CN106114795B - Bionic machine fish - Google Patents
Bionic machine fish Download PDFInfo
- Publication number
- CN106114795B CN106114795B CN201610537979.5A CN201610537979A CN106114795B CN 106114795 B CN106114795 B CN 106114795B CN 201610537979 A CN201610537979 A CN 201610537979A CN 106114795 B CN106114795 B CN 106114795B
- Authority
- CN
- China
- Prior art keywords
- fin
- fish
- skeleton
- trunk
- fish body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of bionic machine fish, including fish head and the fish body being connect with fish head, the fish body includes the trunk skeleton connecting with fish head, the tail portion skeleton being connect with the trunk skeleton and the fin being arranged on trunk skeleton, the fin includes fin skeleton and the fin bracket connecting with fin skeleton, fin further includes the fin rotating device for driving fin skeleton to swing, fin rotating device includes fin rotary electric machine and connecting rod, fin rotary electric machine is fixedly connected with fin bracket, connecting rod is fixedly connected with skeleton substrate, connecting rod is connect with the shaft of fin rotary electric machine.The fin structure of bionic machine fish of the invention is simple and can rotate, and has bionical effect true to nature.
Description
Technical field
The invention belongs to bio-robot technical fields, and in particular to a kind of bionic machine fish.
Background technique
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 long 1.2 meters of bionical tuna and long 0.8 meter of bionical shuttle
Fish.Marine Science Center of Northeast USA university develops the machine eel of undulatory propulsion using marmem and link mechanism
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, generates the travelling method of similar sea eel.Essex university of Britain, which devises, to be had
The machine fish of three-dimensional motion ability.Tokyo Univ Japan has developed the robotic dolphin of two joint propulsion.Kato etc. has 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.The had developed machine eel of BJ University of Aeronautics & Astronautics's robot research
Fish, robotic dolphin and the SPC series bionic machine fish using flat roomy hydrodynamic force external form ax-shaped.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.The developed microminiature machine fish of Chinese Academy of Sciences's Beijing automation research, multisensor bionic machine fish etc..
However, bionic machine fish fin structure complexity is not able to rotate both at home and abroad at present, and manufacturing cost is high.
Summary of the invention
The purpose of the present invention is to provide a kind of for solving the bionic machine fish of above-mentioned technical problem.
The embodiment of the present invention provides a kind of bionic machine fish, including fish head and the fish body connecting with fish head, the fish body packet
The trunk skeleton connecting with fish head, the tail portion skeleton connecting with the trunk skeleton and the fin being arranged on trunk skeleton are included,
The fin includes fin skeleton and the fin bracket connecting with fin skeleton, which is characterized in that fin further includes for driving
The fin rotating device of fin skeleton rotation, fin rotating device includes fin rotary electric machine and connecting rod, fin rotary electric machine
It is fixedly connected with fin bracket, connecting rod is fixedly connected with fin skeleton, and connecting rod is connect with the shaft of fin rotary electric machine；
Fin skeleton includes skeleton substrate and multiple flexible joints for being spaced apart and arranged on skeleton substrate, and the length of skeleton substrate extends
Direction is vertical with the length extending direction of fish body, and the length extending direction of flexible joint and the length extending direction of fish body are parallel,
Connecting rod is fixedly connected with skeleton substrate, and one end of each flexible joint is fixed with skeleton substrate and along the length of fish body
Extending direction setting, each soft energy property joint include the sub- joint of multiple sheets, and two sub- joints of adjacent company pass through connection shaft
Connection connects and is arranged with a torsional spring in shaft, and the both ends of each torsional spring are respectively held against two sub- joints.
Further, the shaft of the fin rotary electric machine is connect by shaft coupling with connecting rod.
Further, the axial direction of the shaft of the fin rotary electric machine is vertical with the length extending direction of fish body.
Due to the application of above-mentioned technical proposal, the invention has the following advantages:
The fin structure of bionic machine fish of the invention is simple and can rotate, and has bionical effect true to nature.
Detailed description of the invention
Fig. 1 provides the schematic perspective view 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, the specially decomposition diagram of fish trunk front and fish neck.
Fig. 6 is the partial exploded view of the fish body in Fig. 1, the specially 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 the schematic diagram that the fish body pendulous device in Fig. 1 drives the trunk skeleton of fish body to swing.
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.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used 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 simultaneously.
Incorporated by reference to referring to Fig.1, Fig. 2, Figure 14 and Figure 15, bionic machine fish of the invention, including fish head 1, fish body 3, float
Descending mechanism 6 and control system 7.First of all for convenient for the bionic mechanical machine fish is described, initially sets up and give advice coordinate
System, defining X, Y, Z-direction is respectively first direction, second direction and third direction, first direction horizontal direction and for before fish
Line direction, second direction are that it is vertical with first direction for horizontal direction, third direction be it is vertical, fish along third direction rising and
Dive.
Specifically referring to figure 3. with Fig. 4, 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 connect by open/close mechanism 13 with lower jaw 12, and open/close mechanism 13 is for driving lower jaw 12 relative to the upper jaw
11 carry out opening and closing campaign, the opening and closure at mouth position in the bionic machine fish is presented.In the present embodiment, the opening and closing
The upper jaw 11 and lower jaw 12 is arranged in close to one end of fish body 3 in mechanism 13, in order to the mouth 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 connect with the shaft of opening and closing motor 14, and second gear 16 is nibbled with first gear 15
It closes, and second gear 16 and lower jaw 12 are affixed and hinged with the upper jaw 11.In this way 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 16 drive progress of lower jaw 12 of wheel is 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 driving first gear 15 rotates opening and closing motor 14 clockwise, the second gear 16 is in the first tooth
It is 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 being 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 should be noted that 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
Diameter is greater 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 second gear 16 teeth portion closer to fish body 3, it is true to nature to guarantee
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 in 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 connect with first gear 15.First fixed plate 170 be equipped with pivot 171, second
The connection that gear 16 is pivoted by pivot 171 and the first fixed plate 170, so that second gear 16 is affixed with lower jaw 12 and and the upper jaw
11 is hinged, and while guaranteeing that the upper jaw 11 is hinged by open/close mechanism 13 and lower jaw 12 with this, open/close mechanism 13 can also be driven down
Jaw 12 and the upper jaw 11 carry out opening and closing campaign.
In the present embodiment, fixed frame 17 further includes the second fixed plate 172 being laterally arranged, the first fixed plate 170 and
The two vertically connections of fixed plate 172, 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 by the second fixed plate 172 and the upper jaw 11 it is affixed.Setting the
Two fixed plates 172 can guarantee that fixed frame 17 can be tightened together by fixing pieces such as screws with the upper jaw 11, enhance bionical machine
The structural strength of device fish.
In the present embodiment, fixed frame 17 further includes longitudinally disposed third fixed plate 173, third fixed plate 173 and second
Fixed plate 172 and the first fixed plate 170 vertical connection, the medial surface of third fixed plate 173 is equipped with to be connect with pivot 171
Anti- flake 174, to protect second gear 16 not to be detached 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
Between two gears 16 fixation can be attached by way of rivet, spot welding, soldering.Further, fixation plate 18 is in tongue
Shape, to guarantee the head of realistic simulation fish.Further, fixation plate 18 and pivot 171 are hinged, to enhance bionic machine fish
Structural strength is convenient for lower jaw 12 to do opening and closing campaign relative to the upper jaw 11 simultaneously.
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 restriction 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 referring to Fig. 3 and Fig. 4, in the present embodiment, symmetrically open up that there are two flakes on the upper jaw 11
Mounting hole 110, and a flake 19 is respectively set 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 further include being set between the upper jaw 11 and lower jaw 12 for driving
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 mounted 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 connect by crank and rocker mechanism 22 with parallelogram mechanism 23, and parallelogram mechanism 23 is connect with flake 19, eye
Portion's driving motor 21 drives the rotation driving flake 19 of parallelogram mechanism 23 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 220 disk of eye turntable in hinged way, wherein the eye crank 221 is another
End extends outwardly from eye turntable 220, and is articulated and connected with parallelogram mechanism 23, to drive parallelogram mechanism
23 carry out rotation operation.Also that is, eye driving motor 21 at work, can be driven in parallel by the crank and rocker mechanism 22
Quadrangular mechanism 23 carries out rotation operation.
The parallelogram mechanism 23 includes being 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 in the upper jaw 11 on flake mounting hole 110 are fitted over, and are respectively used to connection flake pallet 232 and the
Two vertical bars 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 vertical bar 233 are fixed on a side end of the second connecting rod 231 far from first connecting rod 230, and the other end is with vertical
Mode be fixed on flake pallet 232, the flake pallet 232 can be done with second connecting rod 231 relative to first in use in this way
The rotation of connecting rod 230, and then the corresponding flake 19 being fixed on flake pallet 232 is driven to carry out rotation operation.In the present embodiment
In, it between the flake 19 and flake pallet 232 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 rotate with parallelogram mechanism 23 by eye driving mechanism 2
Then flake 19 is driven to rotate, it is simple with the bionical effect of flake and structure true to nature.
Incorporated by reference to referring to Fig.1, Fig. 2, Fig. 5 and Fig. 6, in the present embodiment, fish body 3 include trunk skeleton 30 and and bone of body
The tail portion skeleton 40 that frame 30 connects.
Trunk skeleton 30 includes multiple is hingedly engaged to each other to form the joint of trunk 31 of trunk skeleton 30.Joint of trunk
31 are in U-shape, below first 310 and second 311 flaky including first 310 be arranged in the form of sheets and laterally,
And both ends respectively with first 310 and second 311 interconnecting piece 312 connected vertically.Wherein, two adjacent joint of trunk
Two first about 310 of 31 is stacked and hinged by vertically arranged pin shaft, and two of two adjacent joint of trunk 31
Second about 311 stacked and hinged by vertically arranged pin shaft.
Specifically, in the present embodiment, interconnecting piece 312 offered mouth 313 in neighbouring first 310 end, adjacent
The interconnecting piece 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 in mouth 313 and two first 310 leans and, two adjacent joint of trunk hinged by vertically arranged pin shaft
Two second about 311 of 31 is distributed and contacts with each other and hinged by vertically arranged pin shaft, thereby realizes two
Articulated connection between joint of trunk 31, and two joint of trunk 31 are swung using the pin shaft between them as shaft.
In the present embodiment, fish body 3 further includes that affixed with fish head 1 and with trunk skeleton 30 the trunk positioned at forefront closes
Save 31 hinged fish neck framves 32.Specifically, fish neck frame 32 is in U-shape, including be laterally arranged the first mounting plate 320, be located at
Second mounting plate 321 of 320 lower section of the first mounting plate and both ends are vertical with the second mounting plate 321 with the first mounting plate 320 respectively
It is connected and fixed piece 322.Specifically, in the present embodiment, fixinig plate 322 is fixedly connected with fish head 1.In the present embodiment, fixinig plate
322 screw pin with third fixed plate 173 such as by being fixedly connected, so that fish body 3 is connect 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 extended in the free end of the first mounting plate 320 and the second mounting plate 321 respectively
323, the insertion of the pin-joint piece 323 of the first mounting plate 320 be located at the joint of trunk 31 of front end cross in mouth 313 and with first 310
Against and by vertically arranged pin shaft it is hinged, pin-joint piece 323 on the second mounting plate 321 with second 311 against and lead to
It crosses that pin shaft is hinged, and then realizes 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 pin shaft between them.
In the present embodiment, tail portion 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 being laterally arranged, and is located at the first connection sheet
The second connection sheet 412 and the both ends third connection sheet with the first connection sheet 410 and the second connection sheet 412 respectively of 410 lower sections
413.The third 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 third connection sheet 413 of another caudal articular process 41
It wears in mouth 414 and two the first connection sheet 410 lean and, two adjacent tail portions joints 41 hinged by vertically arranged pin shaft
Two the second about 412 connection sheets be distributed and contact with each other and hinged by vertically arranged pin shaft, 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 pin shaft between them.
The joint of trunk 31 of the caudal articular process 41 and trunk skeleton 30 positioned at front end in tail portion skeleton 40 is hinged.It can be with
Understand, the structure of the joint of trunk 31 of the caudal articular process 41 and trunk skeleton 30 of tail portion skeleton 40 is essentially identical, only fish
Tail portion and trunk it is of different sizes, therefore for the form that realistic simulation goes out fish, the size of caudal articular process 41 is closed than trunk
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 be 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 second 311 of joint of trunk 31 bottom end, with tail portion skeleton 40 with
When trunk skeleton 30 connects, the variation between two skeleton size differences, and then the form true to nature for imitating out fish are realized.
Please gather referring to Fig.1, Fig. 2 and Fig. 7, in the present embodiment, fish body 3 further includes fish body pendulous device 33.Fish body pendulum
Dynamic device 33 is divided into the tail swing device for driving tail portion skeleton 40 to swing 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
Wherein the reel 35 is set on the shaft of fish body oscillating motor 34 drawstring 36, 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 mounted in the joint of trunk 31 of trunk skeleton 30 and specific position
Between first 310 and second 311, drawstring 36 corresponding to the fish body oscillating motor 34 that driving trunk skeleton 30 is swung
After both ends extend forward or backward simultaneously along the arragement direction of multiple joint of trunk 31 and successively wear multiple joint of trunk 31
It is fixed with the joint of trunk 31 for being located at front end or rearmost end.At work, fish body swings electricity to the fish body oscillating motor 34 in this way
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, to imitate out fish
The movement that trunk is swung.
In the present embodiment, the electric-controlled box 301 for loading control system 7, electric-controlled box 301 are provided on trunk skeleton 30
Trunk skeleton 30 is divided into front trunk skeleton and rear portion trunk skeleton, the joint of trunk 31 positioned at rear end of front trunk skeleton
First 310 be for example fixedly connected by screw with second 311 free end towards electric-controlled box 301 and with electric-controlled box 301,
First 310 and second 311 free end of the joint of trunk 31 positioned at front end of rear portion trunk skeleton is towards electric-controlled box 301
It is arranged and is for example fixedly connected by screw with electric-controlled box 301.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 front trunk skeleton and rear portion trunk skeleton, to drive front
Trunk skeleton and rear portion trunk skeleton, with the vivider movement for simulating the swing of fish trunk.It should be noted that setting exists
The corresponding drawstring 36 of fish body oscillating motor 34 on the trunk skeleton of front, both ends along multiple joint of trunk 31 arragement direction
Extend forward simultaneously and is fixed after successively wearing multiple joint of trunk 31 with the joint of trunk 31 for being located at front end；It is arranged at rear portion
The corresponding drawstring 36 of fish body oscillating motor 34 on trunk skeleton, both ends along multiple joint of trunk 31 arragement direction simultaneously
It extends back and is fixed after successively wearing multiple joint of trunk 31 with positioned at rear end volume joint of trunk 31.
As shown in Fig. 8 to Figure 10, driving front trunk skeleton swing fish body oscillating motor 34 in actuation, with this
When 34 corresponding 35 coiling of reel of oscillating motor of fish body, reel 35 will only be located at the drawing of 35 side of reel in coiling
Rope 36 is wrapped on reel 35, furls the drawstring 36 of the side, such as fish body oscillating motor 34 drives 35 up time of reel
When needle turns, the drawstring 36 on 35 right side of reel is furled on reel 35, and the drawstring 36 on 35 right side of reel shortens, front
Trunk skeleton is swung to the right, otherwise front 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 front 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 interconnecting piece 312 is symmetrically opened up there are two perforation 313, this two are perforated 313 for driving
Drawstring 36 corresponding to the fish body oscillating motor 34 that dynamic trunk skeleton is swung passes through.The fish body for driving trunk skeleton to swing swings electricity
When drawstring 36 corresponding to machine 34 is tightened up, power can be acted on joint of trunk 31 by corresponding perforation 313 and make body
Dry joint 31 is swung.In the present embodiment, interconnecting piece 312 includes the first connection plate body of triangular shape and connects plate body from first
The second connection plate body that bottom end vertically extends, interconnecting piece 312, which is arranged such, can rationally utilize space, avoid between element
It interferes, and mitigates the overall weight of fish body.Further, in the present embodiment, it crosses mouth 313 and is provided with the first connection
On plate body.
Fish body oscillating motor 34 in tail swing device is mounted on the joint of trunk positioned at rearmost end of trunk skeleton 30
In 31, specifically it is mounted between first 310 and second 311 of the joint of trunk 31 positioned at rearmost end of trunk skeleton 30,
Drive the both ends of drawstring 36 corresponding to the fish body oscillating motor 34 of the swing of tail portion skeleton 40 along the row of multiple caudal articular processes 41
Cloth direction extends back simultaneously and fixes after successively wearing multiple caudal articular processes 41 with the last one caudal articular process 41.Trunk skeleton
30 joint of trunk 31 positioned at rearmost end refers to that joint of trunk skeleton 30 connecting with tail portion skeleton 40.Tail portion pendulum
At work, the fish body oscillating motor 34 that driving tail portion 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 the drawstring 36 being wrapped on reel 35 is pulled to roll up its both ends accordingly
It receives and loosens, and then realize fish body oscillating motor 34 and tail portion skeleton 40 is driven to swing, to imitate out fish tail
The movement that portion is swung.
In the present embodiment, the third connection sheet 413 of caudal articular process 41 offers two mistakes being symmetrically distributed in top
Drawstring 36 corresponding to the fish body oscillating motor 34 that string holes 416, in this way driving tail portion skeleton 40 are swung passes through caudal articular process 41
Cable-through hole 416 in third connection sheet 413 is simultaneously fixed with the caudal articular process 41 that is located at rear end.
In the present embodiment, fish body 3 further includes the elastic element 37 and multiple lugs 38 of strip, is provided on lug 38 logical
Hole 380.Lug 38 is distributed in each joint of trunk 31 on caudal articular process 41, is particularly located at joint of trunk 31 and caudal articular process 41
Top, the more particularly top in first 310 of backbone joint 31 the first connection sheet 410 with caudal articular process 41
Portion.Elastic element 37 wears through-hole 380 and the both ends of elastic element 37 are fixed on fish body 3, such fish body 3 swing when,
The flexibility of fish body 3 is strong.In the present embodiment, elastic element 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 mounting plate 320 of fish neck frame 32.Elastic element 37 wears fish neck frame
Through-hole 380 on 32 lug 38, to enhance trunk skeleton 30 and fish neck when trunk skeleton 30 is rotated relative to fish neck frame 32
Flexibility between skeleton 32.In the present embodiment, trunk skeleton 30 is divided into after by front trunk skeleton due to electric-controlled box 301
Portion's trunk skeleton, therefore, 37 quantity of elastic element are two, and one of elastic element 37 passes through front trunk skeleton and fish neck
The through-hole 380 on lug 38 on skeleton 32, the both ends of the elastic element 37 respectively with front trunk skeleton and fish neck frame 32；
Another elastic element 37 passes through the through-hole 380 on the lug 38 on rear portion trunk skeleton and tail portion skeleton 40, the elastic element
37 both ends are fixed with rear portion trunk skeleton and tail portion skeleton 40 respectively.
Incorporated by reference to referring to Fig.1, Figure 11 to Figure 13 fin 5 is additionally provided on fish body 3 in the present embodiment, fin 5 is set in pairs
Set and be symmetrically disposed in the two sides of trunk skeleton 30.
The fin 5 includes fin skeleton 50 and the fin bracket 51 connecting with fin skeleton 50, fin bracket 51 and fish
Body 3 connects.Wherein, fin skeleton 50 includes that skeleton substrate 501 and the multiple flexibilities being spaced apart and arranged on skeleton substrate 501 are closed
Section 502, wherein the length extending direction of skeleton substrate 501 and the length extending direction of fish body 3 are vertical, the length of flexible joint 502
It is parallel with the length extending direction of fish body 3 to spend extending direction.
One end of each flexible joint 502 is fixed with skeleton substrate 501 and sets along the length extending direction of fish body 3
It sets.Each soft energy property joint 502 includes the sub- joint 503 of multiple sheets, and the sub- joint 503 of two, adjacent company passes through connection shaft
505 connections connect and are arranged with a torsional spring 504 in shaft 505, and the both ends of each torsional spring 504 are respectively held against two sub- joints
503, the flexibility of fin skeleton 50 can be kept when fin skeleton 50 is swung, fin skeleton will not be allowed because of the variation of hydraulic pressure
50 occur moderate finite deformation, and restore under the action of after fin skeleton 50 deforms in 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 in fin motor
In box 58 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 bracket 51 respectively to be connected
It connects, the medium position of fin bracket 51 is pivotally connected by connecting shaft 581 and the front end face of fin motor box 58, needs 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
521, fin crank 522 and fin bracket 51 constitute a double leval jib linkage structure, and the fin oscillating motor 520 in this way is working
When, can be swung up and down operation by fin turntable 521 and the transmission of fin crank 522, fin bracket 51.In the present embodiment
In, fin motor box 58 is arranged in the joint of trunk 31 of trunk skeleton 30, and the joint of trunk is arranged in specific fin motor box 58
Between first 310 of 31 and second 311, and specifically it is fixed on second 311 such as by fixing piece screw, it can be with
Understand, fin bracket 51 is connect by fin motor box 58 with the trunk skeleton 30 of fish body 3.
In the present embodiment, the same fin motor box is mounted on 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 scheduled joint of trunk 31 of trunk skeleton 30.
Cover board 59 is arranged in the front of the fin motor box 58, and the pivot that fin crank 522 links together is arranged in 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 rotating device 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 bracket 51, fin rotary electric machine 531
It is connect by shaft coupling 532 with connecting rod 533, connecting rod 533 is fixedly connected with skeleton substrate 501, fin rotating device 53
Fin rotary electric machine 531 drives connecting rod 533 in rotation, and connecting rod 533 rotates and then fin skeleton 50 is driven to rotate.
It is understood that fin 5 can be divided into front fin and rear portion fin, for example above-mentioned institute of the structure of front fin
State, rear portion fin can only swing up and down will not swing, in other words, that is, rear portion fin do not include fin rotation dress
Set 53.It is understood that fin 5 is when including fin rotating device 53, the fin bracket 51 and 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 front fin
Box 58 is fixed in the joint of trunk 31 of front trunk skeleton connecting with electric-controlled box 301, 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 during fish rises with dive in horizontal plane at forward or to
Between rear-inclined certain angle, such as 15 ° to 30 °, such fish will by the opposition of water during rising and dive
Become smaller, is conducive to fish rising and dive.
In the present embodiment, the bionic machine fish further includes for realizing under bionic machine fish floating and the floating of dive
Latent mechanism 6, floating descending mechanism 6 include the first storage displacement can 61 and the first storage draining for controlling the floating of fish head 1 and dive
The air accumulator 62 that tank 61 connects and the air pump for controlling progress gas exchanges between air accumulator 62 and the first storage displacement can 61
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
The water discharge in displacement can 61 is stored up, so that the weight of fish head 1, realizes that fish head 1 floats；Conversely, then realizing 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 for first by, which turning, is discharged into gas tank 62.In the present embodiment, being provided in electric-controlled box 301 will be automatically controlled
Box 301 is divided into the partition 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, it should be noted that and in the present embodiment, partition will be electric
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 for example can be two in this embodiment, two air accumulators 62 are arranged at front bone of body
In the joint of trunk 31 of frame, be specifically located in the joint of trunk 31 being connect with fish neck frame 32 and front trunk skeleton with electricity
It controls in the joint of trunk 31 that box 301 connects, the air accumulator 62 being located in the joint of trunk 31 connecting with electric-controlled box 301 is located at fin
The top of motor box 58 to reach rationally using space, and can mention for the first storage displacement can 61 and the second storage displacement can 65
For the gas in two storage displacement cans of sufficient gas and sucking, the floating and sinking of fish head 1 and fish body 3 are realized.
Specifically, first storage displacement can 61 be mounted on fish neck frame 32 the first mounting plate 320 and the second mounting plate 321 it
Between, the first mounting plate 320 is equipped with opening 324, so that the gas nozzle on the first storage displacement can 61 passes through, to facilitate gas nozzle by leading
Tracheae is connect with air accumulator 62, and then is conveniently arranged to the gas circuit in bionic mechanical machine fish.It is set on second mounting plate 321
The bottom of flexible component 325, the first storage displacement can 61 abuts elastomeric element 325, in order to facilitate installation the first storage displacement can
61 and by elastomeric element 325 elastic-restoring force prevent the first storage displacement can 61 loosen.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
In fish neck frame 32, in other embodiments, the first storage displacement can 61 can be directly arranged in fish head 1.
In the present embodiment, the first storage displacement can 61 include 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 the gas in air accumulator 62 is discharged into first by air pump 63 when fish head 1 needs floating or dive
In air bag 612, the water in the first tank body 610 is discharged into the external world by the expansion of the first air bag 612, mitigates the first storage 61 weight of displacement can,
And then mitigate the weight of fish head 1, so that fish head 1 floats；Weight that is on the contrary then increasing fish head 1, makes fish head sink.In fish head 1
After latent dive receives.
In the present embodiment, floating descending mechanism 6 further includes the second storage displacement can for controlling the floating of fish body 3, dive
65, air pump 63 with second storage displacement can 65 connect, since control air accumulator 62 and second storage displacement can 65 between progress gas friendship
It changes.When fish body 3 being needed to float, 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 realizing that fish body 3 sinks.
In the present embodiment, the second storage displacement can 65 include 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 the gas in air accumulator 62 is discharged into second by air pump 63 when fish body 3 needs floating or dive
In air bag 652, the water in the second tank body 650 is discharged into the external world by the expansion of the second air bag 652, mitigates the second storage 65 weight of displacement can,
And then mitigate the weight of fish body 3, so that fish body 3 floats；Weight that is on the contrary then increasing fish body 3, makes 3 dive of fish body.On fish body 3
After latent dive.
Specifically, the middle part of trunk skeleton 30 is arranged in the second storage displacement can 65, and is specifically located at fish in the present embodiment
In the joint of trunk 31 of rear portion trunk being connect with electric-controlled box.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 purpose,
The quantity of the present embodiment is two, and is symmetrically distributed in the two sides of trunk skeleton 30, and is arranged in rear portion trunk skeleton and electricity
Between first 410 and second 411 for controlling the skeleton joint 41 that box 301 connects.
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, second solenoid valve 67 and third solenoid valve 68 respectively include two the first air guides respectively
Mouthful A, the second air guide port B, third air guide port C connect 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 third air guide port C conducting, and the second valve that the second air guide port B of control is connected with third 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 connection, the first air guide port A and the second air guide port B of second solenoid valve 67 correspond to third solenoid valve 68 the second air guide port B and
First air guide port A connection, air accumulator 62 are connected to the first air guide port A of second solenoid valve 67 and the second of third solenoid valve 68 and lead
Between port B, the third air guide port C of the first solenoid valve 66 is connected to the second air guide port B and third electromagnetism of second solenoid valve 67
Between first air guide port A of valve 68, the third air guide port C of third solenoid valve 68 is led by air pump 62 and the third of the second guide valve
Port C connection.When needing fish body 3 to float, such as pumping, and the second valve switch of three solenoid valves clockwise of air pump 62
It opens, is discharged into the gas in air accumulator 62 in first storage displacement can 61, store up water in displacement can 61 for first and be discharged, thus 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 made to be discharged into the second storage displacement can 65, stores up displacement can for second
Water discharge in 65, to realize that fish body 3 floats, on the contrary then fish body 3 sinks.
Control system 7 includes microprocessor 701, and the fish body that microprocessor 701 and driving trunk skeleton 30 are swung swings electricity
Machine 34 connects, to control the actuation for the fish body oscillating motor 34 that driving trunk skeleton 30 is swung, to realize 30 position of trunk skeleton
Swing, and then realize bionic machine fish turning.When that need to turn, the control driving trunk skeleton 30 of microprocessor 701 is swung
Fish body oscillating motor 34 drives corresponding reel 35 to carry out coiling to drawstring 36, and trunk skeleton 30 is driven to rotate to side, real
Existing bionic machine fish turning, 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 tail portion skeleton 40 is connect, to control driving tail portion
The actuation for the fish body oscillating motor 34 that skeleton 40 is swung realizes the swing of tail portion skeleton 40, provides driving force for bionic machine fish,
And then realize that bionic machine fish advances.When needing bionic machine fish to advance, the control driving trunk skeleton 30 of microprocessor 701 is swung
Fish body oscillating motor 34 rotate and reverse, make corresponding reel 35 respectively to be located at left side drawstring 36 and positioned at right side
Drawstring 36 carries out coiling, drives trunk skeleton 30 to swing, provides driving force for bionic machine fish, stops in bionic machine fish
After advance, the fish body oscillating motor 34 that control driving tail portion skeleton 40 is swung is stopped operating, bionic machine fish is made to halt.
Microprocessor 701 is also connect with the fin oscillating motor 520 in fin pendulous device 52.Electricity is swung to control fin
The actuation of machine 520, when bionic machine fish advances swing, the fin 5 of bionic machine fish, when bionic machine fish advances
Steady and bionical better effect of moving about is true to nature.
Microprocessor 701 is also connect with fin rotary electric machine 531, to control the actuation of fin rotary electric machine 531, is
During floating or dive, microprocessor 701 controls fin rotary electric machine 531 and rotates, to drive fin 5 to turn to forward or backward
Be conducive to the floating and dive of bionic machine fish in set angle to reduce water to the opposition of fin 5.
Control system 7 further includes fish body positional detecting device 71, and fish body positional detecting device 71 divides for for acquiring tail portion
The position signal of skeleton 40 and the tail position detection device for being transmitted to microprocessor 701, and for acquiring 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 tail portion skeleton 40 simultaneously according to the position signal of the tail portion skeleton 40 received
Control is for driving the fish body oscillating motor 34 of tail swing to carry out corresponding actuation.Specifically, the position letter of tail portion skeleton 40
Number include tail portion maximum left avertence position signal, tail portion maximum right avertence position signal and tail portion initial position signal, when tail portion deflect
When amount reaches maximum value, microprocessor 701 is controlled for driving the fish body oscillating motor 34 of tail swing to rotate round about
And then tail portion skeleton 40 is driven to swing, when in tail portion, skeleton 40 swings to initial position, microprocessor 701 be can be controlled for
The fish body oscillating motor 34 that driving tail portion skeleton 40 is swung stops operating.It is understood that passing through in microprocessor 701 wireless
Signal receive 702 receive externally input control instruction for example stop swinging fish tail when, microprocessor 701 i.e. control for driving
The fish body oscillating motor 34 of dynamic tail swing drives tail portion skeleton 40 to swing to initial position, and swings to just in tail portion skeleton 40
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 is controlled after tail swing reaches setting time for driving the fish body of tail swing to swing electricity
Machine 34 drives tail portion skeleton 40 to swing to initial position, and swings to initial position control for driving tail portion in tail portion skeleton 40
The fish body oscillating motor 34 of swing stops operating.
Microprocessor 70 is also used to be controlled according to the position signal of trunk skeleton 30 for driving trunk skeleton 30 to swing
Fish body oscillating motor 34 carries out corresponding actuation.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,
Fish body oscillating motor 34 of the control of microprocessor 701 for driving 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 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 in microprocessor
701 by reception of wireless signals 702 receive externally input control instruction for example stop swinging trunk skeleton 30 when, micro process
Device 701 is fish body oscillating motor 34 drive trunk skeleton 30 of the control for driving trunk to swing to initial position swing, and
Trunk skeleton 30 swings to fish body oscillating motor 34 of the initial position control for driving trunk to swing and stops operating；Certainly, micro-
Processor 701 can also be according to the operation program of its storage inside, and control is for driving after trunk swing reaches setting time
The fish body oscillating motor 34 that trunk is swung drives trunk skeleton 30 to swing to initial position, and swings to initially in trunk skeleton 30
The fish body oscillating motor 34 that position control is used to that trunk to be driven 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, third fish body Hall sensor 713 and fish body magnet 714.First fish body Hall sensor 711, the second fish body Hall pass
Sensor 712, third fish body Hall sensor 713 are used for the maximum left avertence position letter of the corresponding generation when being aligned with fish body magnet 714
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, third fish body Hall sensor 713 are arranged on the caudal articular process 41 of front end,
The fish body oscillating motor 34 for driving tail portion skeleton 40 to swing, such tail position detection dress is arranged in fish body magnet 714
The first fish body Hall sensor 711 in setting, the second fish body Hall sensor 712, third 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, third fish body Hall sensor 713 are aligned with fish body magnet 714 respectively as tail portion skeleton 40 is swung, right
Tail portion maximum right avertence position signal, tail portion initial position signal and tail portion maximum right avertence position signal should be generated.
First fish body Hall sensor 711 of trunk position detection device, the second fish body Hall sensor 712, third fish
Body Hall sensor 713 is arranged in be faced with the joint of trunk 31 for being equipped with the fish body oscillating motor 34 that driving trunk skeleton 30 is swung
On close joint of trunk 31, the fish body oscillating motor 34 for driving trunk skeleton 30 to swing is arranged in fish body magnet 714, this
First fish body Hall sensor 711 of the sample for the fish body positional detecting device 71 in trunk position detection device, the second fish body
Hall sensor 712, third 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, third fish body Hall sensor
713 are aligned with fish body magnet 714 respectively with the swing of trunk skeleton 30, corresponding to generate 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 rack 715.Mounting rack 715 includes the first installation
Block 716, the second mounting blocks 717 and connecting bracket 718, the first mounting blocks 716 are stacked with the second about 717 mounting blocks and are hinged on
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, third fish body Hall sensor 713 are mounted on the first mounting blocks 716, and fish body magnet 714 is set
It sets on the second mounting blocks 717.Acquire fish body positional detecting device 71 and the acquisition tail portion 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 fish body oscillating motor 34 equipped with the driving swing of 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 by connecting bracket 715 be arranged in driving trunk skeleton 31 fish body oscillating motor 34 and driving
On the fish body oscillating motor 34 that tail portion skeleton 40 is swung.In this way, trunk skeleton 31 and tail portion skeleton 40 are when swinging, it is corresponding
The first fish body Hall sensor 711 in fish body positional detecting device 71, the second fish body Hall sensor 712 and third fish body are suddenly
Positional shift 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
Hall sensor 712 and third fish body Hall sensor 713 can be aligned with fish body magnet 714, and then generate fish body position letter
Number.
In the present embodiment, connection shaft 719, the first mounting blocks 716 and the second installation are additionally provided in 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 connection shaft 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 for obtaining
Fin is located at initial position signal, and controls fin oscillating motor according to fin initial position message and return to initial position in fin
Afterwards, stop control fin to swing up and down.Wherein, fin positional detecting device includes fin Hall sensor (not shown go out) and fin
Portion's magnet (not shown go out), fin Hall sensor are arranged on fin bracket 51, and fin magnet is arranged on cover board 59, in fin
When portion's bracket 51 is located at initial position, fin magnet is aligned with fin Hall sensor, and fin Hall sensor senses fin
Magnet simultaneously generates fin and is located at initial position signal and be sent to microprocessor 701, when not needing fin and swinging, microprocessor
701 receive fin return to initial position signal stop driving fin swing.It is understood that fin swing when, fin
The rotation of 51 opposing cover plates 59 of portion's bracket, such fin Hall sensor will be staggered with fin magnet, and fin Hall sensor will not
Fin can be generated and be located at initial position signal.The main purpose that fin positional detecting device is arranged is that fin is facilitated to return to initial bit
It sets.
Microprocessor 701 is also connect with air pump 63, the first solenoid valve 66, second solenoid valve 67 and third solenoid valve 68, with
Control opening and closing and the first valve on the first solenoid valve 66, second solenoid valve 67 and third solenoid valve 68 and the of air pump 63
The opening and closing of two valves, to make bionic machine fish float or sink when bionic machine fish needs to float or sink.Bionic machine fish
Float and sink principle and be described in detail in the above content, details are not described herein.
In the present embodiment, the control system 7 in the present invention further includes first depth of water sensing connecting 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 fish head 1 and fish body 3 that the first water depth sensor 74 and the second water depth sensor 75 are used to acquire bionic machine fish are located at
It depth and 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 the collected water signal of the second water depth sensor 75 control actuation, the first, second and third solenoid valve of air pump 63
66, the opening and closing of 67,68 valve switch.
Specifically, when microprocessor 701 judges fish head 1 according to the collected water signal of the first water depth sensor 74
When the first set depth, the first valve switch of the 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 microprocessor 701 judges according to the collected water signal of the second water depth sensor 75
When fish body 3 floats up to the first set depth, air pump 63 is closed while closing the 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 drain, and the weight of fish body 3 no longer mitigates, 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 located at the second setting
When depth, the first valve switch of the first, second and third solenoid valve 66,67,68 is closed, it no longer will be in 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 collected water signal of the second water depth sensor 75,
Air pump 63 is closed the second valve switch for simultaneously closing off the 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
It increases 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 with the collected depth of the second water depth sensor 75 according to the first water depth sensor 74 to judge that bionic machine fish is floating
Whether it is located at the first set depth in the process, whether is located at the second set depth in sinking watching, during the two, such as
Fruit result be microprocessor 701 control air pump 63 carry out above-mentioned actuation.
In the present embodiment, microprocessor 701 is also connect with the opening and closing motor 14 in open/close mechanism 13, for controlling opening and closing
The actuation of motor 14 is to control the opening and closure of fish mouth.Specifically, when needing fish mouth opening and closing, microprocessor 701 controls opening and closing
Motor 14 drives first gear 15 to rotate forward first and drives the reversion of second gear 16, and second gear 16 drives 12 around the pivot 171 of lower jaw
It rotates down, so that fish mouth is opened, then microprocessor 701 controls opening and closing motor 14 and drives the reversion drive of first gear 15
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 is closed, thus
Complete fish mouth opening and closing.
In the present embodiment, processor 701 is also connect with eye driving motor 21, for controlling eye driving motor 21
Actuation, when needing to rotate flake 19, to make eye driving motor 21 work, driving crank and rocker mechanism 22 drives parallel four side
23 actuation of shape mechanism, and then flake 19 is driven to rotate.
The wireless signal receiver 702 that control system 7 is also connect 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
Control signal controls the actuation of float means 6 in the actuation and dive of each driving motor, 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
It sets 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
Body motor pattern include fish head float, 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, the rotation of fish tail swing and fin.It is understood that fish head floats and synthesis floating 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 provides motive force for bionic machine fish advance,
Form bionic machine fish swimming.Fin swings the balance for guaranteeing bionic machine fish.Fin rotation with fish for floating
Or the fin skeleton 50 of fin 5 is turned to the tilt angle of setting when the sinking of fish body, to reduce the resistance of water, it is convenient for fish body
It floats 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 travelling of the bionic machine fish water surface is formed, in other words, that is, bionic machine fish floats and fish tail swing shape
It moves about at 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 sinking formed with fish tail swing it is bionical
Machine fish and water middle reaches are dynamic.
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 first and moves under water, and the opening and closing of bionic machine fish fish mouth, 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, carries out bionic machine fish fish mouth during moving under water under water
It closes.
Above-mentioned monomer movement, 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 bionic machine fish of the invention is also the of the joint of trunk 31 of trunk skeleton 31
Multiple battery cases 101 are set between one 310 and second 312, battery is installed in battery case 101, in the present invention
With electric device provide electric energy.
The structure of bionic machine fish of the invention is simple, at low cost, in addition, bionic machine fish of the present invention has true to nature imitate
It comes into force fruit.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (3)
1. a kind of bionic machine fish, including fish head (1) and the fish body (3) connecting with fish head (1), the fish body (3) includes and fish
The trunk skeleton (30) of head (1) connection, the tail portion skeleton (40) connecting with the trunk skeleton (30) and setting are in trunk skeleton
(30) fin (5) on, the fin (5) include fin skeleton (50) and the fin bracket that connect with fin skeleton (50)
(51), which is characterized in that fin (5) further includes the fin rotating device (53) for driving fin skeleton (50) to rotate, fin
Rotating device (53) includes fin rotary electric machine (531) and connecting rod (533), fin rotary electric machine (531) and fin bracket
(51) it is fixedly connected, connecting rod (533) is fixedly connected with fin skeleton (50), connecting rod (533) and fin rotary electric machine (531)
Shaft connection；Fin skeleton (50) includes skeleton substrate (501) and is spaced apart and arranged in multiple on skeleton substrate (501)
The length extending direction of flexible joint (502), skeleton substrate (501) is vertical with the length extending direction of fish body (3), flexible joint
(502) length extending direction is parallel with the length extending direction of fish body (3), and connecting rod (533) and skeleton substrate (501) are fixed
Connection, one end of each flexible joint (502) are fixed with skeleton substrate (501) and along the length extension side of fish body (3)
To setting, each soft energy property joint (502) includes the sub- joint (503) of multiple sheets, and two neighboring sub- joint (503) passes through company
Switch through axis (505) connection, is arranged with a torsional spring (504) in connection shaft (505), the both ends of each torsional spring (504) are supported respectively
Firmly two sub- joints (503).
2. bionic machine fish as described in claim 1, which is characterized in that the shaft of the fin rotary electric machine (531)
It is connect by shaft coupling (532) with connecting rod (533).
3. bionic machine fish as claimed in claim 2, which is characterized in that the axis of the shaft of the fin rotary electric machine (531)
To vertical with the length extending direction of fish body (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610537979.5A CN106114795B (en) | 2016-07-05 | 2016-07-05 | Bionic machine fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610537979.5A CN106114795B (en) | 2016-07-05 | 2016-07-05 | Bionic machine fish |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106114795A CN106114795A (en) | 2016-11-16 |
| CN106114795B true CN106114795B (en) | 2018-12-04 |
Family
ID=57283613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610537979.5A Active CN106114795B (en) | 2016-07-05 | 2016-07-05 | Bionic machine fish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106114795B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161307B (en) * | 2017-05-12 | 2019-01-01 | 上海湖益科贸有限公司 | A kind of torsional spring string Biomimetic Fish tail-rotor suitable for ships and light boats |
| CN111688894B (en) * | 2020-05-27 | 2022-03-01 | 西安交通大学 | Motion transformation type fluctuation propelling device |
| CN114919724B (en) * | 2022-03-15 | 2024-03-15 | 中国科学院自动化研究所 | Robot fish system driven by bionic tendons and operation control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1939805A (en) * | 2005-09-26 | 2007-04-04 | 中国科学院自动化研究所 | Bionic robot fish |
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN203186566U (en) * | 2013-01-28 | 2013-09-11 | 兰州交通大学 | Mechanical pectoral fin biomimetic robot fish |
| CN205273823U (en) * | 2015-12-12 | 2016-06-01 | 毕芃 | Bionical machine fish based on drive of simple joint tail fin |
| CN206050028U (en) * | 2016-07-05 | 2017-03-29 | 杭州畅动智能科技有限公司 | Bionic machine fish |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008044545A (en) * | 2006-08-18 | 2008-02-28 | Mhi Solution Technologies Co Ltd | Fish-shaped robot |
| JP2011218964A (en) * | 2010-04-09 | 2011-11-04 | Hamada Bending Service Co Ltd | Rocking propulsion device, catamaran, and fish type robot |
| KR101388713B1 (en) * | 2012-05-25 | 2014-04-29 | 주식회사 마린이노텍 | vector fish fin thruster |
-
2016
- 2016-07-05 CN CN201610537979.5A patent/CN106114795B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1939805A (en) * | 2005-09-26 | 2007-04-04 | 中国科学院自动化研究所 | Bionic robot fish |
| CN101913419A (en) * | 2010-08-11 | 2010-12-15 | 中国科学院自动化研究所 | Biomimetic robotic dolphin |
| CN203186566U (en) * | 2013-01-28 | 2013-09-11 | 兰州交通大学 | Mechanical pectoral fin biomimetic robot fish |
| CN205273823U (en) * | 2015-12-12 | 2016-06-01 | 毕芃 | Bionical machine fish based on drive of simple joint tail fin |
| CN206050028U (en) * | 2016-07-05 | 2017-03-29 | 杭州畅动智能科技有限公司 | Bionic machine fish |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106114795A (en) | 2016-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106081035B (en) | Bionic machine fish | |
| CN106184676B (en) | Bionic machine fish | |
| CN106114792B (en) | The floating sinking mechanism of bionic machine fish | |
| CN105966583B (en) | Bionic machine fish | |
| CN106114795B (en) | Bionic machine fish | |
| CN206243420U (en) | The floating sinking mechanism of bionic machine fish | |
| CN206050026U (en) | Bionic machine fish | |
| CN105966584B (en) | Bionic machine fish | |
| CN106143851B (en) | Bionic machine fish | |
| CN106114794B (en) | Bionic machine fish | |
| CN106005321B (en) | Bionic machine fish and fish head float and sinking control method | |
| CN206243424U (en) | Bionic machine fish | |
| CN206243421U (en) | Bionic machine fish | |
| CN206050032U (en) | Bionic machine fish | |
| CN206050024U (en) | Bionic machine fish | |
| CN106005334B (en) | Bionic machine fish | |
| CN105966585B (en) | Bionic machine fish and fish mouth opening and closing control method | |
| CN106143852B (en) | Bionic machine fish | |
| CN106143853B (en) | Bionic machine fish | |
| CN206243422U (en) | Bionic machine fish | |
| CN106184675B (en) | Bionic machine fish | |
| CN206050029U (en) | Bionic machine fish | |
| CN206050028U (en) | Bionic machine fish | |
| CN206050030U (en) | Bionic machine fish | |
| CN206050031U (en) | Bionic machine fish |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191219 Address after: 313000 Zhejiang province Huzhou city Wuxing district town homes Sheng Street Road No. 158 -1 Patentee after: Zhejiang Zhenxing Axiang Group Co., Ltd. Address before: No. 249 Building No. 4 North Building 2--3 Yuhang Liangzhu Street District of Hangzhou city in Zhejiang province 314400 Liang Bo Road Patentee before: Hangzhou Chang Intelligent Technology Co., Ltd. |
|
| TR01 | Transfer of patent right |