410 and the 3rd connection sheet of the second connection sheet 412 413.3rd connection sheet 413 offers in the end of neighbouring first connection sheet 410 and wears mouth 414.Two neighboring caudal articular process The first connection sheet 410 in 41 one of caudal articular process 41 is inserted into the 3rd connection sheet 413 of another caudal articular process 41 Wear in mouth 414 and two the first connection sheets 410 lean and are hinged by vertically arranged axis pin, two adjacent tail portions joints 41 Two the second connection sheets be distributed about 412 and contact with each other and be hinged by vertically arranged axis pin, thereby realize two Articulated connection between a caudal articular process 41, and two caudal articular processes 41 are put by shaft or so of the axis pin between them.

The joint of trunk 31 of caudal articular process 41 positioned at front end and trunk skeleton 30 in afterbody skeleton 40 is hinged.Can be with Understand, the caudal articular process 41 of afterbody skeleton 40 and the structure of the joint of trunk 31 of trunk skeleton 30 are essentially identical, simply fish Afterbody and trunk it is of different sizes, therefore for the form that realistic simulation goes out fish, the size ratio trunk of caudal articular process 41 closes The size of section 31 is small, and further, the caudal articular process 41 hinged with joint of trunk 31 is transition joints, the tail as transition joints Second connection sheet 412 in portion joint 41 extend obliquely downward formed with oblique connection sheet 415 and from the oblique connection sheet 415 from Extended by end and the lateral connection piece 416 hinged with the bottom of second 311 of joint of trunk 31, with afterbody skeleton 40 with When trunk skeleton 30 connects, the change between two skeleton size differences, and then the form true to nature for imitating out fish are realized.

It please gather with reference to Fig. 1, Fig. 2 and Fig. 7, in the present embodiment, fish body 3 further includes fish body pendulous device 33.Fish body is put Dynamic device 33 is divided into the tail swing device for driving the swing of afterbody skeleton 40 and the body for driving trunk skeleton 30 to swing Dry pendulous device.Each fish body pendulous device 33 includes fish body oscillating motor 34, reel 35 and is wrapped on reel 35 The wherein described reel 35 of drawstring 36 is set on the shaft of fish body oscillating motor 34, and the both ends of the drawstring 36 are from reel 35 is protruding.The fish body oscillating motor 34 of trunk pendulous device is installed in the joint of trunk 31 of trunk skeleton 30 and specific position Between first 310 and second 311, the drawstring 36 corresponding to fish body oscillating motor 34 that driving trunk skeleton 30 is swung After the arragement direction of both ends along multiple joint of trunk 31 extends and wears multiple joint of trunk 31 successively forward or backward at the same time With being fixed positioned at the joint of trunk 31 of front end or rearmost end.So at work, fish body swings electricity to the fish body oscillating motor 34 Machine 34 drives reel 35 to be rotated, and pull the drawstring 36 that is wrapped on reel 35 make its both ends do corresponding retracting with Relaxing exercise, and then realize the fish body oscillating motor 34 driving trunk skeleton 30 and swing, so as to imitate out fish The action that trunk is swung.

In the present embodiment, the electric-controlled box 301 for loading control system 7, electric-controlled box 301 are provided with trunk skeleton 30 Trunk skeleton 30 is divided into anterior trunk skeleton and rear portion trunk skeleton, the joint of trunk 31 positioned at rear end of anterior trunk skeleton First 310 be for example fixedly connected with the free end of second 311 towards electric-controlled box 301 and with electric-controlled box 301 by screw, First 310 of the joint of trunk 31 positioned at front end of rear portion trunk skeleton and the free end of second 311 are towards electric-controlled box 301 Set and be for example fixedly connected with electric-controlled box 301 by screw.The quantity of trunk pendulous device is two, the trunk pendulous device Fish body oscillating motor 34 be separately positioned in the joint of trunk 31 of anterior trunk skeleton and rear portion trunk skeleton, to drive front portion Trunk skeleton and rear portion trunk skeleton, with the vivider action for simulating the swing of fish trunk.It should be noted that it is arranged on 34 corresponding drawstring 36 of fish body oscillating motor on anterior trunk skeleton, arragement direction of its both ends along multiple joint of trunk 31 Extend forward at the same time and fixed after wearing multiple joint of trunk 31 successively with the joint of trunk 31 positioned at front end；It is arranged on rear portion 34 corresponding drawstring 36 of fish body oscillating motor on trunk skeleton, its both ends along multiple joint of trunk 31 arragement direction at the same time Extend back and wear successively after multiple joint of trunk 31 with being fixed positioned at rear end volume joint of trunk 31.

As shown in Fig. 8 to Figure 10, drive the fish body oscillating motor 34 that anterior trunk skeleton is swung in start, with this During 34 corresponding 35 coiling of reel of oscillating motor of fish body, reel 35 is in coiling simply by positioned at the drawing of 35 side of reel Rope 36 is wrapped on reel 35, is furled the drawstring 36 of the side, such as fish body oscillating motor 34 drives 35 up time of reel When pin turns, the drawstring 36 on the right side of reel 35 is furled on reel 35, and shortening for the drawstring 36 on the right side of reel 35 is anterior Trunk skeleton is swung to the right, otherwise front portion trunk skeleton is then swung to the left, and the swing principle of rear portion trunk skeleton is same as described above, Details are not described herein.The swing of anterior trunk skeleton and rear portion trunk skeleton, can make bionic machine fish turn, and this is bionical Effect is true to nature.

In the present embodiment, the top of connecting portion 312 symmetrically offers two perforation 313, this two perforation 313 are for driving The drawstring 36 corresponding to fish body oscillating motor 34 that dynamic trunk skeleton is swung passes through.The fish body that trunk skeleton is swung is driven to swing electricity When drawstring 36 corresponding to machine 34 is tightened up, power can be acted on by body on joint of trunk 31 by corresponding perforation 313 Dry joint 31 is swung.In the present embodiment, connecting portion 312 includes the first connection plate body of triangular shape and connects plate body from first The second connection plate body that bottom vertically extends, space can rationally be utilized by being arranged such connecting portion 312, be avoided between element Interfere, and mitigate the overall weight of fish body.Further, in the present embodiment, cross mouth 313 and be opened in the first connection On plate body.

Fish body oscillating motor 34 in tail swing device is installed on the joint of trunk positioned at rearmost end of trunk skeleton 30 It is specific between first 310 and second 311 of the joint of trunk 31 positioned at rearmost end of trunk skeleton 30 in 31, Drive row of the both ends of the drawstring 36 corresponding to the fish body oscillating motor 34 of the swing of afterbody skeleton 40 along multiple caudal articular processes 41 Cloth direction extends back and is fixed after wearing multiple caudal articular processes 41 successively with last caudal articular process 41 at the same time.Trunk skeleton 30 joint of trunk 31 positioned at rearmost end refers to that joint being connected with afterbody skeleton 40 of trunk skeleton 30.Afterbody is put At work, the fish body oscillating motor 34 that driving afterbody skeleton 40 is swung drives fish body pendulum to the fish body oscillating motor 34 of dynamic device The dynamic corresponding reel 35 of motor 34 is rotated, and pulls the drawstring 36 being wrapped on reel 35 its both ends is rolled up accordingly Receive and loosen, and then realize fish body oscillating motor 34 and drive afterbody skeleton 40 to swing, so as to imitate out fish tail The action that portion is swung.

In the present embodiment, the 3rd connection sheet 413 of caudal articular process 41 offers two mistakes being symmetrically distributed in top String holes 416, so drives the drawstring 36 corresponding to the fish body oscillating motor 34 of the swing of afterbody skeleton 40 to pass through caudal articular process 41 Cable-through hole 416 in 3rd connection sheet 413 is simultaneously fixed with the caudal articular process 41 positioned at rear end.

In the present embodiment, fish body 3 further includes the flexible member 37 and multiple lugs 38 of strip, is provided with lug 38 logical Hole 380.Lug 38 is distributed in each joint of trunk 31 with caudal articular process 41, being particularly located at joint of trunk 31 and caudal articular process 41 Top, more particularly positioned at first 310 of backbone joint 31 with the first connection sheet 410 of caudal articular process 41 on top Portion.Flexible member 37 wears through hole 380 and the both ends of flexible member 37 are fixed on fish body 3, such fish body 3 swing when, The pliability of fish body 3 is strong.In the present embodiment, flexible member 37 is, for example, Elastic Steel cord.

Further, a lug 38 in multiple lugs 38 is distributed on fish neck frame 32, specially with fish neck frame 32 top, more specifically on the top of the first installing plate 320 of fish neck frame 32.Flexible member 37 wears fish neck frame Through hole 380 on 32 lug 38, when trunk skeleton 30 is rotated relative to fish neck frame 32, to strengthen trunk skeleton 30 and fish neck Pliability between skeleton 32.In the present embodiment, due to electric-controlled box 301 by trunk skeleton 30 be divided into anterior trunk skeleton and after Portion's trunk skeleton, therefore, 37 quantity of flexible member are two, and one of flexible member 37 passes through anterior trunk skeleton and fish neck The through hole 380 on lug 38 on skeleton 32, the both ends of the flexible member 37 respectively with anterior trunk skeleton and fish neck frame 32； Another flexible member 37 passes through rear portion trunk skeleton and the through hole 380 on the lug 38 on afterbody skeleton 40, the flexible member 37 both ends 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, fin 5 is additionally provided with fish body 3, fin 5 is set in pairs Put and be symmetrically disposed in the both sides of trunk skeleton 30.

The fin 5 includes fin skeleton 50 and the fin stent 51 being connected with fin skeleton 50, fin stent 51 and fish Body 3 connects.Wherein, fin skeleton 50 includes skeleton substrate 501 and be positioned apart from skeleton substrate 501 multiple is hinged Flexible joint 502, wherein, the length extending direction of skeleton substrate 501 is vertical with the length extending direction of fish body 3, flexibility close The length extending direction of section 502 is parallel with the length extending direction of fish body 3.

One end of each flexible joint 502 is fixed with skeleton substrate 501 and is set along the length extending direction of fish body 3 Put.Each soft energy property joint 502 includes the sub- joint 503 of multiple sheets, and the adjacent sub- joint 503 of two, company passes through connection rotating shaft 505 connect, and are arranged with a torsional spring 504 on connection rotating shaft 505, the both ends of each torsional spring 504 are respectively held against two sub- joints 503, the pliability of fin skeleton 50 can be kept when fin skeleton 50 is swung, fin skeleton will not be allowed because of the change of hydraulic pressure 50 occur moderate finite deformation, and are restored after the deformation of fin skeleton 50 under the action of torsional spring 504.

In the present embodiment, fin 5 further includes fin pendulous device 52 and fin motor box 58.Fin pendulous device 52 wraps Include fin oscillating motor 520, fin turntable 521 and fin crank 522.Wherein, fin oscillating motor 520 is arranged on fin motor Box 58 is interior and the shaft of fin oscillating motor 520 is pierced by fin motor box 58.The fin turntable 521 is set in fin pendulum On the shaft of dynamic motor 520, the both ends of the fin crank 522 are pivoted with fin turntable 521 and fin stent 51 respectively to be connected Connect, the medium position of fin stent 51 is pivotally connected by the front end face of connecting shaft 581 and fin motor box 58, it is necessary to illustrate It is that the front end face of fin motor box 58 refers to fin motor box 58 towards the face of fish head 1.It is understood that fin turntable 521st, fin crank 522 and fin stent 51 form a double leval jib linkage structure, and so fin oscillating motor 520 is working When, it can be driven by fin turntable 521 and fin crank 522, fin stent 51 swings up and down operation.In the present embodiment In, fin motor box 58 is arranged in the joint of trunk 31 of trunk skeleton 30, and specific fin motor box 58 sets the joint of trunk Between first 310 of 31 and second 311, and the specific fixing piece such as by screw is fixed on second 311, can be with Understand, fin stent 51 is connected by fin motor box 58 with the trunk skeleton 30 of fish body 3.

In the present embodiment, it is installed on same fin motor box with two fin oscillating motors 520 in a pair of of fin 5 In 58, fin motor box 58 is fixed between first 310 and second 311 of the predetermined joint of trunk 31 of trunk skeleton 30. The anterior of the fin motor box 58 sets cover board 59, and the pivot that fin crank 522 links together is arranged on fin motor box 58 On.The cover board 59 of fin motor box 58 is equipped with the perforation 591 worn for the shaft of two fin oscillating motors 520, connection Axis 581 is arranged on cover board 59.

In the present embodiment, fin 5 further includes the fin tumbler 53 for driving fin skeleton 50 to swing.Fin turns Dynamic device 53 includes fin rotary electric machine 531, shaft coupling 532 and connecting rod 533, and the shaft of the fin rotary electric machine 531 is axial Vertical with the length extending direction of fish body 3, fin rotary electric machine 531 is fixedly connected with fin stent 51, fin rotary electric machine 531 It is connected by shaft coupling 532 with connecting rod 533, connecting rod 533 is fixedly connected with skeleton substrate 501, fin tumbler 53 Fin rotary electric machine 531 drives connecting rod 533 in rotation, and 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, for example above-mentioned institute of structure of anterior fin State, rear portion fin can only swing up and down will not swing, in other words, that is, rear portion fin include fin rotate dress Put 53.It is understood that fin 5 is when including fin tumbler 53, fin stent 51 and the fin skeleton 50 of fin 5 Such as it can be fixed together by way of the fixing pieces such as screw or welding.More particularly, the fin motor of anterior fin Box 58 is fixed in the joint of trunk 31 being connected with electric-controlled box 301 of anterior trunk skeleton, the fin motor box 58 of rear portion fin It is fixed in the joint of trunk 31 of rear portion trunk skeleton.

It should be noted that 5 swing of fin can fish rise with dive during in horizontal plane into forward or to Between rear-inclined certain angle, such as 15 ° to 30 °, such fish is rising with being subject to the opposition of water will during dive Diminish, be conducive to fish rising and dive.

In the present embodiment, the bionic machine fish, which further includes, to be used for realization under the floating of bionic machine fish floating and dive Latent mechanism 6, floating descending mechanism 6 include storing up draining with the first storage displacement can 61 of dive, with first for controlling fish head 1 to float Tank 61 connect air accumulator 62 and for control air accumulator 62 and first store up displacement can 61 between carry out gas exchanges air pump 63.When needing fish head 1 to float, the gas in air accumulator 62 is discharged into the first storage displacement can 61 by air pump 63, and then by first Store up the water discharge in displacement can 61 so that the weight of fish head 1, realizes that fish head 1 floats；Conversely, then realize that fish head 1 is sunk. Specifically, air pump 63 turns to be discharged into the gas in air accumulator 62 in first storage displacement can 61 clockwise, and air pump 63 is counterclockwise The gas in displacement can 61 can be stored up by first by, which turning, is discharged into gas tank 62.In the present embodiment, being provided with electric-controlled box 301 will be automatically controlled Box 301 is divided into the partition plate of Liang Ge chamber resettling, one of chamber installation control system 7, and the installation of another chamber resettling is floated Air pump 62 in descending mechanism 6, and air pump 62 is fixed on partition plate, it is necessary to illustrate, in the present embodiment, partition plate is by electricity Control box 301 is divided into spaced Liang Ge chamber resettling up and down.Air accumulator 62 is arranged in the joint of trunk 31 of trunk skeleton 30. Specifically, the quantity of air accumulator 62 can be for example two in this embodiment, two air accumulators 62 are arranged at anterior bone of body In the joint of trunk 31 of frame, be specifically located in the joint of trunk 31 that is connected with fish neck frame 32 and anterior trunk skeleton with electricity Control in the joint of trunk 31 that box 301 connects, the air accumulator 62 being located in the joint of trunk 31 being connected with electric-controlled box 301 is located at fin The top of motor box 58, space is rationally utilized to reach, and can be that the first storage displacement can 61 is carried with the second storage displacement can 65 For the gas in two storage displacement cans of sufficient gas and suction, floating and the sinking of fish head 1 and fish body 3 are realized.

Specifically, first storage displacement can 61 be installed on fish neck frame 32 the first installing plate 320 and the second installing plate 321 it Between, the first installing plate 320 is equipped with opening 324, so that the gas nozzle on the first storage displacement can 61 is by facilitate gas nozzle by leading Tracheae is connected with air accumulator 62, and then is conveniently arranged to the gas circuit in bionic mechanical machine fish.Set on second installing plate 321 Flexible component 325, the bottom of the first storage displacement can 61 abut elastomeric element 325, in order to the convenient storage of installation first displacement can 61 and prevent the first storage displacement can 61 from loosening by the elastic-restoring force of elastomeric element 325.In the present embodiment, elastomeric element 325 be, for example, the arch piece of elasticity, in order to install the first storage displacement can 61.In the present embodiment, air accumulator 62 is for example arranged on In fish neck frame 32, in other embodiments, the first storage displacement can 61 can be directly set in fish head 1.

In the present embodiment, the first storage displacement can 61 includes the first tank body 610 and be arranged in first tank body 610 the One air bag 612, wherein offering the first water inlet on first tank body 610, and passes through first water inlet and extraneous water It is connected.It is understood that when fish head 1 needs floating or dive, the gas in air accumulator 62 is discharged into first by air pump 63 In air bag 612, the first air bag 612 is expanded is discharged into the external world by the water in the first tank body 610, mitigates the first storage 61 weight of displacement can, And then mitigate the weight of fish head 1 so that fish head 1 floats；The on the contrary then weight of increase fish head 1, makes fish head sink.In fish head 1 After latent dive receives.

In the present embodiment, floating descending mechanism 6 further include for controlling fish body 3 to float, the second storage displacement can of dive 65, air pump 63 with second storage displacement can 65 be connected, since control air accumulator 62 and second store up displacement can 65 between carry out gas friendship Change.When needing the floating of fish body 3, the gas in air accumulator 62 is discharged into the second storage displacement can 65 by air pump 63, and then second is stored up Water discharge in displacement can 65 so that the weight of fish body 3, realizes that fish body 3 floats；Conversely, then realize that fish body 3 sinks.

In the present embodiment, the second storage displacement can 65 includes the second tank body 650 and be arranged in second tank body 650 the Two air bags 652, wherein offering the second water inlet on second tank body 650, and pass through second water inlet and extraneous water It is connected.It is understood that when fish body 3 needs floating or dive, the gas in air accumulator 62 is discharged into second by air pump 63 In air bag 652, the second air bag 652 is expanded is discharged into the external world by the water in the second tank body 650, mitigates the second storage 65 weight of displacement can, And then mitigate the weight of fish body 3 so that fish body 3 floats；The on the contrary then weight of increase fish body 3, makes 3 dive of fish body.On fish body 3 After latent dive.

Specifically, in the present embodiment, the second storage displacement can 65 is arranged on the middle part of trunk skeleton 30, and is specifically located at fish In the joint of trunk 31 being connected with electric-controlled box of rear portion trunk.The second storage displacement can 65 is applied in the bionic machine fish, Be for driving fish body 3 to carry out floating dive, since the total quality of fish body 3 is greater than the total quality of fish head 1, for this reason, The quantity of the present embodiment is two, and is symmetrically distributed in the both sides of trunk skeleton 30, and is arranged on rear portion trunk skeleton and electricity Between control the skeleton joint 41 that box 301 connects first 410 and second 411.

Further, in the present embodiment, floating descending mechanism 6 includes the first solenoid valve 66, second solenoid valve 67 and the Three solenoid valves 68, the first solenoid valve 66,67 and the 3rd solenoid valve 68 of second solenoid valve respectively include two the first air guides respectively Mouthful A, the second air guide port B, the 3rd air guide port C be connected with the first air guide port A and the second air guide port B, control the first air guide port A and First valve switch of the 3rd air guide port C conductings, and the second valve that the second air guide port B of control is turned on the 3rd air guide port C Switch.The the first air guide port A and the second air guide port B of first solenoid valve 66 store up displacement can with the first storage displacement can 61 and second respectively 65 connections, the first air guide port A and the second air guide port B of second solenoid valve 67 correspond to the 3rd solenoid valve 68 the second air guide port B and First air guide port A connections, the first air guide port A that air accumulator 62 is connected to second solenoid valve 67 are led with the second of the 3rd solenoid valve 68 Between gas port B, the 3rd air guide port C of the first solenoid valve 66 is connected to the second air guide port B and the 3rd electromagnetism of second solenoid valve 67 Between first air guide port A of valve 68, the 3rd air guide port C of the 3rd solenoid valve 68 is led by air pump 62 and the 3rd of the second guide valve Gas port C connections.When needing fish body 3 to float, such as pumping, and the second valve switch of three solenoid valves clockwise of air pump 62 Open, the gas in air accumulator 62 is discharged into the first storage displacement can 61, store up water in displacement can 61 by first and discharge, so that real Existing fish head 1 floats, and on the contrary then fish head 1 is sunk.When needing fish body 3 to float, such as pumping, and three electricity clockwise of air pump 62 Second valve switch of magnet valve is opened, and the gas in air accumulator 62 is discharged into the second storage displacement can 65, and displacement can is stored up by second Water discharge in 65, floats, on the contrary then fish body 3 sinks so as to fulfill fish body 3.

Control system 7 includes microprocessor 701, and the fish body that microprocessor 701 is swung with driving trunk skeleton 30 swings electricity Machine 34 connects, the start of the fish body oscillating motor 34 swung with control driving trunk skeleton 30, to realize 30 position of trunk skeleton Swing, and then realize bionic machine fish turn.When that need to turn, what the control driving trunk of microprocessor 701 skeleton 30 was swung Fish body oscillating motor 34 drives corresponding reel 35 to carry out coiling to drawstring 36, drives trunk skeleton 30 to be rotated to side, real Existing bionic machine fish is turned, and after turning, the fish body oscillating motor 34 that driving trunk skeleton 30 is swung drives reel 35 Rotation makes 36 return of trunk drawstring, that is, stops operating after returning to initial position.

The fish body oscillating motor 34 that microprocessor 701 is also swung with driving afterbody skeleton 40 is connected, to control driving afterbody The start for the fish body oscillating motor 34 that skeleton 40 is swung, realizes the swing of afterbody skeleton 40, driving force is provided for bionic machine fish, And then realize that bionic machine fish advances.When needing bionic machine fish to advance, the control driving trunk of microprocessor 701 skeleton 30 is swung Fish body oscillating motor 34 rotate and reverse, make corresponding reel 35 be pointed to respectively left side drawstring 36 and positioned at right side Drawstring 36 carries out coiling, drives trunk skeleton 30 to swing, driving force is provided for bionic machine fish, stops in bionic machine fish After advance, the fish body oscillating motor 34 for controlling driving afterbody skeleton 40 to swing is stopped operating, bionic machine fish is halted.

Microprocessor 701 is also connected with the fin oscillating motor 520 in fin pendulous device 52.To control fin to swing electricity The start of machine 520, when bionic machine fish advances, swing the fin 5 of bionic machine fish, with when bionic machine fish advances It is travelling steady and bionical better true to nature.

Microprocessor 701 is also connected with fin rotary electric machine 531, to control the start of fin rotary electric machine 531, is During floating or dive, microprocessor 701 controls fin rotary electric machine 531 to rotate, to drive fin 5 to turn to forward or backward In set angle, to reduce opposition of the water to fin 5, be conducive to floating and the dive of bionic machine fish.

Control system 7 further includes fish body positional detecting device 71, and fish body positional detecting device 71 divides for for gathering afterbody The position signal of skeleton 40 and the tail position detection device for being transmitted to microprocessor 701, and for gathering trunk skeleton 30 Position signal and be sent to the trunk position detection device of microprocessor 70.

Microprocessor 701 is used to judge the position of afterbody skeleton 40 simultaneously according to the position signal of the afterbody skeleton 40 received Control is used to drive the fish body oscillating motor 34 of tail swing to carry out corresponding start.Specifically, the position letter of afterbody skeleton 40 Number include afterbody maximum left avertence position signal, afterbody maximum right avertence position signal and afterbody initial position signal, when afterbody deflects When amount reaches maximum, the control of microprocessor 701 is used to drive the fish body oscillating motor 34 of tail swing to rotate round about And then drive afterbody skeleton 40 to swing, when afterbody skeleton 40 swings to initial position, microprocessor 701 can be controlled for The fish body oscillating motor 34 that driving afterbody skeleton 40 is swung stops operating.It is understood that in microprocessor 701 by wireless Signal receive 702 receive externally input control instruction for example stop swinging fish tail when, microprocessor 701 i.e. control be used for drive The fish body oscillating motor 34 of dynamic tail swing drives afterbody skeleton 40 to be swung to initial position, and is swung to just in afterbody skeleton 40 Beginning position control is used to drive the fish body oscillating motor 34 of tail swing to stop operating；Certainly, microprocessor 701 can also basis The operation program of its storage inside, control is for driving the fish body of tail swing to swing electricity after tail swing reaches setting time Machine 34 drives afterbody skeleton 40 to be swung to initial position, and swings to initial position control in afterbody skeleton 40 and be used to drive afterbody The fish body oscillating motor 34 of swing stops operating.

Microprocessor 70 is additionally operable to be used to drive what trunk skeleton 30 was swung according to the control of the position signal of trunk skeleton 30 Fish body oscillating motor 34 carries out corresponding start.Specifically, the position signal of trunk skeleton 30 includes trunk maximum left avertence position Signal, trunk maximum right avertence position signal and trunk initial position signal, after the deflection of trunk skeleton 30 reaches peak excursion position, The fish body oscillating motor 34 that the control of microprocessor 701 is used to drive trunk skeleton 30 to swing rotates to opposite direction and then drives trunk Skeleton 30 swings, and when trunk skeleton 30 returns to initial position, the control of processor 701 is used to drive trunk skeleton 30 to swing Fish body oscillating motor 34 stop operating so that trunk skeleton 30 is parked in home position.It is understood that in microprocessor 701 by reception of wireless signals 702 receive externally input control instruction for example stop swinging trunk skeleton 30 when, microprocessor Device 701 is to control the fish body oscillating motor 34 for being used to drive trunk to swing to drive trunk skeleton 30 to be swung to initial position, and Trunk skeleton 30 swings to the fish body oscillating motor 34 that initial position control is used to drive trunk to swing and stops operating；Certainly, it is micro- Processor 701 can also be according to the operation program of its storage inside, and control is for driving after trunk swings and reaches setting time The fish body oscillating motor 34 that trunk is swung drives trunk skeleton 30 to be swung to initial position, and is swung to initially in trunk skeleton 30 The fish body oscillating motor 34 that position control is used to drive trunk to swing stops operating.

Specifically, each fish body positional detecting device 71 includes the first fish body Hall sensor 711, the second fish body hall sensing Device 712, the 3rd fish body Hall sensor 713 and fish body magnet 714.First fish body Hall sensor 711, the second fish body Hall pass Sensor 712, the 3rd fish body Hall sensor 713, which are used for the corresponding maximum left avertence position that produces when aliging with fish body magnet 714, to be believed Number, initial position signal and maximum right avertence position signal.Specifically, the first fish body hall sensing in tail position detection device Device 711, the second fish body Hall sensor 712, the 3rd fish body Hall sensor 713 are arranged on the caudal articular process 41 of front end, Fish body magnet 714 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 sensor 711 in putting, the second fish body Hall sensor 712, the 3rd fish body Hall sensor 713 will be with Caudal articular process 41 swings and swings, and fish body magnet 714 will not be swung, such first fish body Hall sensor 711, the second fish body Hall sensor 712, the 3rd fish body Hall sensor 713 align with fish body magnet 714 respectively as afterbody skeleton 40 is swung, right Afterbody maximum right avertence position signal, afterbody initial position signal and afterbody maximum right avertence position signal should be produced.

First fish body Hall sensor 711 of trunk position detection device, the second fish body Hall sensor 712, the 3rd fish The joint of trunk 31 that body Hall sensor 713 was arranged on and was provided with the fish body oscillating motor 34 that driving trunk skeleton 30 is swung faces On near joint of trunk 31, fish body magnet 714 is arranged on the fish body oscillating motor 34 for driving trunk skeleton 30 to swing, this Sample is used for the first fish body Hall sensor 711 of the fish body positional detecting device 71 in trunk position detection device, the second fish body Hall sensor 712, the 3rd fish body Hall sensor 713 will be swung with the swing of joint of trunk 31, and fish body magnet 714 will It will not swing, such first fish body Hall sensor 711, the second fish body Hall sensor 712, the 3rd fish body Hall sensor 713 align with fish body magnet 714 respectively as trunk skeleton 30 is swung, corresponding to produce trunk maximum right avertence position signal, trunk Initial position signal and trunk maximum right avertence position signal.

In the present embodiment, fish body positional detecting device 71 further includes mounting bracket 715.Mounting bracket 715 includes the first installation Block 716, the second mounting blocks 717 and connecting bracket 718, the first mounting blocks 716 are stacked and are hinged on about 717 with the second mounting blocks Together, the bottom of the second mounting blocks 717 is fixed together with connecting bracket 718.First fish body Hall sensor 711, the Two fish body Hall sensors 712, the 3rd fish body Hall sensor 713 are installed on the first mounting blocks 716, and fish body magnet 714 is set Put on the second mounting blocks 717.Gather the fish body positional detecting device 71 and collection afterbody of 31 swing position information of trunk skeleton The fish body positional detecting device 71 of the swing position information of skeleton 40, the first mounting blocks 716 in them are separately positioned on and pacify On the joint of trunk 31 that the joint of trunk 31 of the fish body oscillating motor 34 swung equipped with driving trunk skeleton 30 closes on and front end Caudal articular process 41 on be particularly located in first 310 of the joint of trunk 31 and the first connection sheet 410 of the caudal articular process, it In the second mounting blocks 717 fish body oscillating motor 34 and the driving of driving trunk skeleton 31 are arranged on by connecting bracket 715 On the fish body oscillating motor 34 that afterbody skeleton 40 is swung.In this way, trunk skeleton 31 and afterbody skeleton 40, when swinging, its is corresponding The first fish body Hall sensor 711 in fish body positional detecting device 71, the second fish body Hall sensor 712 and the 3rd fish body are suddenly Position offset can occurs with respect to fish body magnet 714 by sensor 713 in you so that the first fish body Hall sensor 711, the second fish body 712 and the 3rd fish body Hall sensor 713 of Hall sensor can align with fish body magnet 714, and then produce fish body position letter Number.

In the present embodiment, connection axostylus axostyle 719, the first mounting blocks 716 and the second installation are additionally provided with connecting bracket 715 Block 717 is in triangular shape, and the first mounting blocks 716 two vertex opposite with the second mounting blocks 717 are rotated by being connected axostylus axostyle 719 Link together so that the first mounting blocks 716 can relatively rotate with the second mounting blocks 717.

In the present embodiment, control system 7 further includes fin positional detecting device, and fin positional detecting device is used to obtain Fin is located at initial position signal, and controls fin oscillating motor to return to initial position in fin according to fin initial position message Afterwards, stop control fin to swing up and down.Wherein, fin positional detecting device includes fin Hall sensor (not shown) and fin Portion's magnet (not shown), fin Hall sensor are arranged on fin stent 51, and fin magnet is arranged on cover board 59, in fin When portion's stent 51 is located at initial position, fin magnet aligns with fin Hall sensor, and fin Hall sensor senses fin Magnet simultaneously produces fin and is located at initial position signal and send to microprocessor 701, when being not required fin to swing, microprocessor 701 receive fin return to initial position signal stop driving fin swing.It is understood that fin swing when, fin Stent 51 opposing cover plates 59 in portion's rotate, and such fin Hall sensor will stagger with fin magnet, and fin Hall sensor will not Fin can be produced and be located at initial position signal.The main purpose for setting fin positional detecting device is to facilitate fin to return to initial bit Put.

Microprocessor 701 is also connected with air pump 63, the first solenoid valve 66,67 and the 3rd solenoid valve 68 of second solenoid valve, with Control the opening and closing of air pump 63, and the first solenoid valve 66, second solenoid valve 67 and the first valve on the 3rd solenoid valve 68 and the The opening and closing of two valves, when bionic machine fish needs to float or sinks, to make bionic machine fish float or sink.Bionic machine fish Float and sink principle and be described in detail in the above, details are not described herein.

In the present embodiment, the control system 7 in the present invention further includes first depth of water sensing being connected with microprocessor 701 74 and second water depth sensor 75 of device, the first water depth sensor 74 and the second water depth sensor 75 are separately mounted to fish head 1 and fish On body 3, the first water depth sensor 74 and the second water depth sensor 75 are located at for the fish head 1 and fish body 3 for gathering bionic machine fish Depth and the depth of water is converted into digital signal it is sent to microprocessor 701 in water, microprocessor 701 is according to the first water depth sensor 74 and second water depth sensor 75 water signal that collects control the start of air pump 63, first, second and third solenoid valve 66th, the opening and closing of 67,68 valve switch.

Specifically, when microprocessor 701 judges fish head 1 according to the water signal that the first water depth sensor 74 collects When the first set depth, the first valve switch of first, second and third solenoid valve 66,67,68 is closed, no longer by air accumulator Gas in 62 is discharged into the first air bag 612, and the water no longer stored up first in displacement can 61 is discharged, the weight of the first storage displacement can 61 No longer mitigate, fish head 1 stops floating；When the water signal that microprocessor 701 is collected according to the second water depth sensor 75 judges When fish body 3 floats up to the first set depth, air pump 63 is closed while closes first, second and third electromagnetism by microprocessor 701 Gas in air accumulator 62, is no longer discharged into the second air bag 652 by the second valve switch of valve 66,67,68, the first storage displacement can 65 no longer drainings, the weight of fish body 3 no longer mitigate, and fish body no longer floats.

Microprocessor 701 collects water signal according to the first water depth sensor 74 and judges fish head 1 positioned at the second setting During depth, the first valve switch of first, second and third solenoid valve 66,67,68 is closed, no longer by the first air bag 612 Gas is discharged into air accumulator 62, and the first storage displacement can 61 is no longer poured water, and the weight of fish head 1 no longer increases, the no longer dive of fish head 1；When When microprocessor 701 judges that fish body 3 is located at the second set depth according to the water signal that the second water depth sensor 75 collects, Air pump 63 is closed the second valve switch for simultaneously closing off first, second and third solenoid valve 66,67,68 by microprocessor 701, no The gas in the second air bag 652 is discharged into cylinder air accumulator 62 again, the first storage displacement can 65 is no longer poured water, and the weight of fish body 3 is not Increase again, fish body no longer sinks.

It should be noted that the first set depth and the second set depth are stored in microprocessor 701, microprocessor 701 cease to judge that bionic machine fish is floating according to the first water depth sensor 74 with the depth that the second water depth sensor 75 collects During whether be located at the first set depth, whether be located at the second set depth in sinking watching, during the two, such as It is that microprocessor 701 controls air pump 63 to carry out above-mentioned start that fruit result, which is,.

In the present embodiment, microprocessor 701 is also connected with the opening and closing motor 14 in open/close mechanism 13, for controlling opening and closing The start of motor 14 is to control the opening of fish mouth and closure.Specifically, when needing fish mouth opening and closing, microprocessor 701 controls opening and closing Motor 14 drives first gear 15 to rotate forward drive second gear 16 and inverts first, and second gear 16 drives lower jaw 12 around pivot 171 Rotate down, so that fish mouth is opened, then microprocessor 701 controls opening and closing motor 14 to drive the reversion of first gear 15 to drive Second gear 16 rotates forward, and second gear 16 drives lower jaw 12 to be rotated up around hinge axis 171, so that fish mouth closes, so that Complete fish mouth opening and closing.

In the present embodiment, processor 701 is also connected with eye driving motor 21, for controlling eye driving motor 21 Start, when needing to rotate flake 19, to make eye driving motor 21 work, driving crank and rocker mechanism 22 drives parallel four side 23 start of shape mechanism, and then drive flake 19 to rotate.

The wireless signal receiver 702 that control system 7 is also connected with microprocessor 701, wireless signal receiver 702 are used for Receive outside wireless remote control signals and wireless remote control signals are sent to microprocessor 701, microprocessor 701 is according to wireless remote The start of float means 6 in the start and dive of each driving motor of signal control is controlled, so that bionic machine fish is according to wireless Movement pattern specified by remote signal.In the present embodiment, microprocessor 701 is all provided with wireless signal receiver 702 Put on circuit boards, circuit board is sealed in electric-controlled box 301.

Motor pattern specified by wireless remote control signals includes multiple monomer motor patterns and free cruise mode.Multiple lists The fish head that body motor pattern includes floats, floating, fish head sinking with fish, the sinking of fish body, fish mouth opening, fish mouth closure, eye rotation, Trunk is swung, fin is swung up and down, fish tail swing and fin rotate.It is understood that fish head floats and floating synthesis with fish Bionic machine fish floats.Fish head is sunk and fish body sinking synthesizing bionic machine fish dive.Fish mouth is opened imitative with fish mouth closure synthesis Raw machine fish fish mouth opening and closing.Trunk swings to form bionic machine turning.Fish tail swing advances for bionic machine fish provides motive force, Form bionic machine fish swimming.Fin swings the balance for being used for ensureing bionic machine fish.Fin, which rotates, to be used to float with fish Or the fin skeleton 50 of fin 5 is turned to the angle of inclination of setting during the sinking of fish body, to reduce the resistance of water, easy to fish body Float and fish body sinks.When the water surface moves about, bionic machine fish floats bionic machine fish first, after bionic machine fish floats, Fish tail swing is carried out, the bionic machine fish water surface is formed and moves about, in other words, that is, bionic machine fish floats and fish tail swing shape Move about into the bionic machine fish water surface；When wet concentration moves about, bionic machine fish sinks raw machine fish first, and bionic machine fish sinks Afterwards, carry out fish tail swing, formed bionic machine fish move about under water, namely bionic machine fish sink formed with fish tail swing it is bionical Move in machine fish and water middle reaches.

Free cruise mode includes at least two monomer motor patterns in multiple monomer motor patterns.It is specifically for example, imitative Raw machine fish carries out the bionic machine fish water surface and moves under water first, and bionic machine fish fish mouth opening and closing, bionical machine are carried out during moving under water Device fish is moved under water after a certain period of time in the water surface, is moved under water under water, and bionic machine fish fish mouth is carried out during moving under water under water Close.

Above-mentioned monomer movement, its motion process and principle, and be described in detail in above process, details are not described herein.

It should be noted that the fish body 3 of the bionic machine fish of the present invention also trunk skeleton 31 joint of trunk 31 the Multiple battery cases 101 are set between one 310 and second 312, storage battery are installed in battery case 101, with the present invention With electric device provide electric energy.

The structure of the bionic machine fish of the present invention is simple, and cost is low, in addition, bionic machine fish of the present invention has true to nature imitate Come into force fruit.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.

Claims

1. a kind of bionic machine fish, including fish head (1) and the fish body (3) that is connected with fish head (1), the fish head (1) include the upper jaw (11), lower jaw (12), flake (19) is provided with the upper jaw (11), and the fish body (3) includes trunk skeleton (30), afterbody skeleton (40) fin (5) and on trunk skeleton (30), it is characterised in that the fin (5) includes and trunk skeleton (30) The fin stent (51) of connection and the fin skeleton (50) being connected with fin stent (51), the bionic machine fish further include with it is upper Jaw (11) and lower jaw (12) connection and for drive lower jaw (12) done relative to the upper jaw (11) opening and closing campaign open/close mechanism (13), In the fish head (1) and for driving eye driving mechanism (2) that flake (19) rotates, in trunk skeleton (30) and it is used for The fish body pendulous device (33) for driving trunk skeleton (30) and afterbody skeleton (40) to swing, for driving fin skeleton (50) to swing Fin pendulous device (52), for drive fin skeleton (50) rotate fin tumbler (53), for driving fish head (1) Swung with the floating descending mechanism (6) and control open/close mechanism (13), eye driving mechanism (2), fish body of fish body (3) floating dive Device (33), fin pendulous device (52), fin tumbler (53) and the control system (7) of floating descending mechanism (6) start.

2. bionic machine fish as claimed in claim 1, it is characterised in that the open/close mechanism (13) includes opening and closing motor (14), first gear (15) and second gear (16), opening and closing motor (14) and the upper jaw (11) are affixed, first gear (15) and opening and closing The shaft connection of motor (14), second gear (16) are engaged with first gear (15), and second gear (16) and lower jaw (12) It is affixed and be connected with the upper jaw (11).

3. bionic machine fish as claimed in claim 1, it is characterised in that the eye driving mechanism (2) drives including eye Motor (21), crank and rocker mechanism (22) and parallelogram mechanism (23), the eye driving motor (21) are shaken by crank Linkage (22) is connected with parallelogram mechanism (23), and parallelogram mechanism (23) is connected with flake (19).

4. bionic machine fish as claimed in claim 3, it is characterised in that the crank and rocker mechanism (22) includes being set in eye Eye turntable (222) in portion's driving motor (21) on shaft, is fixed in eye turntable (222) card in hinged way Eye crank (221), the other end of the eye crank (221) stretches out from eye turntable (222), and and parallelogram Mechanism (23) is articulated and connected.

5. bionic machine fish as claimed in claim 4, it is characterised in that the parallelogram mechanism (23) includes and crank First connecting rod (230) that eye crank (221) in rocker device (22) is articulated and connected, be connected to first in hinged way The second connecting rod (231) of connecting rod (230) both side ends, and flake (19) is respectively assembled at flake mounting hole in the upper jaw (11) (110) 2 flake pallets (232) on, and it is respectively used to two of connection flake pallet (232) and second connecting rod (231) Montant (233).

6. bionic machine fish as claimed in claim 1, it is characterised in that trunk skeleton (30) includes multiple mutually hinged one Rise to form the joint of trunk (31) of trunk skeleton (30), afterbody skeleton (40) includes multiple be hingedly engaged to each other to form fish The caudal articular process (41) of afterbody, the caudal articular process (41) positioned at front end are connected with the joint of trunk (31) positioned at rear end, the fish At least two fish body pendulous devices (33) are provided with body (3), each fish body pendulous device (33) includes fish body oscillating motor (34), reel (35) and the drawstring (36) being wrapped on reel (35), wherein the reel (35) is set in fish body pendulum On the shaft of dynamic motor (34), the both ends of the drawstring (36) are protruding from reel (35), the fish body pendulous device (33) it is divided into trunk pendulous device and tail swing device, the fish body oscillating motor (34) of trunk pendulous device is installed on bone of body In the joint of trunk (31) of frame (30), the both ends of drawstring (36) along multiple joint of trunk (31) arragement direction at the same time forward or Extend back and wear multiple joint of trunk (31) successively afterwards with being fixed positioned at the joint of trunk of front end or rearmost end (31)；Tail The fish body oscillating motor (34) of portion's pendulous device is mounted in the joint of trunk (31) of rearmost end, the both ends edge of drawstring (36) The arragement direction for multiple caudal articular processes (41) extends back and with sequentially passing through multiple caudal articular processes (41) afterwards with being located at the same time The caudal articular process (41) of rearmost end is fixed.

7. bionic machine fish as claimed in claim 1, it is characterised in that fin pendulous device (52) includes fin oscillating motor (520), fin turntable (521) and fin crank (522), wherein, fin oscillating motor (520) is arranged on fin motor box (58) Interior and fin oscillating motor (520) shaft is pierced by fin motor box (58), and the fin turntable (521) is set in fin On the shaft of oscillating motor (520), the both ends of the fin crank (522) respectively with fin turntable (521) and fin stent (51) it is pivotally connected, fin stent (51) is pivotally connected with fin motor box (58).

8. bionic machine fish as claimed in claim 1, it is characterised in that fin tumbler (53) includes fin rotary electric machine (531) and connecting rod (533), fin rotary electric machine (531) are fixedly connected with fin stent (51), connecting rod (533) and fin Skeleton (50) is fixedly connected, and connecting rod (533) is connected with the shaft of fin rotary electric machine (531).

9. bionic machine fish as claimed in claim 1, it is characterised in that floating descending mechanism (6) includes being used to control fish head (1) float with the first of dive the storage displacement can (61), for control fish body (3) float with the second storage displacement can (65) of dive, With the first storage displacement can (61) and the second storage displacement can (65) air accumulator (62) for be connected and for control air accumulator (62) and The air pump (63) of gas exchanges, the first storage displacement can are carried out between second storage displacement can (65) and the first storage displacement can (61) (61) front portion of fish body (3) is installed on, the second storage displacement can (65) is installed on the middle part of fish body (3).

10. the bionic machine fish as described in claim 1-9 any one, it is characterised in that the control system (7) includes micro- Processor (71) and the wireless signal receiver (72) being connected with microprocessor (71), the wireless signal receiver (72) are used for Receive exterior wireless remote control signals and be sent to microprocessor (71), microprocessor (71) is for judging wireless remote control signals institute The motor pattern of representative, and control the open/close mechanism (13), eye driving mechanism (2), fish body pendulous device (33), fin pendulum Driving device in dynamic device (52), fin tumbler (53) and floating descending mechanism (6) carries out corresponding start.