CN106114792A - The floating sinking mechanism of bionic machine fish - Google Patents
The floating sinking mechanism of bionic machine fish Download PDFInfo
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- CN106114792A CN106114792A CN201610521804.5A CN201610521804A CN106114792A CN 106114792 A CN106114792 A CN 106114792A CN 201610521804 A CN201610521804 A CN 201610521804A CN 106114792 A CN106114792 A CN 106114792A
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- fish
- trunk
- air guide
- guide port
- skeleton
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
Abstract
The invention discloses the floating descending mechanism of a kind of bionic machine fish, including the first storage displacement can for controlling fish head floating and dive, with controlling fish, floating and the second storage displacement can of dive and the first storage displacement can and second store up the tank connected air accumulator of draining and for controlling to carry out between air accumulator and the second storage displacement can and the first storage displacement can the air pump of gas exchange, first storage displacement can is arranged on the front portion of fish body, and the second storage displacement can is arranged on the middle part of fish body.The floating of the bionic machine fish of the present invention and sinking mechanism are connected with in the middle part of fish body and with air accumulator by the first storage displacement can and the second storage displacement can arrange fish body front portion, the gas transmission between air accumulator and the first storage displacement can and the second storage displacement can is controlled by air pump, realize the first storage displacement can and the water storage of the second storage displacement can and draining, and then realize floating with the fish of bionic machine fish and sink and fish head floats and sinks, simple in construction.
Description
Technical field
The invention belongs to bio-robot technical field, be specifically related to the floating sinking mechanism of a kind of bionic machine fish.
Background technology
The nineties in 20th century focuses primarily upon theoretical side previously for the bionic research of Fish, along with Fish pusher
Going deep into of reason research, robotics, bionics, electronic technology, material science and the new development of control technology, simulation Fish trip
The underwater robot bionic machine fish of motivation reason receives extensive concern both domestic and external.The rope made of hemp Institute of Technology of U.S. root
" flux driving is theoretical " advanced according to the fish tail of proposition, develops bionical tuna and the bionical shuttle of length 0.8 meter of long 1.2 meters
Fish.Marine Science Center of Northeast USA university utilizes marmem and linkage to develop the machine eel of undulatory propulsion
Fish.University of New Mexico of the U.S. utilizes polyelectrolyte ion exchange membrane IEM, is plated in the foil of bionic machine fish fin
On, realize artificial muscle by extra electric field and move, produce the travelling method of similar Anguillar japonica.Essex university of Britain devises to be had
The machine fish of three-dimensional motion ability.Tokyo Univ Japan have developed the robotic dolphin that two joint advances.Kato etc. have studied fish
The control of fin propulsive mechanism also develops machine fish model machine sea bass.Japan Nagoya university develops marmem and drives micro-
Type physical undulations formula underwater propeller and the dipterus type microrobot of 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 use the SPC series bionic machine fish of flat roomy axe shape 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 and engineering science system have developed bionical dolphin sample
Machine.Chinese Academy of Sciences's Beijing automation research developed microminiature machine fish, multisensor bionic machine fish etc..
But, the floating of bionic machine fish is complicated with sinking mechanism structure 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 the floating sinking mechanism of a kind of bionic machine fish, including for control fish head float with under
Latent the first storage displacement can, for controlling floating the second storage displacement can with dive and the first storage displacement can and the second storage with fish
The tank connected air accumulator of draining and being used for controls to carry out gas between air accumulator and the second storage displacement can and the first storage displacement can
The air pump of exchange, described first storage displacement can is arranged on the front portion of fish body, and described second storage displacement can is arranged on the middle part of fish body.
Further, described fish body includes fixing the fish neck frame being connected with described fish head, described first storage displacement can peace
It is contained in described fish neck frame.
Further, described fish body includes the trunk skeleton being connected with fish head and the afterbody bone being connected with described trunk skeleton
Frame, trunk skeleton includes multiple joint of trunk being hingedly engaged to each other to form trunk skeleton, and described trunk skeleton is arranged
Having electric-controlled box, trunk skeleton is divided into anterior trunk skeleton and rear portion trunk skeleton, described rear portion trunk skeleton by described electric-controlled box
The joint of trunk foremost that is positioned at be connected with described electric-controlled box, described second storage displacement can is arranged on described rear portion trunk skeleton
The joint of trunk being positioned at foremost.
Further, joint of trunk takes the shape of the letter U, including in the form of sheets and first of horizontally set, be positioned at first lower section and
Second in the form of sheets, and two ends respectively with first and second connecting portion being connected, wherein, adjacent two trunks close
Two first connection of joint, two second connection of two adjacent joint of trunk, described second storage displacement can is arranged on
Described rear portion trunk skeleton between first and second of joint of trunk foremost.
Further, described floating descending mechanism also includes the first electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve, first
Electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve include that two the first air guide ports, the second air guide port and first are led the most respectively
The 3rd air guide port that QI KOU and the second air guide port connect, the first valve controlling the first air guide port and the conducting of the 3rd air guide port is opened
Close, and control the second valve switch of the second air guide port and the 3rd air guide port conducting, the first air guide port of the first electromagnetic valve and
Second air guide port is connected with the first storage displacement can and the second storage displacement can respectively, and the first air guide port of the second electromagnetic valve and second is led
Second air guide port and first air guide port of corresponding 3rd electromagnetic valve of QI KOU connect, and what air accumulator was connected to the second electromagnetic valve first leads
Between second air guide port of QI KOU and the 3rd electromagnetic valve, the 3rd air guide port of the first electromagnetic valve is connected to the second of the second electromagnetic valve
Between first air guide port of air guide port and the 3rd electromagnetic valve, the 3rd air guide port of the 3rd electromagnetic valve passes through air pump and the second guide valve
The 3rd air guide port connect.
Further, described first storage displacement can includes the first tank body and is arranged on the first air bag in this first tank body,
Offer the first water inlet on wherein said first tank body, and connected with extraneous aqueous phase by this first water inlet, the first electricity
First air bag of the first air guide port of magnet valve and the first storage displacement can connects.
Further, described second storage displacement can includes the second tank body and is arranged on the second air bag in this second tank body,
The first water inlet, the second air guide port of the first electromagnetic valve and the first of the second storage displacement can is offered on wherein said second tank body
Air bag connects.
Due to the application of technique scheme, the method have the advantages that
The floating sinking mechanism of the bionic machine fish of the present invention is by by the first storage displacement can and the second storage displacement can setting
The anterior middle part with fish body of fish body, and be connected with air accumulator, control air accumulator and the first storage displacement can and the second storage by air pump
Gas transmission between displacement can, it is achieved the first storage displacement can and the water storage of the second storage displacement can and draining, and then realize bionical
With the fish of machine fish, floating and sinking and fish head float and sink, simple in construction, and have 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, specially the anterior decomposing schematic representation with fish neck of fish trunk.
Fig. 6 is the decomposing schematic representation after the partial exploded view of the fish body in Fig. 1, specially 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 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 drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order 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 simulated realistically simultaneously.
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, float
Descending mechanism 6 and control system 7.First of all for being easy to this bionic mechanical machine fish is described, 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 before being fish
Line direction, second direction is that it is vertical with first direction for horizontal direction, and third direction is vertically, fish along third direction rise with
Dive.
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 opening and closing machine
Structure 13, the upper jaw 11 is connected with lower jaw 12 by open/close mechanism 13, and open/close mechanism 13 is used for driving lower jaw 12 relative to the upper jaw
11 carry out opening and closing campaign, to present opening and closing of face position in this bionic machine fish.In the present embodiment, described opening and closing
Mechanism 13 is arranged on the upper jaw 11 with lower jaw 12 near one end of fish body 3, in order to the face position of bionic machine fish open and
Guan Bi.
In the present embodiment, described open/close mechanism 13 includes opening and closing motor the 14, first gear 15 and the second gear 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, and the second gear 16 is nibbled with the first gear 15
Close, and the second gear 16 is affixed with lower jaw 12 and hinged with the upper jaw 11.So this open/close mechanism 13 is operationally, opening and closing motor
14 drive the second gear 16 to rotate around the pin joint of the second gear 16 with the upper jaw 11 by the first gear 15 so that the second tooth
Wheel 16 drive lower jaw 12 carries out rotating around the pin joint of the second gear 16 with the upper jaw 11, and then it is relative to achieve this lower jaw 12
Opening and closing campaign is carried out in the upper jaw 11.It should be noted that the first gear 15 is circular gear, the second gear 16 is sector gear.
Specifically, when opening and closing motor 14 drives the first gear 15 to rotate clockwise, described second gear 16 is at the first tooth
Rotating counterclockwise under the transmission of wheel 15, the second gear 16 drives lower jaw 12 to do the motion opened relative to the upper jaw 11；Otherwise, the
Two gears 16 drive lower jaw 12 to do the motion relative to the upper jaw 11 Guan Bi.Further, the second gear 16 is positioned at the first gear 15
Rear, in order to simulate the mouth opening and closing of Fish realistically, it should be noted that the second gear 16 is positioned at the first gear 15
Rear refer to for the first gear 15, the second gear 16 is closer to fish body.Preferably, the second gear 16 is straight
Footpath is more than the diameter of the first gear 15, in order to control the opening and closing degree of fish mouth.In the present embodiment, pivot 171 and the second gear
The center of circle of 16 is hinged, and the center of circle of the second gear 16 relative to the teeth portion of the second gear 16 closer to fish body 3, true to nature to ensure
The quick opening and closing of fish mouth are realized while the mouth opening and closing that simulation goes out Fish.
In the present embodiment, described open/close mechanism 13 also includes that fixed mount 17, described fixed mount 17 are arranged on the described upper jaw
Between 11 and lower jaw 12 and affixed with the upper jaw 11, described fixed mount 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 mount 17, and opening and closing motor 14
Rotating shaft vertically pass the first fixed plate 170 after be connected with the first gear 15.First fixed plate 170 is provided with pivot 171, and second
The connection that gear 16 is pivoted with the first fixed plate 170 by pivot 171 so that the second gear 16 and lower jaw 12 is affixed and and the upper jaw
11 is hinged, with this ensure the upper jaw 11 by open/close mechanism 13 and lower jaw 12 hinged while, open/close mechanism 13 can also drive down
Jaw 12 and the upper jaw 11 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 and
Two fixed plates 172 vertically connect, and the second fixed plate 172 is affixed with the upper jaw 11 by fixtures such as screws, 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 with the upper jaw 11 by the second fixed plate 172.Arrange
Two fixed plates 172 can ensure that fixed mount 17 can be tightened together with the upper jaw 11 by fixtures such as screws, strengthens bionical machine
The structural strength of device fish.
In the present embodiment, fixed mount 17 also includes longitudinally disposed 3rd fixed plate 173, the 3rd fixed plate 173 and second
Fixed plate 172 and the first fixed plate 170 the most vertically connect, and the medial surface of the 3rd fixed plate 173 is provided with and is connected with pivot 171
Anti-flake 174, 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, and fixation plate 18 is affixed with lower jaw 12, fixation plate
18 is affixed with the second gear 16, and the i.e. second gear 16 is affixed with lower jaw 12 by fixation plate 18.Wherein, described fixation plate 18 and
Can be attached fixing by the way of rivet, spot welding, soldering between two gears 16.Further, fixation plate 18 is in tongue
Shape, to ensure the head of realistic simulation Fish.Further, fixation plate 18 is hinged with pivot 171, to strengthen bionic machine fish
Structural strength simultaneously facilitates 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, limit shaft 175 be positioned at the second gear 16 with
The lower section of pivot 171 or the back lower place, with when lower jaw 12 rotates down, limit shaft 175 and 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 be positioned at the 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, the described upper jaw 11 offers two flakes symmetrically
Installing hole 110, and on each flake installing hole 110, it is respectively provided with a flake 19, in order to present the simulation of this bionic machine fish
The appreciation effect that in Fish, flake rotates, the fish head of the present embodiment also includes being arranged between the upper jaw 11 and lower jaw 12 for driving
Flake 19 carries out the eye drive mechanism 2 rotated in the flake installing hole 110 of the upper jaw 11.In the present embodiment, described eye
Drive mechanism 2 can drive flake 19 to 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 and parallelogram
Mechanism 23, described eye drives motor 21 to be assemblied on the upper jaw 11, and specifically, eye drives motor 21 to be arranged on the second fixed plate
On 172, in other words, namely eye drives motor 21 to be assemblied on the upper jaw 11 by the second fixed plate 172.Eye drives electricity
Machine 21 is connected with parallel-crank mechanism 23 by crank and rocker mechanism 22, and parallel-crank mechanism 23 is connected with flake 19, eye
Portion drives motor 21 driven parallel-crank mechanism 23 to rotate by crank and rocker mechanism 22 and then driven 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 rotating disk on the shaft of motor 21
220, it is fixed on the eye crank 221 in eye rotating disk 220 card in hinged way, another of wherein said eye crank 221
End stretches out from eye rotating disk 220, and is articulated and connected with parallel-crank mechanism 23, to drive parallel-crank mechanism
23 carry out rotation operation.That is, eye drives motor 21 operationally, can drive parallel by this crank and rocker mechanism 22
Quadrangular mechanism 23 carries out rotation operation.
Described parallel-crank mechanism 23 includes carrying out being articulated and connected with the eye crank 221 in crank and rocker mechanism 22
First connecting rod 230, it is connected to the second connecting rod 231 of first connecting rod 230 both side ends in hinged way, and flake 19 is filled respectively
Fit over two flake pallets 232 on flake installing hole 110 in the upper jaw 11, and be respectively used to connect flake pallet 232 and the
Two montants 233 of two connecting rods 231.Wherein, first connecting rod 230 is all horizontally disposed with second connecting rod 231, and first connecting rod
230 length bearing of trends are parallel with two flake 19 line directions, and second connecting rod 231 is vertical relative to first connecting rod 230.Enter one
Step ground, one end of described montant 233 is fixed on the second connecting rod 231 side end away from first connecting rod 230, and the other end is with vertically
Mode be fixed on flake pallet 232, so this flake pallet 232 use can do relative to first with second connecting rod 231
The rotation of connecting rod 230, and then drive the corresponding flake 19 being fixed on flake pallet 232 to carry out rotation operation.At the present embodiment
In, it is to be fixedly connected by connecting pin 26 between described flake 19 and flake pallet 232, specifically, on described flake 19
Offering the first pin-and-hole 190, described flake pallet 232 offers the second pin-and-hole 235, the two ends of described connecting pin 26 are inserted respectively
It is located at the first pin-and-hole 190 of flake 19 and the second pin-and-hole 235 of flake pallet 232 and fixing is connected.It is understood that this
Its flake of bright bionic machine fish drives crank and rocker mechanism 22 band parallel-crank mechanism 23 to rotate by eye drive mechanism 2
Then drive flake 19 to rotate, there is 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 and bone of body
The afterbody skeleton 40 that frame 30 connects.
Trunk skeleton 30 includes multiple joint of trunk 31 being hingedly engaged to each other to form trunk skeleton 30.Joint of trunk
31 take the shape of the letter U, and including in the form of sheets and first 310 of horizontally set, are positioned at second 311 below first 310 and in the form of sheets,
And two 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 by vertically arranged hinge, two of two adjacent joint of trunk 31
It is stacked and by vertically arranged hinge for second about 311.
Specifically, in the present embodiment, connecting portion 312 offered mouth 313 the end of neighbouring first 310, adjacent
The connecting portion 312 of first 310 another joint of trunk 31 of insertion in one of them joint of trunk 31 of two joint of trunk 31
On cross mouth 313 in and two first 310 lean and by vertically arranged hinge, two adjacent joint of trunk
Two second about 311 of 31 is distributed and contacts with each other and by vertically arranged hinge, thus achieving two
Being articulated and connected between 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 includes that affixed with fish head 1 and with trunk skeleton 30 the trunk being positioned at forefront closes
Save 31 hinged fish neck framves 32.Specifically, fish neck frame 32 takes the shape of the letter U, including horizontally set the first installing plate 320, be positioned at
The second installing plate 321 and two ends below first installing plate 320 are vertical with the second installing plate 321 with the first installing plate 320 respectively
Connect stator 322.Specifically, in the present embodiment, stator 322 is fixing with fish head 1 is connected.At the present embodiment, stator
322 are such as connected, so that fish body 3 is connected with fish head 1 by screw pin etc. is fixing with the 3rd fixed plate 173.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 free end of the first installing plate 320 and the second installing plate 321 extends a pin-joint piece respectively
323, the pin-joint piece 323 of the first installing plate 320 insert be positioned at front end joint of trunk 31 cross mouth 313 and with first 310
Against and by vertically arranged hinge, the pin-joint piece 323 on the second installing plate 321 with second 311 against and lead to
Crossing hinge, and then achieve being pivotally connected between joint of trunk 31 and fish neck frame 32, trunk skeleton 30 is relative to fish
Neck frame 32 with them between bearing pin as rotating shaft about put.
In the present embodiment, afterbody skeleton 40 is pivotally connected with trunk skeleton 30, including multiple be hingedly engaged to each other with
Forming the caudal articular process 41 in fish tail portion, caudal articular process 41 includes a connecting piece 410 of horizontally set, is positioned at a connecting piece
Below 410 second connects sheet 412, and two ends are connected the 3rd connection sheet of sheet 412 respectively with a connecting piece 410 and second
413.Described 3rd connection sheet 413 offers in the end of neighbouring a connecting piece 410 wears mouth 414.Adjacent two caudal articular processes
A connecting piece 410 in one of them caudal articular process 41 of 41 inserts on the 3rd connection sheet 413 of another caudal articular process 41
In wearing mouth 414 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, thus achieve two
Being articulated and connected between individual caudal articular process 41, and two caudal articular processes 41 with them between bearing pin as rotating shaft about put.
In afterbody skeleton 40 to be positioned at caudal articular process 41 foremost hinged with the joint of trunk 31 of trunk skeleton 30.Permissible
Being understood by, the caudal articular process 41 of afterbody skeleton 40 is essentially identical with the structure of the joint of trunk 31 of trunk skeleton 30, simply fish
Afterbody vary in size with trunk, therefore to realistic simulation goes out the form of Fish, the size of caudal articular process 41 than trunk close
The size of joint 31 is little, and further, the caudal articular process 41 hinged with joint of trunk 31 is transition joints, as the tail of transition joints
Joint, portion 41 second connection sheet 412 extend obliquely downward be formed oblique connection sheet 415 and from this oblique connection sheet 415 from
Extended by end and the lateral connection sheet 416 hinged with the bottom of the second of joint of trunk 31 311, with afterbody skeleton 40 with
When trunk skeleton 30 connects, it is achieved the change between two skeleton difference in size, and then the form imitating out Fish true to nature.
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 is put
Dynamic device 33 is divided into the tail swing device for driving afterbody skeleton 40 to swing and for the body 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 said reel of stay cord 36 35 is set on the shaft of fish body oscillating motor 34, and the two ends of described stay cord 36 are from reel
35 is protruding.In the fish body oscillating motor 34 of trunk pendulous device is arranged on the joint of trunk 31 of trunk skeleton 30 and concrete position
Between first 310 and second 311, drive the stay cord 36 corresponding to fish body oscillating motor 34 of trunk skeleton 30 swing
After two ends simultaneously along the arragement direction of multiple joint of trunk 31 extend and wear multiple joint of trunk 31 successively the most forward or backward
Be positioned at foremost or the joint of trunk 31 of rearmost end is fixed.So this fish body oscillating motor 34 is operationally, and fish body swings electricity
Machine 34 drives reel 35 to rotate, and pull the stay cord 36 being wrapped on reel 35 make its two ends do corresponding retracting with
Relaxation exercise, and then achieve this fish body oscillating motor 34 and drive trunk skeleton 30 to swing, thus imitate out Fish
The action that trunk swings.
In the present embodiment, trunk skeleton 30 is provided with the electric-controlled box 301 for loading control system 7, electric-controlled box 301
Trunk skeleton 30 is divided into anterior trunk skeleton and rear portion trunk skeleton, the joint of trunk 31 being positioned at rear end of anterior trunk skeleton
First 310 free end with second 311 be such as connected by screw is fixing towards electric-controlled box 301 and with electric-controlled box 301,
The free end of first 310 and second 311 of the joint of trunk 31 being positioned at front end of rear portion trunk skeleton is towards electric-controlled box 301
Arrange and be such as connected by screw is fixing with electric-controlled box 301.The quantity of trunk pendulous device is two, this trunk pendulous device
Fish body oscillating motor 34 be separately positioned on anterior trunk skeleton with in the joint of trunk 31 of rear portion trunk skeleton, to drive front portion
Trunk skeleton and rear portion trunk skeleton, simulate, with vivider, the action that Fish trunk swings.It should be noted that be arranged on
The stay cord 36 of fish body oscillating motor 34 correspondence on anterior trunk skeleton, its two ends are along the arragement direction of multiple joint of trunk 31
Fix with the joint of trunk 31 being positioned at foremost after extending and wear multiple joint of trunk 31 successively the most forward；It is arranged on rear portion
The stay cord 36 of fish body oscillating motor 34 correspondence on trunk skeleton, its two ends along multiple joint of trunk 31 arragement direction simultaneously
After extending back and wearing multiple joint of trunk 31 successively 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, with this
During reel 35 coiling of fish body oscillating motor 34 correspondence, reel 35 simply will be located in drawing of reel 35 side when coiling
Rope 36 is wrapped on reel 35, makes the stay cord 36 of this side be furled, and such as fish body oscillating motor 34 drives reel 35 up time
When pin turns, the stay cord 36 on the right side of reel 35 is furled on reel 35, and shortening of the stay cord 36 on the right side of reel 35 is 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,
Do not repeat them here.Anterior trunk skeleton and the swing of 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 offers two perforation 313 symmetrically, and these two perforation 313 are for driving
The stay cord 36 corresponding to fish body oscillating motor 34 that dynamic trunk skeleton swings passes.The fish body driving trunk skeleton to swing swings electricity
When stay cord 36 corresponding to machine 34 is tightened up, by corresponding perforation 313 power can be acted on and make body on joint of trunk 31
Dry joint 31 swings.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, being arranged such connecting portion 312 can be with Appropriate application space, it is to avoid between element
Interfere, and alleviate 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 arranged on the joint of trunk being positioned at rearmost end of trunk skeleton 30
In 31, between first 310 and second 311 of the joint of trunk 31 in rearmost end being specifically arranged on trunk skeleton 30,
The two ends of the stay cord 36 corresponding to fish body oscillating motor 34 that driving afterbody skeleton 40 swings are along the row of multiple caudal articular processes 41
Cloth direction is fixed with last caudal articular process 41 after extending back simultaneously and wearing multiple caudal articular process 41 successively.Trunk skeleton
The joint of trunk 31 being positioned at rearmost end of 30 refers to that joint being connected with afterbody skeleton 40 of trunk skeleton 30.Afterbody is put
Operationally, the fish body oscillating motor 34 driving afterbody skeleton 40 to swing drives this fish body to put to the fish body oscillating motor 34 of dynamic device
The reel 35 of galvanic electricity machine 34 correspondence rotates, and pulls the stay cord 36 being wrapped on reel 35 to make its two ends roll up accordingly
Receive and loosen, and then achieving fish body oscillating motor 34 and drive afterbody skeleton 40 to swing, thus imitating out Fish tail
The action that portion swings.
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 stay cord 36 corresponding to fish body oscillating motor 34 that afterbody skeleton 40 swings through caudal articular process 41
3rd connects the cable-through hole 416 on sheet 413 and fixes with the caudal articular process 41 being positioned at rear end.
In the present embodiment, fish body 3 also includes flexible member 37 and multiple lug 38 of strip, lug 38 is provided with logical
Hole 380.Lug 38 is distributed on each joint of trunk 31 and caudal articular process 41, is particularly located at joint of trunk 31 and caudal articular process 41
Top, be more specifically in key first 310 of joint 31 with the top on a connecting piece 410 of caudal articular process 41
Portion.Flexible member 37 wears the two ends of through hole 380 and flexible member 37 and is fixed on fish body 3, such fish body 3 swing time,
The pliability of fish body 3 is strong.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, is specially and fish neck frame
The top of 32, is more specifically positioned 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 the lug 38 of 32, with when trunk skeleton 30 rotates relative to fish neck frame 32, strengthens trunk skeleton 30 and fish neck
Pliability between skeleton 32.In the present embodiment, due to electric-controlled box 301 trunk skeleton 30 is divided into anterior trunk skeleton and after
Portion's trunk skeleton, therefore, flexible member 37 quantity is two, and one of them flexible member 37 is through anterior trunk skeleton and fish neck
The through hole 380 on lug 38 on skeleton 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 through hole 380 on the lug 38 on afterbody skeleton 40, this flexible member
The two ends of 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 being additionally provided with fin 5, fin 5 sets in pairs
Put and be 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, fin support 51 and fish
Body 3 connects.Wherein, fin skeleton 50 includes skeleton substrate 501 and multiple being hinged of being positioned apart from skeleton substrate 501
Flexible joint 502, wherein, the length bearing of trend of skeleton substrate 501 is vertical with the length bearing of trend of fish body 3, flexible closes
The length bearing of trend of joint 502 is parallel with the length bearing of trend of fish body 3.
All fixing with skeleton substrate 501 and along fish body 3 the length bearing of trend in one end of each flexible joint 502 sets
Put.Each soft energy property joint 502 includes the sub-joint 503 of multiple lamellar, and two, adjacent company passes through connection rotating shaft in sub-joint 503
505 connect, and connection rotating shaft 505 is arranged with a torsion spring 504, and the two ends of each torsion spring 504 are respectively held against two sub-joints
503, can keep the pliability of fin skeleton 50 when fin skeleton 50 swings, fin skeleton will not be allowed because of the change of hydraulic pressure
50 there is moderate finite deformation, and reinstatement under the effect of torsion spring 504 after fin skeleton 50 deforms.
In the present embodiment, fin 5 also includes fin pendulous device 52 and fin motor box 58.Fin pendulous device 52 wraps
Include fin oscillating motor 520, fin rotating disk 521 and fin crank 522.Wherein, fin oscillating motor 520 is arranged on fin motor
Interior and fin oscillating motor 520 the shaft of box 58 passes fin motor box 58.Described fin rotating disk 521 is set in fin pendulum
On the shaft of galvanic electricity machine 520, the two ends of described fin crank 522 pivot even with fin rotating disk 521 and fin support 51 respectively
Connecing, the medium position of fin support 51 is pivotally connected by the front end face of connecting shaft 581 with fin motor box 58, needs explanation
It is 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 this fin oscillating motor 520 in work
Time, fin rotating disk 521 and fin crank 522 transmission can be passed through, fin support 51 swings up and down operation.At the present embodiment
In, fin motor box 58 is arranged in the joint of trunk 31 of trunk skeleton 30, and concrete fin motor box 58 arranges this joint of trunk
Between first 310 of 31 and second 311, and specifically such as it is fixed on second 311 by fixtures such as screws, permissible
Being understood by, 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 motor box with two fin oscillating motors 520 in a pair fin 5
In 58, fin motor box 58 is fixed between first 310 and second 311 of the predetermined joint of trunk of trunk skeleton 30 31.
The front portion of this fin motor box 58 arranges cover plate 59, and the pivot that fin crank 522 links together is arranged on fin motor box 58
On.The cover plate 59 of fin motor box 58 is provided with the perforation 591 that the shaft for two fin oscillating motors 520 wears, and connects
Axle 581 is arranged on cover plate 59.
In the present embodiment, fin 5 also 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 rotating shaft of this fin rotary electric machine 531 is axial
Vertical with the length bearing of trend of fish body 3, fin rotary electric machine 531 is fixing with fin support 51 to be connected, fin rotary electric machine 531
Being connected with connecting rod 533 by shaft coupling 532, connecting rod 533 is fixing with skeleton substrate 501 to be connected, fin tumbler 53
Fin rotary electric machine 531 is dynamically connected bar 533 in rotational band, 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, the most above-mentioned institute of structure of anterior fin
State, rear portion fin only can swing up and down will not swing, in other words, namely rear portion fin do not include fin rotate dress
Put 53.It is understood that fin 5 is not when including fin tumbler 53, fin support 51 and the fin skeleton 50 of fin 5
Such as can be fixed together by the way of the fixtures 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 fin 5 swing can fish rise with during dive in horizontal plane become forward or to
Rear-inclined certain angle, such as, between 15 ° to 30 °, such fish is rising and during dive by the opposition general of water
Diminishing, beneficially fish rises and dive.
At the present embodiment, described bionic machine fish also includes under the floating for realizing this bionic machine fish floating and dive
Latent mechanism 6, floating descending mechanism 6 includes that the first storage displacement can 61 and first floated with dive for controlling fish head 1 stores up draining
Air accumulator 62 that tank 61 connects and for controlling to carry out between air accumulator 62 and the first storage displacement can 61 air pump of gas exchange
63.When needs fish head 1 floats, the gas in air accumulator 62 is entered in the first storage displacement can 61 by air pump 63, and then by first
Water in storage displacement can 61 is discharged so that 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 in the first storage displacement can 61 by the gas in air accumulator 62, and air pump 63 is counterclockwise
Turn and the gas in the first storage displacement can 61 can be entered gas tank 62.In the present embodiment, it is provided with automatically controlled in electric-controlled box 301
Box 301 is divided into the dividing plate of Liang Ge chamber resettling, one of them chamber installation control system 7, and another chamber resettling installs and floats
Air pump 62 in descending mechanism 6, and air pump 62 is fixed on dividing plate, and it should be noted that in the present embodiment, dividing plate is by electricity
Control box 301 is divided into upper and lower spaced Liang Ge chamber resettling.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 bone of body
In the joint of trunk 31 of frame, in being specifically located at the joint of trunk 31 being connected with fish neck frame 32 and anterior trunk skeleton with electricity
In the joint of trunk 31 that control box 301 connects, the air accumulator 62 being located in the joint of trunk 31 being connected with electric-controlled box 301 is positioned at fin
The top of motor box 58, to reach Appropriate application space, and can be that the first storage displacement can 61 carries with the second storage displacement can 65
For the gases in sufficient gas and suction two storage displacement can, it is achieved fish head 1 and the floating of fish body 3 and sinking.
Specifically, the first storage displacement can 61 be arranged on the first installing plate 320 of fish neck frame 32 and the second installing plate 321 it
Between, the first installing plate 320 is provided with opening 324, passes through for the valve on the first storage displacement can 61, leads to facilitate valve to pass through
Trachea is connected with air accumulator 62, and then conveniently arranges the gas circuit in bionic mechanical machine fish.Set on second installing plate 321
Flexible parts 325, the bottom of the first storage displacement can 61 abuts elastomeric element 325, in order to convenient installation the first storage displacement can
61 and rely on the elastic-restoring force of elastomeric element 325 to prevent the first storage displacement can 61 from loosening.In the present embodiment, elastomeric element
325 for example, elastic arch sheets, in order to install the first storage displacement can 61.In the present embodiment, air accumulator 62 is such as arranged on
In fish neck frame 32, in other embodiments, the first storage displacement can 61 can directly be arranged in fish head 1.
In the present embodiment, the first storage displacement can 61 includes the first tank body 610 and be arranged in this first tank body 610 the
One air bag 612, wherein said first tank body 610 offers the first water inlet, and by this 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 entered first by air pump 63
In air bag 612, the first air bag 612 expands and the water in the first tank body 610 is entered the external world, alleviates the first storage displacement can 61 weight,
And then alleviating the weight of fish head 1 so that fish head 1 floats；Otherwise then increase the weight of fish head 1, make fish head sink.On fish head 1
After latent dive receives.
In the present embodiment, floating descending mechanism 6 also include for controlling fish body 3 and floating, the second storage displacement can of dive
65, air pump 63 is connected with the second storage displacement can 65, since control to carry out gas friendship between air accumulator 62 and the second storage displacement can 65
Change.When needing fish body 3 to float, the gas in air accumulator 62 is entered in the second storage displacement can 65 by air pump 63, and then stores up second
Water in displacement can 65 is discharged so that the weight of fish body 3, 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 be arranged in this second tank body 650 the
Two air bags 652, wherein said second tank body 650 offers the second water inlet, and by this 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 entered second by air pump 63
In air bag 652, the second air bag 652 expands and the water in the second tank body 650 is entered the external world, alleviates the second storage displacement can 65 weight,
And then alleviating the weight of fish body 3 so that fish body 3 floats；Otherwise then increase the weight of fish body 3, make fish body 3 dive.On fish body 3
After latent dive terminates.
Concrete, at 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.Described second storage displacement can 65 is applied in this bionic machine fish,
For driving fish body 3 to carry out floating dive, owing to the total quality of fish body 3 is greater than the total quality of fish head 1, to this end,
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 first 410 and second 411 of the skeleton joint 41 that control box 301 connects.
Further, in the present embodiment, floating descending mechanism 6 includes first electromagnetic valve the 66, second electromagnetic valve 67 and
Three electromagnetic valves 68, first electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electromagnetic valve 68 include two the first inducing QIs the most respectively
The 3rd air guide port C that mouthful A, the second air guide port B and the first air guide port A and the second air guide port B connect, control the first air guide port A with
First valve switch of the 3rd air guide port C conducting, and control the second valve of the second air guide port B and the 3rd air guide port C conducting
Switch.The first air guide port A and the second air guide port B of the first electromagnetic valve 66 stores up displacement can with the first storage displacement can 61 and second respectively
65 connect, the second air guide port B 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 and
First air guide port A connects, and air accumulator 62 is connected to the first air guide port A of the second electromagnetic valve 67 and the second of the 3rd electromagnetic valve 68 is led
Between QI KOU B, the 3rd air guide port C of the first electromagnetic valve 66 is connected to the second air guide port B and the 3rd electromagnetism of the second electromagnetic valve 67
Between first air guide port A of valve 68, the 3rd air guide port C of the 3rd electromagnetic valve 68 is led with the 3rd of the second guide valve by air pump 62
QI KOU C connects.When needs fish body 3 floats, air pump 62 is bled the most clockwise, and the second valve switch of three electromagnetic valves
All open, make the gas in air accumulator 62 enter in the first storage displacement can 61, water in the first storage displacement can 61 is discharged, thus real
Existing fish head 1 floats, otherwise then fish head 1 sinks.When needs fish body 3 floats, air pump 62 is bled the most clockwise, and three electricity
Second valve switch of magnet valve is all opened, and makes the gas in air accumulator 62 enter the second storage displacement can 65, by the second storage displacement can
Water in 65 is discharged, thus realizes fish body 3 and float, otherwise then fish body 3 sinks.
Control system 7 includes that microprocessor 701, microprocessor 701 swing electricity with the fish body driving trunk skeleton 30 to swing
Machine 34 connects, to control the start of the fish body oscillating motor 34 driving trunk skeleton 30 to swing, to realize trunk skeleton 30 position
Swing, and then realize bionic machine fish turn.When turning, microprocessor 701 controls to drive trunk skeleton 30 to swing
Fish body oscillating motor 34 drives the reel 35 of correspondence that stay cord 36 carries out coiling, drives trunk skeleton 30 to rotate to side, real
Existing bionic machine fish is turned, and after turning terminates, the fish body oscillating motor 34 driving trunk skeleton 30 to swing drives reel 35
Rotation makes trunk 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 to drive afterbody
The start of the fish body oscillating motor 34 that skeleton 40 swings, it is achieved the swing of afterbody skeleton 40, provides driving force for bionic machine fish,
And then realize bionic machine fish advance.When needing bionic machine fish to advance, microprocessor 701 controls to drive trunk skeleton 30 to swing
Fish body oscillating motor 34 rotate and reverse, make correspondence reel 35 be pointed to respectively left side stay cord 36 and be positioned at right side
Stay cord 36 carries out coiling, drives trunk skeleton 30 to swing, provides driving force for bionic machine fish, stops at bionic machine fish
After advance, the fish body oscillating motor 34 controlling to drive afterbody skeleton 40 to swing is stopped operating, makes bionic machine fish halt.
Microprocessor 701 is also connected with the fin oscillating motor 520 in fin pendulous device 52.To control fin swing electricity
The start of machine 520, with when bionic machine fish advances, makes the fin 5 of bionic machine fish swing, with when bionic machine fish advances
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, be on
Float or during dive, microprocessor 701 controls fin rotary electric machine 531 and rotates, to drive fin 5 to turn to forward or backward
In set angle, to reduce floating and the dive of the water opposition to fin 5, beneficially bionic machine fish.
Control system 7 also includes that fish body positional detecting device 71, fish body positional detecting device 71 are divided into for gathering afterbody
The position signalling of skeleton 40 tail position transmitted to microprocessor 701 detect device, and are used for gathering trunk skeleton 30
Position signalling and be sent to microprocessor 70 trunk position detection device.
Microprocessor 701 is for judging the position of afterbody skeleton 40 also according to the position signalling of the afterbody skeleton 40 received
Control for driving the fish body oscillating motor 34 of tail swing to carry out corresponding start.Specifically, the position letter of afterbody skeleton 40
Number including afterbody maximum left avertence position signalling, afterbody maximum right avertence position signalling and afterbody initial position signal, when afterbody deflects
When amount reaches maximum, microprocessor 701 controls for driving 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 driving afterbody skeleton 40 to swing stops operating.It is understood that at microprocessor 701 by wireless
Signal receive 702 control instructions receiving outside input such as stop swinging fish tail time, microprocessor 701 i.e. controls to be used for driving
The fish body oscillating motor 34 of dynamic tail swing drives afterbody skeleton 40 to swing to initial position, and at the beginning of afterbody skeleton 40 swings to
Beginning position control is for driving 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, controls for driving the fish body of tail swing to swing electricity after tail swing reaches the setting time
Machine 34 drives afterbody skeleton 40 to swing to initial position, and swings to initial position control for driving afterbody at afterbody skeleton 40
The fish body oscillating motor 34 swung stops operating.
Microprocessor 70 is additionally operable to the position signalling according to trunk skeleton 30 and controls for driving trunk skeleton 30 to swing
Fish body oscillating motor 34 carries out corresponding start.Specifically, the position signalling of trunk skeleton 30 includes trunk maximum left avertence position
Signal, trunk maximum right avertence position signalling and trunk initial position signal, after trunk skeleton 30 deflection reaches peak excursion position,
Microprocessor 701 controls to rotate and then driving trunk to opposite direction for the fish body oscillating motor 34 driving trunk skeleton 30 to swing
Skeleton 30 swings, and when trunk skeleton 30 returns to initial position, processor 701 controls to be used for driving 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 at microprocessor
701 by reception of wireless signals 702 receive the control instruction of outside input such as stop swinging trunk skeleton 30 time, micro-process
Device 701 i.e. controls to drive trunk skeleton 30 to swing to initial position for the fish body oscillating motor 34 driving trunk to swing, and
Trunk skeleton 30 swings to initial position and controls to stop operating for the fish body oscillating motor 34 driving trunk to swing；Certainly, micro-
Processor 701 can also control for driving after trunk swing reaches the setting time according to the operation program of its storage inside
The fish body oscillating motor 34 that trunk swings drives trunk skeleton 30 to swing to initial position, and swings to initially at trunk skeleton 30
Position control stops operating for the fish body oscillating motor 34 driving trunk to swing.
Specifically, each fish body positional detecting device 71 includes the first fish body Hall element 711, the second fish body hall sensing
Device the 712, the 3rd fish body Hall element 713 and fish body Magnet 714.First fish body Hall element 711, the second fish body Hall passes
Sensor the 712, the 3rd fish body Hall element 713 produces maximum left avertence position letter for corresponding when aliging with fish body Magnet 714
Number, initial position signal and maximum right avertence position signalling.Specifically, the first fish body hall sensing in tail position detection device
Device 711, the second fish body Hall element the 712, the 3rd fish body Hall element 713 is arranged on caudal articular process 41 foremost,
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 element 711 in putting, the second fish body Hall element the 712, the 3rd fish body Hall element 713 will be along with
Caudal articular process 41 swings and swings, 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 aligns with fish body Magnet 714 respectively along with afterbody skeleton 40 swings, right
Afterbody maximum right avertence position signalling, afterbody initial position signal and afterbody maximum right avertence position signalling should be produced.
First fish body Hall element 711 of trunk position detection device, the second fish body Hall element the 712, the 3rd fish
Body Hall element 713 is arranged on and faces with the joint of trunk 31 being provided with the fish body oscillating motor 34 driving trunk skeleton 30 to swing
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
First fish body Hall element 711 of sample fish body positional detecting device 71 in trunk position detection device, the second fish body
Swing along with joint of trunk 31 is swung by Hall element 712, the 3rd fish body Hall element 713, and fish body Magnet 714 will
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 align with fish body Magnet 714 respectively along with trunk skeleton 30 swings, corresponding generation trunk maximum right avertence position signalling, 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 the first installation
Block the 716, second mounting blocks 717 and connection support 718, the first mounting blocks 716 is stacked with the second mounting blocks about 717 and is hinged on
Together, the bottom of the second mounting blocks 717 is fixed together with being connected support 718.First fish body Hall element 711, the
Two fish body Hall element the 712, the 3rd fish body Hall elements 713 are arranged on the first mounting blocks 716, and fish body Magnet 714 sets
Put on the second mounting blocks 717.Gather the fish body positional detecting device 71 of trunk skeleton 31 swing position information and gather afterbody
The fish body positional detecting device 71 of the swing position information of skeleton 40, the first mounting blocks 716 in them is separately positioned on and pacifies
Equipped with on the joint of trunk 31 that the joint of trunk 31 of fish body oscillating motor 34 driving trunk skeleton 30 to swing closes on and foremost
Caudal articular process 41 on be particularly located on first 310 of this joint of trunk 31 and a connecting piece 410 of this caudal articular process, it
The second mounting blocks 717 in is arranged on the fish body oscillating motor 34 of driving trunk skeleton 31 by connecting support 715 and drives
On the fish body oscillating motor 34 that afterbody skeleton 40 swings.So, trunk skeleton 31 and afterbody skeleton 40 when swinging, its correspondence
The first fish body Hall element 711 in fish body positional detecting device 71, the second fish body Hall element 712 and the 3rd fish body are suddenly
You can occur position to offset relative to fish body Magnet 714 by sensor 713 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 align with fish body Magnet 714, and then produce fish body position letter
Number.
In the present embodiment, connecting and be additionally provided with connection axostylus axostyle 719 on support 715, the first mounting blocks 716 and second is installed
Block 717 is all in triangular shape, and two summits that the first mounting blocks 716 is relative with the second mounting blocks 717 rotate by connecting 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 also includes that fin positional detecting device, fin positional detecting device are used for obtaining
Fin is positioned at initial position signal, and returns to initial position according to fin initial position message control fin oscillating motor at fin
After, stop controlling fin and swing up and down.Wherein, fin positional detecting device includes fin Hall element (not shown) and fin
Portion's Magnet (not shown), fin Hall element is arranged on fin support 51, and fin Magnet is arranged on cover plate 59, at fin
When portion's support 51 is positioned at initial position, fin Magnet aligns with fin Hall element, and fin Hall element senses fin
Magnet also produces fin and is positioned at initial position signal and sends to microprocessor 701, when need not fin and swinging, and microprocessor
701 receive fin return to initial position signal stop drive fin swing.It is understood that fin is when swinging, fin
Portion's support 51 opposing cover plates 59 rotates, and such fin Hall element will stagger with fin Magnet, and fin Hall element will not
Fin can be produced and be positioned at initial position signal.The main purpose arranging fin positional detecting device is to facilitate fin to return to initial bit
Put.
Microprocessor 701 is also connected with air pump the 63, first electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electromagnetic valve 68, with
Control the first valve in the opening and closing of air pump 63, and first electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electromagnetic valve 68 and the
The opening and closing of two valves, when bionic machine fish needs to float or sink, to make bionic machine fish float or to sink.Bionic machine fish
Float and sink principle and in foregoing describe in detail, do not repeat them here.
In the present embodiment, the control system 7 in the present invention also includes the first depth of water sensing being connected with microprocessor 701
Device 74 and the second water depth sensor 75, 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 positioned at for the fish head 1 and fish body 3 gathering bionic machine fish
The degree of depth the depth of water is converted into digital signal is sent to microprocessor 701 in water, microprocessor 701 is according to the first water depth sensor
74 and second the water signal that collects of water depth sensor 75 to control the start of air pump 63, first, second and third electromagnetic valve
66, the opening and closing of the valve switch of 67,68.
Concrete, 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, close the first valve switch of first, second and third electromagnetic valve 66,67,68, no longer by air accumulator
Gas in 62 enters the first air bag 612, is no longer discharged by the water in the first storage displacement can 61, the weight of the first storage displacement can 61
No longer alleviating, fish head 1 stops floating；The water signal collected according to the second water depth sensor 75 when microprocessor 701 judges
When fish body 3 floats up to the first set depth, air pump 63 cuts out and closes first, second and third electromagnetism simultaneously by microprocessor 701
Second valve switch of valve 66,67,68, no longer enters the gas in air accumulator 62 in second air bag 652, the first storage displacement can
65 no longer drainings, 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 the second setting
During the degree of depth, close the first valve switch of first, second and third electromagnetic valve 66,67,68, no longer by the first air bag 612
Gas enters air accumulator 62, and the first storage displacement can 61 is no longer poured water, and the weight of fish head 1 no longer strengthens, fish head 1 no longer dive；When
When microprocessor 701 judges that fish body 3 is positioned at the second set depth according to the water signal that the second water depth sensor 75 collects,
Air pump 63 cuts out the second valve switch simultaneously closing off first, second and third electromagnetic valve 66,67,68 by microprocessor 701, no
Gas in second air bag 652 enters cylinder air accumulator 62 again, and the first storage displacement can 65 is no longer poured water, and the weight of fish body 3 is not
Strengthening, fish body no longer sinks again.
It should be noted that the first set depth and the second set depth are stored in microprocessor 701, microprocessor
The degree of depth breath that 701 collect according to the first water depth sensor 74 and the second water depth sensor 75 judges that bionic machine fish is floating
During whether be positioned at the first set depth, whether sinking watching is positioned at the second set depth, during the two, as
Really result is to be that microprocessor 701 controls air pump 63 and carries out above-mentioned start.
In the present embodiment, microprocessor 701 is also connected with the opening and closing motor 14 in open/close mechanism 13, is used for controlling opening and closing
The start of motor 14 is to control opening and Guan Bi of fish mouth.Specifically, when needs fish mouth opening and closing, microprocessor 701 controls opening and closing
First motor 14 drives the first gear 15 to rotate forward drive the second gear 16 and inverts, and the second gear 16 drives lower jaw 12 around pivot 171
Rotate down so that fish mouth is opened, then microprocessor 701 control opening and closing motor 14 drive first gear 15 reversion drive
Second gear 16 rotates forward, and the second gear 16 drives lower jaw 12 to be 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, drives motor 21 for controlling eye
Start, with when needs rotate flake 19, makes eye drive motor 21 to work, drives crank and rocker mechanism 22 to drive parallel four limits
Shape mechanism 23 start, 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 is used for
Wireless remote control signals is also sent to microprocessor 701 by wireless remote control signals outside Jie Shouing, and microprocessor 701 is according to wireless remote
Control signal controls the start of float means 6 in each start driving motor and dive, 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
Putting on circuit boards, circuit board is sealed in electric-controlled box 301.
Motor pattern specified by wireless remote control signals includes multiple monomer motor pattern and free cruise mode.Multiple lists
Body motor pattern includes that fish head floats, floating with fish, fish head sinks, fish body sinks, fish mouth is opened, fish mouth closes, eye rotation,
Trunk swings, fin swings up and down, fish tail swing and fin rotate.It is understood that fish head floats floats synthesis with fish
Bionic machine fish floats.Fish head sinks and fish body sinking synthesizing bionic machine fish dive.Fish mouth is opened imitative with fish mouth Guan Bi synthesis
Raw machine fish fish mouth opening and closing.Trunk swings and forms bionic machine turning.Fish tail swing advances for bionic machine fish provides motive force,
Form bionic machine fish swimming.Fin swings the balance for ensureing bionic machine fish.Fin rotates 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 simple to fish body
Float and fish body sinks.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, form the bionic machine fish water surface and move about, in other words, namely bionic machine fish floats and fish tail swing shape
The bionic machine fish water surface is become to move about；Raw machine fish is when wet concentration moves about, and first bionic machine fish sinks, and bionic machine fish sinks
After, carrying out fish tail swing, forming bionic machine fish and move about under water, namely bionic machine fish is sinking to being formed bionical with fish tail swing
Machine fish and water middle reaches are moved.
Free cruise mode includes at least two monomer motor pattern in multiple monomer motor pattern.The most such as, imitative
First raw machine fish carries out the bionic machine fish water surface and moves under water, and carries out bionic machine fish fish mouth opening and closing, bionical machine during moving under water
Device fish, after the water surface moves under water certain time, is moved under water under water, carries out bionic machine fish fish mouth and open during moving under water under water
Close.
Above-mentioned monomer moves, its motor process and principle, and has described in detail, does not repeats them here.
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
Multiple battery case 101 is set between one 310 and second 312, in battery case 101, accumulator is installed, thinks in the present invention
Provide electric energy with electric device.
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 true to nature imitating
Come into force really.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (7)
1. the floating sinking mechanism of a bionic machine fish, it is characterised in that include floating and dive for controlling fish head (1)
First storage displacement can (61), it is used for controlling fish body (3) and floats the second storage displacement can (65) with dive and the first storage displacement can
And the second storage displacement can (65) air accumulator (62) of connecting and be used for controlling air accumulator (62) and the second storage displacement can (61)
(65) and carrying out the air pump (63) of gas exchange between the first storage displacement can (61), described first storage displacement can (61) is arranged on fish
The front portion of body (3), described second storage displacement can (65) is arranged on the middle part of fish body (3).
2. the floating sinking mechanism of bionic machine fish as claimed in claim 1, it is characterised in that described fish body (3) include with
Fixing fish neck frame (32) connected of described fish head (1), described first storage displacement can (61) is arranged on described fish neck frame (32)
In.
3. the floating sinking mechanism of bionic machine fish as claimed in claim 1, it is characterised in that described fish body (3) include with
Trunk skeleton (30) that fish head (1) connects and the afterbody skeleton (40) being connected with described trunk skeleton (30), trunk skeleton (30)
Including multiple joint of trunk (31) being hingedly engaged to each other to form trunk skeleton (30), described trunk skeleton (30) is upper to be arranged
Having electric-controlled box (301), trunk skeleton (30) is divided into anterior trunk skeleton and rear portion trunk skeleton, institute by described electric-controlled box (301)
The joint of trunk (31) foremost that is positioned at stating rear portion trunk skeleton is connected with described electric-controlled box (301), described second storage draining
Tank (65) is arranged on the joint of trunk (31) being positioned at foremost of described rear portion trunk skeleton.
4. the floating sinking mechanism of bionic machine fish as claimed in claim 3, it is characterised in that joint of trunk (31) takes the shape of the letter U,
Including in the form of sheets and first (310) of horizontally set, it is positioned at first (310) lower section and second (311) in the form of sheets, with
And the connecting portion (312) that two ends are connected with first (310) and second (311) respectively, wherein, two adjacent joint of trunk
(31) two first (310) connect, and two second (311) of two adjacent joint of trunk (31) connect, and described the
Two storages displacement can (65) be arranged on described rear portion trunk skeleton first (310) being positioned at joint of trunk (31) foremost and
Between second (311).
5. the floating sinking mechanism of bionic machine fish as claimed in claim 1, it is characterised in that described floating descending mechanism
(6) the first electromagnetic valve (66), the second electromagnetic valve (67) and the 3rd electromagnetic valve (68), the first electromagnetic valve (66), the second electricity are also included
Magnet valve (67) and the 3rd electromagnetic valve (68) include two the first air guide ports (A), the second air guide port (B) and first the most respectively
The 3rd air guide port (C) that air guide port (A) and the second air guide port (B) connect, controls the first air guide port (A) and the 3rd air guide port (C)
First valve switch of conducting, and control the second valve switch that the second air guide port (B) turns on the 3rd air guide port (C), the
First air guide port (A) of one electromagnetic valve (66) and the second air guide port (B) store up draining with the first storage displacement can (61) and second respectively
Tank (65) connects, the of corresponding 3rd electromagnetic valve (68) of first air guide port (A) of the second electromagnetic valve (67) and the second air guide port (B)
Two air guide ports (B) and the first air guide port (A) connect, and air accumulator (62) is connected to first air guide port (A) of the second electromagnetic valve (67)
And between second air guide port (B) of the 3rd electromagnetic valve (68), the 3rd air guide port (C) of the first electromagnetic valve (66) is connected to the second electricity
Between second air guide port (B) and first air guide port (A) of the 3rd electromagnetic valve (68) of magnet valve (67), the of the 3rd electromagnetic valve (68)
Three air guide ports (C) are connected with the 3rd air guide port (C) of the second guide valve (67) by air pump (62).
6. the floating sinking mechanism of bionic machine fish as claimed in claim 5, it is characterised in that described first storage displacement can
(61) include the first tank body (610) and be arranged on the first air bag (612) in this first tank body (610), wherein said first tank
Offer the first water inlet on body (610), and connected with extraneous aqueous phase by this first water inlet, the first electromagnetic valve (66)
First air guide port (A) is connected with first air bag (612) of the first storage displacement can (61).
7. the floating sinking mechanism of bionic machine fish as claimed in claim 1 imitative, it is characterised in that described second storage displacement can
(65) include the second tank body (650) and be arranged on the second air bag (652) in this second tank body (650), wherein said second tank
The first water inlet is offered, second air guide port (B) of the first electromagnetic valve (66) and the of the second storage displacement can (65) on body (650)
One air bag (652) connects.
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| CN201610521804.5A CN106114792B (en) | 2016-07-05 | 2016-07-05 | The floating sinking mechanism of bionic machine fish |
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| CN201610521804.5A CN106114792B (en) | 2016-07-05 | 2016-07-05 | The floating sinking mechanism of bionic machine fish |
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