CN107174800A

CN107174800A - A kind of intelligent speed changing Navigating System for being used to swim

Info

Publication number: CN107174800A
Application number: CN201710567879.1A
Authority: CN
Inventors: 朱光
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-07-13
Filing date: 2017-07-13
Publication date: 2017-09-19
Anticipated expiration: 2037-07-13
Also published as: CN107174800B

Abstract

The invention discloses a kind of intelligent speed changing Navigating System for being used to swim, including intelligent alterable tail fin part and intelligent balance-adjustable force part；The intelligent alterable tail fin part includes variable tail fin device, variable tail fin Intelligent control device, and at least one linkage element of the secondary tail fin of the variable tail fin device with the variable tail fin operating element of variable tail fin Intelligent control device between is connected；The intelligent balance-adjustable force part includes balance force application apparatus, balance force Intelligent control device, and at least one linkage element of each flexible member of knee ankle hip of the balance force application apparatus with the balance force operating element of balance force Intelligent control device between is connected；The direction of the balance force application apparatus along its shank body of rod is connected with variable tail fin device, and the intelligent alterable tail fin part and intelligence balance-adjustable force part are connected as one formula structure.

Description

A kind of intelligent speed changing Navigating System for being used to swim

Technical field

The present invention relates to swimming device and diving equipment industry, more particularly to a kind of intelligent speed changing for being used to swim, which is cruised, is System, for swimming exercise, underwater swimming, can according to trip speed of the swimmer in water, swinging kick frequency, each joint of knee ankle hip it is curved The fin broadening degree of the variable tail fin device of frequency adjustment or the elastic force of each flexible member of knee ankle hip are rolled over, both can be at a high speed Fast trip, can also low speed roaming, be particularly suitable for water middle and long distance and cruise.

Background technology

Contemporary society, swimming exercise and underwater swimming are increasingly popularized, and various swimming devices, diving equipment emerge in an endless stream, Most of swimming device and diving equipment be all using flippers as the main driving tool advanced, common are double-legged double webs and Double-legged list web, the double webs of both feet are that the both feet of swimmer respectively wear a flippers, and swimmer is kicked alternately by both legs and produces what is advanced Motive force, both feet list web is that the both feet of swimmer wear a flippers altogether, and swimmer is synchronously fetched water by both legs and produces pushing away for advance Power.

Either the double webs of both feet or the single web of both feet, have its most suitable single frequency of fetching water, swimmer is only with this Frequency of fetching water is fetched water, and could obtain optimal propulsive force；When swimmer wishes to change trip speed, such as fetched water height with higher frequency Fast fast trip or with relatively low frequency fetch water low speed roaming when, the efficiency of propulsion can decline, especially when swimmer is with higher Frequency when fetching water, not only propulsive efficiency is not high, but also can produce sense of fatigue quickly；In addition, either the double webs of both feet are still Double-legged list web, is through on swimmer's pin, because leg and pin have an angle, and flippers is fetched water the propulsive force side of generation It is completely the same to the direction that can not necessarily advance with swimmer, thus also weaken propulsive efficiency.

The mankind be not suitable with water move about main movement fault of construction be major skeletal, joint and the muscle of human leg all Be for adapt to the unidirectional walking forward of the mankind, the motor function run and exist, i.e., the mankind walk or run mainly towards Front, it is seldom necessary to walk or run towards rear, the leg skeletal muscle overwhelming majority of the mankind is grown in the one side of leg bone Rather than symmetric growth, ankle-joint, knee joint and hip joint can only unidirectionally bend and be unable to bi-directional symmetrical bending, therefore, work as people When class imitation fish oscillating tail-fin swings both legs like that, the one side substantially still done is moved and asymmetrical movement, swinging kick posture Seem extremely uncoordinated, advance efficiency is very low, travelling time slightly length will feel fatigue.

Existing most of swimming device and diving equipment are all difficult to thoroughly solve the day that human body adapts to land walking Right structure and such conflict that freely moved about in water；Since the time immemorial ancestors of the mankind leave ocean come land life with Afterwards, body structure is slowly changed, and the structure for originally adapting to move about in ocean is gradually degenerated, disappeared, and the substitute is The structure of land walking is adapted to, therefore, when the mankind, which turn again to, is engaged in swimming exercise in water, can not be swung again as fish Tail fin, leisure are travelling.

The content of the invention

The double webs of main driving tool both feet, the single web of both feet for current existing swimming device and diving equipment are not had The human body preferably solved is not suitable with water efficiently travelling natural motion fault of construction, and be difficult in fast trip at a high speed and The weak point of higher propulsive efficiency can be obtained under low speed roaming two states, the present inventor returns to dolphin, cetacean etc. The process of the mammal oscillating tail-fin of Ocean Living is examined, studied, and dolphin, cetacean are imitated in water with the mankind Swing the travelling posture of both legs to compare, compare difference therebetween, make a concrete analysis of again the reason for for producing difference, With reference to human motion structure feature, by the way that scientifically and rationally with ergonomics, there is provided go out a kind of intelligent speed changing for being used to swim Navigating System, including intelligent alterable tail fin part and intelligent balance-adjustable force part, the system can be according to swimmer in water In trip speed, swinging kick frequency, the fin broadening degree or knee ankle of the variable tail fin device of inflection frequency adjustment in each joint of knee ankle hip The elastic force of each flexible member of hip, reaches the fast trip at a high speed that can both be fetched water with higher frequency, can also be with relatively low frequency Rate fetch water low speed roaming, no matter fetched water under which kind of frequency, swimmer can more balance swinging kick on a 50-50 basis with bidirectional force applying, put Leg amplitude is more symmetrical, effectively the in-fighting of reduction swaying legs action, improves the proportion of useful work, and special with speed change with intelligence Property, so that the advance efficiency and trip speed of lifting swimming and diving to greatest extent, gives full play of traveling of the swimmer in water Potential, and then reach the purpose continuously cruised over long distances；Swimmer is cruised by intelligent speed changing, can also effectively be reduced over long distances The sense of fatigue produced when cruising；In addition, the direction of variable tail fin device generation thrust and swimmer's direct of travel are completely the same, from And overcome the leg of double-legged double webs or the single web of both feet caused by being worn on swimmer's pin and there is angle and then web with web The completely the same defect in direction that the propulsion force direction of generation of fetching water can not advance with swimmer, is promoted so as to further improve Efficiency.

The present invention is specifically adopted the following technical scheme that：

A kind of intelligent speed changing Navigating System for being used to swim, including intelligent alterable tail fin part and intelligent balance-adjustable force Part；The intelligent alterable tail fin part includes variable tail fin device, variable tail fin Intelligent control device, the variable tail fin dress Put including main tail fin, secondary tail fin, main tail fin side sets at least one secondary tail fin, main tail fin and secondary tail fin couple in parallel to each other Together, the secondary tail fin is connected by major-minor fin articulated structure with main tail fin, and secondary tail fin is using major-minor fin pin joint as rotating shaft Center rotating, main tail fin adds the fin broadening degree or fin exhibition variable area of secondary tail fin, the variable tail fin Intelligent control device bag Include tachogenerator or frequency sensor, Intelligent control circuit board, manipulation power source, variable tail fin operating element, it is described can Become tail fin device secondary tail fin and variable tail fin Intelligent control device variable tail fin operating element between at least One linkage element is connected, and variable tail fin device and variable tail fin Intelligent control device are connected as one, i.e., described intelligence Variable tail fin part, detects the trip speed of swimmer with the tachogenerator or detects that swimmer's swing can with frequency sensor Become the frequency of tail fin device, the Intelligent control circuit board includes intelligent control chip, the trip speed measured according to tachogenerator The frequency values for the variable tail fin device of swing that numerical value or frequency sensor are measured, correspondence is drawn by program set in advance Output valve, the Intelligent control circuit board drives variable tail fin operating element to act according to output valve by manipulating power source, The corresponding angle of pin joint rotation therebetween is surrounded relative to main tail fin so as to manipulate secondary tail fin, and then is realized according to trip The trip speed of swimmer swings the frequency intelligent control fin broadening degree of variable tail fin device or the function of fin developable surface product, the manipulation Power source includes but is not limited to the motor of electrical energy drive, engine, and the variable tail fin operating element includes but is not limited to will The convert rotational motion of motor or engine opens up lead-screw drive mechanism, slider-crank mechanism, the tooth of change width into manipulation fin Take turns rackwork, cam mechanism, multi-connecting-rod mechanism, leverage；The intelligent balance-adjustable force part includes balance and exerted a force Device, balance force Intelligent control device, the balance force application apparatus include the shank body of rod, the thigh body of rod, the shank body of rod Parallel to swimmer's shank arrangement, and fixed with the shank of swimmer at least one, the shank body of rod is towards one end of swimmer's thigh Connection has the thigh body of rod, and the thigh body of rod is arranged parallel to swimmer's thigh, and is fixed with the thigh of swimmer at least one, described small The leg body of rod includes shank main rod body, shank to thigh side extension bar, shank to pin side extension bar, and the thigh body of rod includes thigh Main rod body, thigh are to shank side extension bar, and the connecting mode of the shank body of rod and the thigh body of rod is articulated manner, the shank The body of rod is provided with the knee articulated structure of bending synchronous with swimmer's knee joint with the connection place of the thigh body of rod, and the knee is hinged knot Structure includes knee jointed shaft, knee and is hinged shaft end nut, provided with the knee for helping to bend between the shank body of rod and the thigh body of rod At least one knee flexible member of joint return, the balance force Intelligent control device includes tachogenerator or frequency Sensor, Intelligent control circuit board, manipulation power source, balance force operating element, the knee elasticity of the balance force application apparatus At least one linkage element phase between of balance force operating element of element and balance force Intelligent control device Connection, balance force application apparatus and balance force Intelligent control device are connected as one, i.e., described intelligent balance-adjustable force section Point, detect the trip speed of swimmer with the tachogenerator or bend kneed frequency with frequency sensor detection swimmer Rate, the Intelligent control circuit board includes intelligent control chip, and the fast numerical value of the trip measured according to tachogenerator or frequency are passed The kneed frequency values of bending that sensor is measured, corresponding output valve, the intelligence behaviour are drawn by program set in advance Control circuit board is acted according to output valve by manipulating power source band dynamic balancing force operating element, so as to manipulate the linkage element Corresponding change is made into the default elastic deformation of knee flexible member, the default elastic deformation of the knee flexible member is initial Elastic deformation, and then realize trip speed or the kneed frequency Intelligent adjustment knee flexible member elastic force of bending according to swimmer The function of size, the manipulation power source includes but is not limited to the motor of electrical energy drive, engine, the balance force manipulation Part include but is not limited to by the convert rotational motion of motor or engine into regulation knee flexible member elastic force silk Thick stick transmission mechanism, slider-crank mechanism, pinion and rack, cam mechanism, multi-connecting-rod mechanism, leverage；The balance is applied Direction of the power apparatus along its shank body of rod is connected with variable tail fin device, and the intelligent alterable tail fin part and intelligence is adjustable Balance force part is connected as one formula structure.

The major-minor fin articulated structure includes major-minor fin link bolt axle, major-minor fin and is hinged shaft end nut.The main tail fin With the joining mode of secondary tail fin includes but is not limited to hinge-coupled mode, be slidably matched connecting mode, the connection that is slidably matched Connect and be linked together each other between the i.e. main tail fin of mode and secondary tail fin sliding rail, above two connecting mode can Similar function is realized, i.e., can relatively rotate or relatively move between main tail fin and secondary tail fin, the corresponding master Sliding rail between tail fin and secondary tail fin is curve track or rectilinear orbit.

At least one can use inside for rigid backbone among the main tail fin and secondary both tail fins, outer wrap streamline The structure type of shape flexible covering, the rigid backbone can select rigid material, specifically including but not limited to engineering plastics, Fiberglass, carbon fiber, steel, aluminium alloy, titanium alloy, glass, ceramics, timber, the flexible covering can select elastomeric material, specifically For include but is not limited to elastomer, silicon rubber, plastics, flexible polyurethane；The main tail fin or secondary tail fin can also be made The form of front and rear section splicing, leading portion is rigid material, and back segment is elastomeric material, and front and rear section is integral type structure.

The rigidity of structure of the rigid backbone can make ladder rigidity or the form of progressive rate, i.e., advance along swimmer The rigidity of structure of direction rigid backbone from front to back gradually reduce, the tail fin skeleton structure with nature Mesichthyes is similar, The tip of rigid backbone does crotched shape, to make up because rigidity reduces the decline of the supportive caused and active area, So as to lift the propulsive efficiency of swinging kick to greatest extent.

At least one can also be without stressed-skin construction, i.e., to use glass completely among the main tail fin and secondary both tail fins Steel, carbon fiber, steel, aluminium alloy, titanium alloy, glass, ceramics, timber, engineering plastics, elastomer or polyurethane are directly prepared into； The main tail fin 1 and secondary tail fin 2 can be made of same material, can also be made of not same material.

The fin broadening degree refers to that main tail fin adds the horizontal spreading width of secondary tail fin, is analogous to the span-width of birds； The fin developable surface product refers to that main tail fin adds the developed area of secondary tail fin, is analogous to the span area of birds.

It is used as the further improvement of above-mentioned technical proposal：

One end connection of the shank body of rod towards swimmer foot has foot's body of rod of balance force application apparatus part, described Foot's body of rod and at least one pin of swimmer are fixed, and foot's body of rod includes foot's main rod body, is located at foot's main rod body two The foot at end is to shank side extension bar and foot to sole side expansion link；The connecting mode of the shank body of rod and foot's body of rod is Articulated manner, when the shank body of rod is connected with foot's body of rod using articulated manner, in the shank body of rod and foot's body of rod Connection place is provided with the ankle articulated structure of bending synchronous with swimmer's ankle-joint, and the ankle articulated structure is hinged including ankle Axle, ankle are hinged shaft end nut；Between the shank body of rod and foot's body of rod provided with the ankle-joint return for helping to bend at least One ankle flexible member.

Foot fixed structure of foot's body of rod side provided with fixed swimmer's pin, foot's fixed structure include but It is not limited to the foot's gusset piece structure, integrated shoes type structure, the sled for being directly caught in city shoe of fixed walking swimming dual-purpose shoe Card footwear device structure, the pin of the integrated shoes type structure swimmer can be formed directly into wherein；Foot's fixed structure and foot's bar The connecting mode of body includes but is not limited to articulated manner connection；When the connecting mode side of being hinged of foot's fixed structure and foot's body of rod During formula, foot's fixed structure includes foot's gusset piece shaft end nut and is hinged on foot by foot's gusset piece shaft end nut Foot's gusset piece in main rod body.

It can be added foot on foot's body of rod after at least one expansion link locking structure, locking to sole side expansion link Extension is fixed.

The length that foot's fixed structure bottom is stretched out beyond foot's main rod body provided with adjustment foot to sole side expansion link The torque arm structure or push arm structure of degree, swimmer can be stretched by the torque arm structure or the variable tail fin of push arm structure control or flippers The length gone out.The torque arm structure is hinged on foot's gusset piece including being hinged shaft end nut by sole side jointed shaft and sole side On the T-shaped set of sole layback arm, be hinged on by the bar side jointed shaft end nut that stretches foot to flexible on the expansion link of sole side Bar side torque arm is T-shaped to be covered, is connected in by torque arm locking nut between the T-shaped set of expansion link layback arm and the T-shaped set of sole layback arm Torque arm；The push arm structure is identical with the component part of torque arm structure, simply by between torque arm structure and foot's gusset piece Pin joint the front end of foot's gusset piece bottom is had been moved to from the rear end of foot's gusset piece bottom.

Swimmer is during swimming, by rotating ankle, i.e. hook or stretching the action of instep, and foot's gusset piece drives Torque arm structure, and then drive foot stretches to sole side expansion link, contracting action, so as to control foot to be stretched out to sole side expansion link Length beyond foot's main rod body, and then the length for controlling variable tail fin to stretch out, are cruised two kinds with adapting to cruise at a high speed with low speed The need for different swimming rates；Torque arm is positive and negative silk double threaded screw, is easy to swimmer to be drawn according to oneself leg, pin size adjusting The length of arm, locks the torque arm locking nut at torque arm two ends after adjusting.

The central axis of the central axis of foot's body of rod and variable tail fin device can be coaxial, i.e., foot's body of rod with can Become the central axis of tail fin device into in-line arrangement, can not also coaxially, i.e., in foot's body of rod axis and variable tail fin device The L-shaped arrangement of heart axis or zig zag arrangement, L-shaped arrangement obtuse angle arrangement, the L-shaped is shape, obtuse angle bag in obtuse angle The obtuse angle less than 180 degree is included, also the obtuse angle including more than 180 degree；Facilitate swimmer's unrestricted choice, to swim or dive with swimmer Travelling aspectual character during water is consistent, to obtain the lifting of propulsive efficiency to greatest extent.

One end connection of the thigh body of rod towards swimmer's trunk has the trunk body of rod of balance force application apparatus part, institute The trunk for stating the trunk body of rod and swimmer is fixed, and the trunk body of rod includes trunk main rod body, trunk to thigh side extension bar；Institute The connecting mode for stating the trunk body of rod and the thigh body of rod is articulated manner, when the trunk body of rod and the thigh body of rod use articulated manner When being connected, knot is hinged with hip of the connection place provided with bending synchronous with swimmer's hip joint of the thigh body of rod in the trunk body of rod Structure, the hip articulated structure includes hip jointed shaft, hip and is hinged shaft end nut；Between the trunk body of rod and the thigh body of rod At least one hip flexible member provided with the hip joint return for helping to bend.

Each body of rod of the balance force application apparatus can using big pipe sleeve tubule it is scalable, can elongate structure, and can be attached Plus locking structure, length is conveniently adjusted, the need for the swimmer to be adapted to different heights.

The shank body of rod, the thigh body of rod, foot's body of rod, the making material of the trunk body of rod include but is not limited to plastics, glass Glass steel, carbon fiber, Steel Thin-Wall, aluminium alloy, titanium alloy, thin-walled copper alloy, ceramics, bamboo and wood material, lightweight and high intensity, to meet For a long time, the requirement of big load operation.

Described two knee flexible members are connected rope, knee spud pile, lever arm, lever with knee directive wheel, knee Arm jointed shaft, lever arm are hinged shaft end nut and collectively constitute knee elastic energy storage device.

Described two ankle flexible members with couple an ankle flexible member respectively and be individually fixed at foot's body of rod and Two ankle spud piles on the shank body of rod, the ankle directive wheel for being arranged on foot's body of rod and shank body of rod hinged place, it is connected in Between two ankle flexible members and bypass ankle directive wheel ankle connection rope collectively constitute ankle elastic energy storage device.

Described two hip flexible members with couple a hip flexible member respectively and be individually fixed at the thigh body of rod and Two hip spud piles on the trunk body of rod, the hip directive wheel for being arranged on the thigh body of rod and trunk body of rod hinged place, it is connected in Between two hip flexible members and bypass hip directive wheel hip connection rope collectively constitute hip elastic energy storage device.

The leg skeletal muscle overwhelming majority for the mankind is grown in one side rather than the symmetric growth of leg bone, ankle-joint, Knee joint and hip joint can only unidirectionally bend and can not two-way bending the characteristics of, pass through the knee elastic energy storage device, ankle Portion's elastic energy storage device, hip elastic energy storage device, during the bi-directional synchronization swinging kick force swum or dived under water, each pass Elastic energy storage device at section, completes the storage of a cycle, the process that releases energy, so that it is not reciprocity unidirectional to exert a force Swaying legs action changes into the bi-directional synchronization swaying legs action that force more balances equity, swinging kick amplitude more balanced, symmetrical, swinging kick appearance Gesture is more coordinated, and effectively improves the proportion of useful work, reduces the in-fighting of swaying legs action, so as to greatly improve before swimming or diving Enter efficiency and trip speed, and the sense of fatigue produced when effectively reduction is swum and/or dived under water for a long time.

The knee flexible member, ankle flexible member, hip flexible member include but is not limited to spring, gas spring, rubber Rubber band, its respective coefficient of elasticity k is constant or changes with its deflection and change；The particular type of the spring is included but not It is limited to extension spring, compression spring, torsion spring, leaf spring, disc spring, reed.

The knee flexible member, ankle flexible member, hip flexible member can also for intimate leading flank with Trailing flank does not wait elastic force swimming suit, the i.e. springy rubber of swimming suit apparatus, plastics, silica gel or stretch fabric to be made, and the knee of swimming suit is closed The elastic force of section, ankle-joint, the leading flank at hip joint and trailing flank is unequal, and the elastic force of side is larger, corresponding thereto another The elastic force of side is smaller；The leading flank and trailing flank do not wait elastic force swimming suit be equivalent to bridge and be bound to where joint both sides and from The flexible body of rod of body, itself flexible body of rod stores elastic potential energy when place joint is bent, when place is closed Elastic potential energy is discharged during section return, joint return where helping.

At least one is equipped with regulation among the knee flexible member, ankle flexible member, hip flexible member three The balance force elastic force adjustment structure of flexible member elastic force, the balance force elastic force adjustment structure includes balance force and adjusted Power screw rod, balance force rotate freely joint, force adjustment locking nut, spud pile locking nut, and balance force rotates freely joint Can be rotated freely in balance force force adjustment screw rod corresponding hole, in order to swimmer according to the muscle strength size of oneself and The elastic force of the elastic energy storage device of the whole each joint of distance minor of cruising.

The knee articulated structure can be by the knee locking structure of knee articulated structure locking, after locking equipped with least one The rigid attachment mode that the thigh body of rod is fixed with shank body of rod angle is formed, the knee locking structure includes knee locking spiral shell Bolt, knee lock-nut.

The ankle articulated structure can be by the ankle locking structure of ankle articulated structure locking, after locking equipped with least one The rigid attachment mode that foot's body of rod is fixed with shank body of rod angle is formed, the ankle locking structure includes ankle locking spiral shell Bolt, ankle lock-nut.

The hip articulated structure can be by the hip locking structure of hip articulated structure locking, after locking equipped with least one The rigid attachment mode that the trunk body of rod is fixed with thigh body of rod angle is formed, the hip locking structure includes hip locking spiral shell Bolt, hip lock-nut.

In the present invention, the knee locking structure, ankle locking structure, the structure type of hip locking structure include but It is not limited to side locking bolt plus side and puts the structure type of lock-nut, the structure type of side elastic positioning pin, the elasticity Alignment pin is flexible lock pin；The knee locking structure, ankle locking structure, hip locking structure have lockup state, unblock State two states, in a latched condition, the corresponding articulated structure of each locking structure can not be rotated freely, in released state Under, the corresponding articulated structure of each locking structure can be rotated freely.

The shank body of rod is fixed by shank strap-on structure with the shank of swimmer at least one, and the thigh body of rod passes through Thigh strap-on structure is fixed with the thigh of swimmer at least one, foot's body of rod by foot's strap-on structure and swimmer at least One pin is fixed, and the trunk body of rod is fixed by trunk strap-on structure with swimmer's trunk.

The shank body of rod and swimmer's shank are fixed, the thigh body of rod is fixed with swimmer's thigh, foot's body of rod is with swimming The concrete mode that person foot is fixed, the trunk body of rod and swimmer's trunk are fixed can use elasticity or belt leather with thread gluing Buckled wide belt makes shank strap-on structure, thigh strap-on structure, foot's strap-on structure, trunk strap-on structure respectively, described Thread gluing is Velcro.

The shank strap-on structure includes being fixed on shank binding body that is on the shank body of rod and being adapted with shank, set The shank binding elastic webbing on body, shank binding buffer pad, the bag being located on the inside of shank binding elastic webbing are bundled in shank It is rolled in the shank binding buffer pad parcel flannelette on shank binding buffer pad.

The thigh strap-on structure includes being fixed on thigh binding body that is on the thigh body of rod and being adapted with thigh, set The thigh binding elastic webbing on body, thigh binding buffer pad, the bag being located on the inside of thigh binding elastic webbing are bundled in thigh It is rolled in the thigh binding buffer pad parcel flannelette on thigh binding buffer pad.

Foot's strap-on structure includes being fixed on foot's binding body that is on foot's body of rod and being adapted with foot, set Foot's binding elastic webbing on body, foot's binding buffer pad, the bag being located on the inside of foot's binding elastic webbing are bundled in foot It is rolled in foot's binding buffer pad parcel flannelette on foot's binding buffer pad.

The trunk strap-on structure includes being fixed on trunk binding body that is on the trunk body of rod and being adapted with trunk, set The trunk binding elastic webbing on body, trunk binding buffer pad, the bag being located on the inside of trunk binding elastic webbing are bundled in trunk It is rolled in the trunk binding buffer pad parcel flannelette on trunk binding buffer pad.

Under normal circumstances, the shank body of rod is arranged between two shanks of swimmer, the thigh body of rod is arranged in swimmer Two thighs between, then laterally bundled with least 1 group of elastic webbing or wide belt respectively, finally with thread gluing or belt Detain and locked with appropriate elasticity；The shank body of rod, the thigh body of rod, elastic webbing or wide belt are contacted with swimmer's shank, thigh The soft leg buffer pad of position liner material, includes but is not limited to silica gel, soft for making the material of leg buffer pad Rubber, sponge, flexible plastic, and the position parcel flannelette that can be contacted in the leg buffer pad with swimmer's skin, to prevent Binding both legs are issuable for a long time damages and increases comfort；The shank body of rod, the thigh body of rod, elastic webbing or wide belt are given birth to Root bundlees body or thigh binding body in shank, make the material of shank binding body or thigh binding body include but It is not limited to plastics, rubber.

Under normal circumstances, foot's body of rod is arranged between the both feet of swimmer, then with least 1 group of elastic webbing or width Belt is laterally bundled, and is finally locked with thread gluing or belt fastener with appropriate elasticity；Foot's body of rod, elastic webbing or wide belt Foot's buffer pad of the position liner material softness contacted with swimmer foot, the material bag for making foot's buffer pad Include but be not limited to silica gel, soft rubber, sponge, flexible plastic, and the portion that can be contacted in foot's buffer pad with swimmer's skin Position parcel flannelette, to prevent from bundling for a long time, both feet are issuable damages and increase comfort；Foot's body of rod, elastic webbing or width Belt is taken root bundlees body in foot, and the material for making foot's binding body includes but is not limited to plastics, rubber.

Under normal circumstances, the trunk body of rod is arranged in before and after the trunk of swimmer or trunk both sides, then with least 1 group Elastic webbing or wide belt are laterally bundled, and are finally locked with thread gluing or belt fastener with appropriate elasticity；The trunk body of rod, elasticity The trunk buffer pad for the position liner material softness that band or wide belt are contacted with swimmer's trunk, delays for making trunk The material of punching pad includes but is not limited to silica gel, soft rubber, sponge, flexible plastic, and can be in the trunk buffer pad and trip The position parcel flannelette of swimmer's skin contact, to prevent the issuable damage of binding trunk for a long time and increase comfort；Body The dry body of rod, elastic webbing or wide belt are taken root bundlees body in trunk, makes the material of the trunk binding body and includes But it is not limited to plastics, rubber.

Wide belt in the shank strap-on structure, thigh strap-on structure, foot's strap-on structure, trunk strap-on structure can be with Replace with making Sport ankle brace, the reinforcement cloth of elbow protector for sports.

The shank strap-on structure, thigh strap-on structure, foot's strap-on structure, trunk strap-on structure can also be further expanded Scope is bundled, that is, makes ankle strap-on structure, knee strap-on structure, hip strap-on structure, the ankle strap-on structure can use fortune Dynamic ankle guard is mutually fixed with the shank body of rod or foot's body of rod and is made, the knee portion strap-on structure available motion knee-pad and the shank body of rod Or thigh bar body phase is fixed and is made, the hip strap-on structure available motion shield hip is mutually fixed with the thigh body of rod or the trunk body of rod It is made, the motion shield hip is that reference movement ankle guard, the making material of elbow protector for sports and binding mode are made.

Foot's strap-on structure, ankle strap-on structure are to respectively refer to shank strap-on structure, the knot of knee strap-on structure Configuration formula and foot, the concrete shape of ankle-joint and size according to swimmer is made corresponding adjustment and obtained.

The trunk body of rod, hip articulated structure, hip elastic energy storage device, hip locking structure, trunk strap-on structure, Hip strap-on structure be respectively refer to the thigh body of rod, knee articulated structure, knee portion elastic energy storage device, knee locking structure, Thigh strap-on structure, the structure type of knee strap-on structure and trunk, the concrete shape of hip joint and chi according to swimmer It is very little to make corresponding adjustment and obtain.

The shank strap-on structure, thigh strap-on structure, foot's strap-on structure, trunk strap-on structure may be replaced by existing Corresponding shank fixed structure, thigh fixed structure, foot's fixed structure, trunk fixed knot in some lower limb exoskeleton structures Structure, each fixed structure uses the structure type of the lined flexible liner of rigid bodies, makes the material of rigid bodies and includes But plastics, fiberglass, carbon fiber, steel, aluminium alloy, titanium alloy, copper alloy, glass, ceramics are not limited to, liner flexible liner is made Material include but is not limited to silica gel, soft rubber, sponge, flexible plastic.

The other end among foot's body of rod two ends of the balance force application apparatus in addition to connection shank body of rod one end with can Become the connection of tail fin device, the intelligent alterable tail fin part and intelligent balance-adjustable force part are connected as one formula structure； Foot's body of rod and the connecting mode of variable tail fin device include but is not limited to screw-type couple plus fastening screw nut structure side Formula, the plug-in type connection plus side of big pipe sleeve tubule put the frame mode of elastic positioning pin or side clamping screw, and the elasticity is fixed Position pin is flexible lock pin.

Intelligent control chip, the intelligence are housed inside the Intelligent control circuit board of the variable tail fin Intelligent control device Program set in advance is housed, the program set in advance includes but is not limited to most swim fast mode journey soon inside control chip Sequence, most laborsaving model program, maximal efficiency model program, self-studying mode program, manual adjustment mode program, each program The frequency sensor of variable tail fin device frequency is swung according to the tachogenerator of detection swimmer's trip speed or detection swimmer Incoming input value calculates corresponding output valve, and one is passed through by the manipulation power source and variable tail fin operating element The secondary tail fin of middle linkage element manipulation more than individual relative to main tail fin surround the pin joint therebetween turn to it is corresponding Angle so that variable tail fin device be operated in respectively it is corresponding most it is fast trip fast mode, most save force mode, maximal efficiency pattern, from Mode of learning, manual adjustment mode；Intelligent control circuit board connection have increase manually or reduce secondary tail fin and main tail fin it Between angle operational and controlled key button；Described most fast trip fast mode program, most laborsaving model program, maximal efficiency model program it is defeated Go out value and its calculation formula, parameter, correction factor and pass through corresponding fluid according to the hydrodynamic parameters of variable tail fin device Draw and be conducted into the corresponding model program of the intelligent control chip, institute after Mechanics Calculation and simulated experiment amendment The self-studying mode program stated refers to the process of that among swimmer swims described intelligent control chip is according to swimmer not With the lower most fast trip speed that can be reached of the variable tail fin device frequency of swing, maximum length in time to most swim soon fast mode program, The pattern journey that most laborsaving model program, the relevant parameter of maximal efficiency model program, correction factor are constantly adjusted, optimized Sequence, can be realized by most fast trip fast mode program, most laborsaving model program, maximal efficiency model program, self-studying mode program Variable tail fin device intelligence with velocity modulation section, and can be continued to optimize during system upgrade in the future each correlation computations formula, Parameter, correction factor or the new model program of increase, described manual adjustment mode program refer to the mistake swum in swimmer Among journey, swimmer can by it is described it is being provided with the joining operational and controlled key button of Intelligent control circuit board manually increase or Reduce the angle between secondary tail fin and main tail fin.

Intelligent control chip, the intelligence are housed inside the Intelligent control circuit board of the balance force Intelligent control device Program set in advance is housed, the program set in advance includes but is not limited to most swim fast mode journey soon inside control chip Sequence, most laborsaving model program, maximal efficiency model program, self-studying mode program, manual adjustment mode program, each program The frequency sensor of each joint frequency of knee ankle hip is bent according to the tachogenerator of detection swimmer's trip speed or detection swimmer Incoming input value calculates corresponding output valve, and one is passed through by the manipulation power source and balance force operating element Middle linkage element more than individual adjusts each flexible member of knee ankle hip to corresponding elastic force so that balance force application apparatus point Corresponding most fast trip fast mode is not operated in, most save force mode, maximal efficiency pattern, self-studying mode, manual adjustment mode；Institute State the operational and controlled key button that the connection of Intelligent control circuit board has increase manually or reduces the elastic force of each flexible member of knee ankle hip；Institute Most fast trip fast mode, most province's force mode, maximal efficiency pattern, self-studying mode, the manual adjustment mode stated, described most fast trip Fast mode program, most laborsaving model program, the output valve of maximal efficiency model program and its calculation formula, parameter, correction factor According to the sport dynamics parameter of balance force application apparatus by being drawn simultaneously after corresponding sport dynamics calculating and simulated experiment amendment It is conducted into the corresponding model program of the intelligent control chip, described self-studying mode program refers in swimmer Among the process of swimming, described intelligent control chip institute's energy under different each joint frequencies of bending knee ankle hip according to swimmer Most fast speed, the maximum length in time of swimming reached is to most fast trip fast mode program, most laborsaving model program, maximal efficiency model program Relevant parameter, the correction factor model program that is constantly adjusted, optimized, pass through most fast trip fast mode program, most laborsaving mould Formula program, maximal efficiency model program, self-studying mode program can realize the intelligence of balance force application apparatus with velocity modulation section, and can be Each correlation computations formula, parameter, correction factor or the new model program of increase are continued to optimize during system upgrade in the future, Described manual adjustment mode program refers to the process of that among swimmer swims swimmer can be by described being provided with institute State the elastic force that the joining operational and controlled key button of Intelligent control circuit board increases or reduced manually each flexible member of knee ankle hip.

The Intelligent control circuit board that the variable tail fin Intelligent control device and balance force Intelligent control device include Printed circuit board (PCB) on the circuit element arranged include but is not limited to IC chip, resistance, the tachogenerator collection Rate signal or the frequency signal input of frequency sensor collection store the most fast trip fast mode program, most laborsaving mould Formula program, maximal efficiency model program, self-studying mode program, the IC chip of manual adjustment mode program, i.e., it is described Intelligent control chip, corresponding output valve, i.e. output signal, Intelligent control circuit are drawn by each model program computing Plate, which includes each output signal being amplified to, to be enough to drive the variable tail fin operating element, balance force operating element to move Work rate amplification module, it is generally the case that the circuit element of the composition power amplifier module has included but is not limited to power Triode, the resistance of amplification, the Intelligent control circuit board provide electric energy, the Intelligent control electricity by battery or generator Road plate be loaded on Intelligent control circuit board protective enclosure among, the making material of the Intelligent control circuit board protective enclosure include but Metal, plastics, rubber are not limited to, protection and fixed effect, the Intelligent control electricity are played to the Intelligent control circuit board Road plate and Intelligent control circuit board protective enclosure collectively constitute Intelligent control unit, i.e. intelligent controller.

In the present invention, the tachogenerator includes but is not limited to measure flow velocity of the water body relative to swimmer's relative velocity Sensor, pass through GPS or the velocity sensor of big-dipper satellite measuring speed；The biography that tests the speed of the variable tail fin Intelligent control device Sensor, Intelligent control circuit board, manipulation power source, variable tail fin operating element can be disposed at variable tail fin fix bar and main tail fin Inside, the frequency sensor of the variable tail fin device hunting frequency of measurement can be disposed near main tail fin；The balance is applied Tachogenerator, Intelligent control circuit board, manipulation power source, the balance force operating element of power Intelligent control device can be disposed at Inside each body of rod of the balance force application apparatus, the frequency sensor of measurable each joint inflection frequency of knee ankle hip can be arranged In corresponding each juxtra-articular of knee ankle hip.

A kind of intelligent speed changing Navigating System for being used to swim of the present invention, including variable tail fin device, balance force Device, variable tail fin and balance force intelligent double-control device, i.e., by variable tail fin Intelligent control device and balance force intelligence behaviour Control device unites two into one；The variable tail fin and balance force intelligent double-control device include the sensing that tests the speed of detection swimmer's trip speed Device or detection swimmer swing variable tail fin device frequency and the frequency sensor for bending each joint frequency of knee ankle hip, intelligence behaviour Control circuit board, manipulation power source, variable tail fin and balance force dual control part, the variable tail fin and balance force intelligent double-control The variable tail fin of device and balance force dual control part by more than one middle linkage element simultaneously with variable tail fin device Secondary tail fin, balance force application apparatus each flexible member of knee ankle hip be connected, by variable tail fin device, balance force application apparatus, Variable tail fin and balance force intelligent double-control device are connected as one；With the tachogenerator detect swimmer trip speed or The frequency of swimmer's oscillating tail-fin and the frequency in each joint of bending knee ankle hip, the Intelligent control circuit are detected with frequency sensor Plate includes intelligent control chip, the variable tail of swing that the fast numerical value of the trip measured according to tachogenerator or frequency sensor are measured The frequency values of fin apparatus and the frequency values in each joint of bending knee ankle hip, corresponding driving is drawn by program set in advance The output valve of variable tail fin device and balance force application apparatus, the Intelligent control circuit board is dynamic by manipulation according to the output valve Power source drives variable tail fin and balance force dual control component actuation, so as to manipulate secondary tail simultaneously by more than one linkage element Fin rotates corresponding angle and by the pre- of each flexible member of knee ankle hip relative to main tail fin around the pin joint therebetween If corresponding change is made in elastic deformation, and then realizes the trip speed or oscillating tail-fin according to swimmer and each joint of bending knee ankle hip Frequency simultaneously intelligent control fin broadening degree or fin developable surface product and each flexible member elastic force of knee ankle hip function；It is described can Become tail fin and balance force dual control part includes but is not limited to the convert rotational motion of motor or engine into manipulation fin exhibition Change width or the lead-screw drive mechanism, slider-crank mechanism, rack-and-pinion for adjusting each flexible member elastic force of knee ankle hip Mechanism, cam mechanism, multi-connecting-rod mechanism, leverage.

By each other between the balance force operating element and ankle flexible member of the balance force Intelligent control device Between at least one linkage element be connected, i.e., with reference to it is described balance force operating element it is associated with knee flexible member Structure will balance force operating element it is associated with ankle flexible member, related parts do corresponding adjustment, with further The intelligence of the optimization intelligent speed changing Navigating System for being used to swim is with fast characteristic.

By each other between the balance force operating element and hip flexible member of the balance force Intelligent control device Between at least one linkage element be connected, i.e., with reference to it is described balance force operating element it is associated with knee flexible member Structure will balance force operating element it is associated with hip flexible member, related parts do corresponding adjustment, with further The intelligence of the optimization intelligent speed changing Navigating System for being used to swim is with fast characteristic.

Among the knee flexible member, ankle flexible member, hip flexible member three for balancing force application apparatus at least There is one with balancing at least one linkage element of the balance force operating element of force Intelligent control device between It is connected.

The variable tail fin device by provided with variable tail fin side connector exerted a force with the balance that is provided with of balance force application apparatus Side connector docking is integrated, and intelligent alterable tail fin part and intelligent balance-adjustable force part are connected as one formula structure.

In the present invention, the thigh body of rod, the shank body of rod and the foot's body of rod and variable tail fin device of the balance force application apparatus Connecting mode be replaced by the thigh body of rod and be joined directly together by the direct-connection type shank body of rod with variable tail fin device, save foot's body of rod Intermediate link, the intelligent alterable tail fin part and intelligent balance-adjustable force part are connected as one formula structure, it is described The direct-connection type shank body of rod includes direct-connection type shank main rod body, direct-connection type shank to thigh side extension bar, direct-connection type shank to pin side Extension bar；The direct-connection type shank body of rod and the connecting mode of variable tail fin device include but is not limited to screw-type, and to couple adduction tight The frame mode of nut.

The intelligent balance-adjustable force part can be also connected by foot's body of rod with bionic caudal fin or common flippers, general Logical flippers includes the single web of both feet, the double webs of both feet, abandons intelligent alterable tail fin part, will intelligent balance-adjustable force part pass through It is connected and is applied independently among swimming or underwater swimming with bionic caudal fin or common flippers.

In the present invention, tubular swimming trunks can be coated outside the intelligent balance force part, the tubular swimming trunks coat scope Up to swimmer's trunk, under to swimmer foot, intelligent balance force part integral coating is lived, only exposes variable tail fin Device, can effectively reduce the resistance of swimmer's traveling.

The intelligent speed changing Navigating System for being used to swim can singly cover under normal circumstances to be used, in the double-legged or double of swimmer A set of intelligent speed changing Navigating System for being used to swim is fixed on leg jointly.

The intelligent speed changing Navigating System for being used to swim can also be used in pairs, each on the both feet or both legs of swimmer Fixed a set of intelligent speed changing Navigating System for being used to swim.

The advantage of the invention is that：

1st, the intelligent alterable tail fin part of the intelligent speed changing Navigating System for being used to swim of the invention and intelligent balance-adjustable Force part is respectively provided with intelligence with fast variation characteristic, and no matter swimmer fetches water under which kind of frequency, can obtain higher propulsion Efficiency, plays traveling potential of the swimmer in water to greatest extent.

2nd, the intelligent speed changing Navigating System for being used to swim of the invention, swimmer is cruised by speed change, can effectively reduced The sense of fatigue produced when cruising over long distances, and then can realize that water middle and long distance is continuously cruised.

3rd, at least one can use inside for rigid backbone among main tail fin of the invention and secondary both tail fins, outside to wrap The structure type of streamlined flexible covering is wrapped up in, the rigidity of structure of the rigid backbone can make ladder rigidity or progressive rate shape Formula, i.e., the rigidity of the direction advanced along swimmer rigid backbone from front to back is gradually reduced, the tail fin with nature Mesichthyes Skeleton structure is similar, so as to lift the propulsive efficiency of swinging kick to greatest extent.

4th, Intelligent control circuit board of the invention includes intelligent control chip, the fast numerical value of trip measured according to tachogenerator Or the frequency sensor frequency values for swinging variable tail fin device measured and the frequency values for bending each joint of knee ankle hip, lead to The output valve that program set in advance draws the corresponding variable tail fin device of driving and balance force application apparatus is crossed, so as to pass through one Linkage element above manipulates secondary tail fin and surrounds the corresponding angle of pin joint rotation therebetween relative to main tail fin simultaneously And corresponding change is made into the default elastic deformation of each flexible member of knee ankle hip, and then can realize according to the trip speed of swimmer or Person swings the frequency in variable tail fin device and each joint of bending knee ankle hip while intelligent control fin broadening degree or fin developable surface product and knee The function of each flexible member elastic force of ankle hip.

5th, the Intelligent control circuit board of variable tail fin Intelligent control device of the invention and balance force Intelligent control device Intelligent control chip inside program set in advance include but is not limited to most fast trip fast mode program, most save force mode journey Sequence, maximal efficiency model program, self-studying mode program, manual adjustment mode program, can be achieved variable tail fin device and balance Force application apparatus intelligence with velocity modulation section, and can be continued to optimize during system upgrade in the future each correlation computations formula, parameter, Correction factor or the new model program of increase.

6th, the balance force application apparatus of the intelligent speed changing Navigating System for being used to swim of the invention is to adapt to land for the mankind The natural motion structure for walking or running and evolving can not adapt to the main movement fault of construction moved about in water, i.e., when mankind's mould When imitative dolphin, cetacean swing both legs are travelling, it is impossible to accomplish bi-directional symmetrical swinging kick truly, pass through the balance force application apparatus Part, with reference to human motion structure feature, scientifically and rationally with ergonomics, bi-directional symmetrical swinging kick exerts a force, most to isoequilibrium Traveling potential of the swimmer in water is played to limits, and then reaches the purpose continuously cruised over long distances.

7th, walking, swimming dual-purpose shoe can be directly anchored to by foot's fixed structure of balance force application apparatus part of the invention City shoe is directly clamped among on gusset piece on foot's gusset piece or with sled card footwear device, wearing is succinctly, conveniently, comfortably.

8th, each body of rod of balance force application apparatus of the invention can using big pipe sleeve tubule it is scalable, can elongate structure, And can additional locking structure, be conveniently adjusted length, be adapted to different heights swimmer the need for.

9th, the present invention can adjust variable tail fin at any time by the torque arm structure or push arm structure of foot's fixed structure bottom and stretch The length gone out, swimmer, by rotating ankle, i.e. hook or stretching the action of instep, controls variable at any time during swimming The length that tail fin stretches out, is cruised the need for two kinds of different swimming rates with adapting to cruise at a high speed with low speed.

10th, the elastic energy storage device near each articulated structure of knee ankle hip of balance force application apparatus of the invention can be added Balance force elastic force adjustment structure, in order to which swimmer is according to the muscle strength size of oneself and distance minor of cruising are whole The elastic force of each elastic energy storage device.

11st, the articulated structure of each joint of knee ankle hip of balance force application apparatus of the invention can additional locking structure, general What is be locked out is partially converted into the rigid attachment of angle fixation, in order to which swimmer changes the specific posture of swaying legs action, and ties The strong and weak feature of swimmer itself each several part muscle is closed, most suitable swaying legs action posture is debugged out；Under normal circumstances, overflow Trip is swum mainly by knee joint and ankle-joint cyclic bending soon mainly by waist joint group cyclic bending.

12nd, the knee flexible member of balance force application apparatus of the invention, ankle flexible member, hip flexible member three it Middle at least one balances at least one connection of force operating element between with balance force Intelligent control device Dynamic element is connected, so that there is the intelligent speed changing Navigating System for being used to swim more optimal intelligence to change with speed Characteristic.

13rd, shank fixed structure of the invention, thigh fixed structure, foot's fixed structure, trunk fixed structure are used The lined flexible liner of rigid bodies structure type, when running into the large-scale grazing eclipse animal attack such as shark, killer whale, to swimming The lower limb of person can play limited protective effect.

14th, the intelligent speed changing Navigating System for being used to swim of the invention can singly cover under normal circumstances uses, swimmer's A set of intelligent speed changing Navigating System for being used to swim is fixed on both feet or both legs jointly；It can also use in pairs, in swimming The a set of intelligent speed changing Navigating System for being used to swim of each fixation on the both feet or both legs of person.

15th, the intelligent speed changing Navigating System for being used to swim of the invention can be arranged in along the longitudinal axis of human body under normal circumstances Between both legs, the direction of variable tail fin device generation thrust and swimmer's direct of travel are completely the same, so as to overcome double-legged double The propulsion for generation that the leg and web of web or the single web of both feet due to being worn on swimmer's pin caused by have an angle and then web is fetched water The completely the same defect in direction that force direction can not advance with swimmer.

16th, the thigh body of rod of balance force application apparatus of the invention can pass through the direct-connection type shank body of rod and the direct phase of variable tail fin Even, the intermediate link of foot's body of rod is saved.

17th, the intelligent balance-adjustable force part in the present invention can also pass through foot's body of rod and bionic caudal fin or common flippers Be connected, common flippers includes the double webs of the single web of both feet, both feet, abandons intelligent alterable tail fin part, will intelligent balance-adjustable apply Power part is applied independently for by being connected with bionic caudal fin or common flippers among swimming or underwater swimming.

18th, it can be coated outside the intelligent balance-adjustable force part of the intelligent speed changing Navigating System for being used to swim of the invention Tubular swimming trunks, the tubular swimming trunks up to swimmer's trunk, under to swimmer foot, by the intelligent balance-adjustable force section Point integral coating is lived, and only exposes variable tail fin device, can effectively reduce the resistance of swimmer's traveling.

19th, the intelligent speed changing Navigating System light structure for being used to swim of the invention, reliable operation, corresponding manufacture craft Simply, it is with low cost, it is easy to mass produce and popularization is used.

Brief description of the drawings

Fig. 1 is the main tail fin of the variable tail fin device of the present invention and the combining structure of secondary tail fin and secondary tail fin is in deployed condition Structural representation.

Fig. 2 is the main tail fin of the variable tail fin device of the present invention and the combining structure of secondary tail fin and secondary tail fin is in rounding state Structural representation.

The linkage member of the variable tail fin comprising inside that Fig. 3 shows for the present invention along after secondary tail fin Plane of rotation biopsy cavity marker devices The variable tail fin apparatus structure schematic diagram of part, variable tail fin fix bar.

Fig. 4 is the main tail fin of the variable tail fin device of the present invention and the combining structure of secondary tail fin and secondary tail fin is smooth surface The deployed configuration schematic diagram of type.

Fig. 5 includes the shank body of rod, the thigh body of rod, knee articulated structure, knee elastic energy storage device, knee for the present invention's The balance force application apparatus structural representation of portion's locking structure.

Fig. 6 is first along the balance force linkage of the shank body of rod and the axis cutting of the thigh body of rod and flexible rope for the present invention Part is mounted on the structural representation of the lever arm mounting hole apart from lever arm pin joint farther out on lever arm.

Fig. 7 is first along the balance force linkage of the shank body of rod and the axis cutting of the thigh body of rod and flexible rope for the present invention Part is mounted on the structural representation of lever arm mounting hole nearer apart from lever arm pin joint on lever arm.

Fig. 8 is that the shank body of rod and foot's body of rod containing expansion link of the present invention and ankle therebetween are hinged knot Structure, ankle elastic energy storage device, ankle locking structure, foot's fixed structure, torque arm structural representation.

Fig. 9 is the shank strap-on structure on the shank body of rod of the present invention, the thigh strap-on structure schematic diagram on the thigh body of rod.

The structure that Figure 10 combines for the intelligent alterable tail fin part of the present invention with intelligent balance-adjustable force part Schematic diagram.

It is straight that Figure 11 saves the direct-connection type shank body of rod and intelligent alterable tail fin part after foot's body of rod intermediate link for the present invention Connect the structural representation being connected.

The structural representation that Figure 12 combines for the intelligent balance-adjustable force part of the present invention with bionic caudal fin.

Figure 13 for the present invention the intelligent alterable tail fin part with variable tail fin side connector along secondary tail fin Plane of rotation innings Structural representation after portion's cutting.

The variable tail fin side connectors that is docking together and the structural representation that balances force side connector of the Figure 14 for the present invention Figure.

Figure 15 is the intelligent alterable tail fin part being docking together of the invention and intelligent balance-adjustable force part Structural representation.

Figure 16 is the balance force elastic force adjustment structure schematic diagram of the knee elastic energy storage device of the present invention.

Figure 17 is the composition structure diagram of the variable tail fin Intelligent control device of the present invention.

Figure 18 is the composition structure diagram for balancing force Intelligent control device of the invention.

In figure：1st, main tail fin；2nd, secondary tail fin；3rd, major-minor fin articulated structure；301st, major-minor fin link bolt axle；302nd, major-minor Fin is hinged shaft end nut；4th, variable tail fin fix bar；5th, bionic caudal fin；6th, variable tail fin linkage element；601st, variable tail fin connection Dynamic element one；602nd, variable tail fin linkage element two；7th, the shank body of rod；701st, shank main rod body；702nd, shank adds to thigh side Stock；703rd, shank is to pin side extension bar；8th, the thigh body of rod；801st, thigh main rod body；802nd, thigh is to shank side extension bar；9、 Knee articulated structure；901st, knee jointed shaft；902nd, knee is hinged shaft end nut；10th, knee elastic energy storage device；1001st, knee Portion's flexible member；1002nd, knee directive wheel；1003rd, knee connection rope；1004th, knee spud pile；1005th, lever arm； 1006th, lever arm jointed shaft；1007th, lever arm is hinged shaft end nut；11st, knee locking structure；1101st, knee locking bolt； 1102nd, knee lock-nut；12nd, foot's body of rod；1201st, foot's main rod body；1202nd, foot is to shank side extension bar；1203rd, pin Portion is to sole side expansion link；13rd, ankle articulated structure；1301st, ankle jointed shaft；1302nd, ankle is hinged shaft end nut；14th, ankle Portion's elastic energy storage device；1401st, ankle flexible member；1402nd, ankle directive wheel；1403rd, ankle connection rope；1404th, ankle Spud pile；15th, ankle locking structure；1501st, ankle locking bolt；1502nd, ankle lock-nut；16th, foot's fixed structure； 1601st, foot's gusset piece；1602nd, foot's gusset piece shaft end nut；17th, torque arm structure；1701st, torque arm；1702nd, torque arm locking screw It is female；1703rd, the T-shaped set of sole layback arm；1704th, sole side jointed shaft；1705th, sole side is hinged shaft end nut；1706th, expansion link The T-shaped set of layback arm；1707th, stretch bar side jointed shaft end nut；18th, the direct-connection type shank body of rod；1801st, direct-connection type shank mobile jib Body；1802nd, direct-connection type shank is to thigh side extension bar；1803rd, direct-connection type shank is to pin side extension bar；19th, shank strap-on structure； 1901st, shank binding body；1902nd, shank binding elastic webbing；1903rd, shank binding buffer pad；1904th, shank binding buffering Pad parcel flannelette；20th, thigh strap-on structure；2001st, thigh binding body；2002nd, thigh binding elastic webbing；2003rd, thigh Bundle buffer pad；2004th, thigh binding buffer pad parcel flannelette；21st, balance force elastic force adjustment structure；2101st, balance Exert a force force adjustment screw rod；2102nd, balance force rotates freely joint；2103rd, force adjustment locking nut；2104th, spud pile locking nut； 22nd, balance force linkage element；23rd, variable tail fin side connector；24th, balance force side connector.

Wherein belong to having for intelligent alterable tail fin part：1st, main tail fin；2nd, secondary tail fin；3rd, major-minor fin articulated structure；301、 Major-minor fin link bolt axle；302nd, major-minor fin is hinged shaft end nut；4th, variable tail fin fix bar；5th, bionic caudal fin；6th, variable tail Fin linkage element；601st, variable tail fin linkage element one；602nd, variable tail fin linkage element two；23rd, variable tail fin side connector.

Wherein belong to having for intelligent balance force part：7th, the shank body of rod；701st, shank main rod body；702nd, shank is to thigh Side extension bar；703rd, shank is to pin side extension bar；8th, the thigh body of rod；801st, thigh main rod body；802nd, thigh is lengthened to shank side Bar；9th, knee articulated structure；901st, knee jointed shaft；902nd, knee is hinged shaft end nut；10th, knee elastic energy storage device； 1001st, knee flexible member；1002nd, knee directive wheel；1003rd, knee connection rope；1004th, knee spud pile；1005th, lever Arm；1006th, lever arm jointed shaft；1007th, lever arm is hinged shaft end nut；11st, knee locking structure；1101st, knee locking spiral shell Bolt；1102nd, knee lock-nut；12nd, foot's body of rod；1201st, foot's main rod body；1202nd, foot is to shank side extension bar； 1203rd, foot is to sole side expansion link；13rd, ankle articulated structure；1301st, ankle jointed shaft；1302nd, ankle is hinged shaft end spiral shell It is female；14th, ankle elastic energy storage device；1401st, ankle flexible member；1402nd, ankle directive wheel；1403rd, ankle connection rope； 1404th, ankle spud pile；15th, ankle locking structure；1501st, ankle locking bolt；1502nd, ankle lock-nut；16th, foot is solid Determine structure；1601st, foot's gusset piece；1602nd, foot's gusset piece shaft end nut；17th, torque arm structure；1701st, torque arm；1702nd, draw Arm locking nut；1703rd, the T-shaped set of sole layback arm；1704th, sole side jointed shaft；1705th, sole side is hinged shaft end nut； 1706th, the T-shaped set of expansion link layback arm；1707th, stretch bar side jointed shaft end nut；18th, the direct-connection type shank body of rod；1801st, direct connection Type shank main rod body；1802nd, direct-connection type shank is to thigh side extension bar；1803rd, direct-connection type shank is to pin side extension bar；19th, it is small Leg strap-on structure；1901st, shank binding body；1902nd, shank binding elastic webbing；1903rd, shank binding buffer pad；1904、 Shank binding buffer pad parcel flannelette；20th, thigh strap-on structure；2001st, thigh binding body；2002nd, thigh binding elasticity Band；2003rd, thigh binding buffer pad；2004th, thigh binding buffer pad parcel flannelette；21st, balance force elastic force regulation knot Structure；2101st, balance force force adjustment screw rod；2102nd, balance force rotates freely joint；2103rd, force adjustment locking nut；2104th, it is solid Determine stake locking nut；22nd, balance force linkage element；24th, balance force side connector.

Embodiment

The embodiment to the present invention is described further below in conjunction with the accompanying drawings：

As shown in Figure 1 and Figure 2, a kind of variable tail fin device of intelligent speed changing Navigating System for being used to swim of the invention, bag Main tail fin 1, secondary tail fin 2, major-minor fin articulated structure 3, variable tail fin fix bar 4 are included, major-minor fin articulated structure 3 is cut with scissors including major-minor fin Connecting bolt axle 301, major-minor fin are hinged shaft end nut 302.Fig. 1 is the main tail fin 1 of the present invention and the combining structure and pair of secondary tail fin 2 The state of expansion is presented in tail fin 2, and Fig. 2 is the main tail fin 1 of the present invention and the combining structure of secondary tail fin 2 and the secondary presentation of tail fin 2 is drawn in State.

As shown in figure 3, the variable tail fin linkage element 6 comprising rigid rod of the present invention, variable tail fin fix bar 4 is variable Tail fin device, variable tail fin linkage element 6 includes variable tail fin linkage element 1, variable tail fin linkage element 2 602；Institute Stating variable tail fin linkage element 6 is used for and the variable tail fin for the variable tail fin Intelligent control device being built in variable tail fin device Operating element is connected.

As shown in figure 4, the secondary tail fin 2 of the present invention is the variable tail fin device of smooth surface type, exhibition is presented in secondary tail fin 2 in figure The state opened.

As shown in figure 5, the present invention's includes the shank body of rod 7, the thigh body of rod 8, knee articulated structure 9, knee elastic energy storage The balance force application apparatus of device 10, knee locking structure 11.The shank body of rod 7 includes shank main rod body 701, shank and added to thigh side Stock 702, shank are to pin side extension bar 703；The thigh body of rod 8 includes thigh main rod body 801, thigh to shank side extension bar 802； Knee articulated structure 9 includes knee jointed shaft 901, knee and is hinged shaft end nut 902；Knee elastic energy storage device 10 includes knee Flexible member 1001, knee directive wheel 1002, knee connection rope 1003, knee spud pile 1004, lever arm 1005, lever arm Jointed shaft 1006, lever arm are hinged shaft end nut 1007；Knee locking structure 11 includes knee locking bolt 1101, knee locking The rigid attachment mode that the thigh body of rod 8 is fixed with the angle of the shank body of rod 7 is formed after nut 1102, locking.

As shown in fig. 6, the present invention's includes the shank body of rod 7, the thigh body of rod 8, knee articulated structure 9, knee elastic energy storage The balance force application apparatus of device 10, balance force linkage element 22；The balance force linkage element 22 of flexible rope bypasses knee The small fixed pulley at the center of articulated structure 9 is mounted on the lever arm 1005 of knee elastic energy storage device 10 apart from lever arm pin joint Mounting hole farther out.The balance force linkage element 22 is used for the balance force intelligence behaviour with being built in balance force application apparatus The balance force operating element of control device is connected.

As shown in fig. 7, the present invention's includes the shank body of rod 7, the thigh body of rod 8, knee articulated structure 9, knee elastic energy storage The balance force application apparatus of device 10, balance force linkage element 22；It is with Fig. 6 difference, the balance of flexible rope is applied The small fixed pulley that power linkage element 22 bypasses the center of knee articulated structure 9 is mounted on the lever arm of knee elastic energy storage device 10 The mounting hole nearer apart from lever arm pin joint on 1005.The balance force linkage element 22 is used for being built in balance force The balance force operating element of balance force Intelligent control device in device is connected.

As shown in figure 8, the balance shank body of rod 7 of force application apparatus of the present invention, foot's body of rod 12 containing expansion link and Therebetween ankle articulated structure 13, ankle elastic energy storage device 14, ankle locking structure 15, foot's fixed structure 16, Torque arm structure 17.Foot's body of rod 12 includes foot's main rod body 1201, foot and stretched to shank side extension bar 1202, foot to sole side Contracting bar 1203；Ankle articulated structure 13 includes ankle jointed shaft 1301, ankle and is hinged shaft end nut 1302；Ankle elastic energy storage is filled Putting 14 includes ankle flexible member 1401, ankle directive wheel 1402, ankle connection rope 1403, ankle spud pile 1404, works as ankle When portion's flexible member 1401 needs to connect balance force linkage element 22, with reference to the structure of knee elastic energy storage device 10, by ankle One in portion's spud pile 1,404 two replaces with lever arm 1005, lever arm jointed shaft 1006, lever arm and is hinged shaft end nut 1007, and process corresponding mounting groove, mounting hole on the shank body of rod 7 or foot's body of rod 12；Ankle locking structure 15 includes The firm of the foot body of rod 12 and the fixation of the angle of the shank body of rod 7 is formed after ankle locking bolt 1501, ankle lock-nut 1502, locking Property connecting mode；Foot's fixed structure 16 includes foot's gusset piece 1601, foot's gusset piece shaft end nut 1602；Torque arm structure 17 It is hinged including torque arm 1701, torque arm locking nut 1702, the T-shaped set 1703 of sole layback arm, sole side jointed shaft 1704, sole side The T-shaped set 1706 of shaft end nut 1705, expansion link layback arm, flexible bar side jointed shaft end nut 1707；The push arm structure is with drawing The component part of arm configuration 17 is identical, simply by the pin joint between torque arm structure 17 and foot's gusset piece 1601 from foot The rear end of the bottom of gusset piece 1601 has been moved to the front end of the bottom of foot's gusset piece 1601.

Swimmer is during swimming, by rotating ankle, i.e. hook or stretching the action of instep, foot's gusset piece 1601 Torque arm structure 17 is driven, so as to drive foot to be stretched to sole side expansion link 1203, contracting is acted, and then controls variable tail fin to stretch out Length, cruised with adapting to cruise at a high speed with low speed the need for two kinds of different swimming rates；Torque arm 1601 is positive and negative silk double end Screw rod, is easy to swimmer according to the leg of oneself, the length of pin size adjusting torque arm 1701, by the two ends of torque arm 1701 after adjusting Torque arm locking nut 1702 is locked.

As shown in figure 9, shank strap-on structure 19, the thigh strap-on structure 20 of the balance force application apparatus of the present invention.Shank is tied Stitch structure 19 includes shank binding body 1901, shank binding elastic webbing 1902, shank binding buffer pad 1903, shank binding Buffer pad wraps up flannelette 1904；Thigh strap-on structure 20 includes thigh binding body 2001, thigh binding elastic webbing 2002, big Leg binding buffer pad 2003, thigh binding buffer pad parcel flannelette 2004.

As shown in Figure 10, the intelligent alterable tail fin part combined of the invention and intelligent balance-adjustable force section Point.

As shown in figure 11, the direct-connection type shank body of rod 18 of balance force application apparatus of the invention.

As shown in figure 12, the intelligent balance-adjustable force part combined of the invention and bionic caudal fin 5.

As shown in figure 13, the intelligent alterable tail fin part with variable tail fin side connector 23 of the invention, variable tail fin side Joint 23 is used to dock with balance force application apparatus, and variable tail fin linkage element 6 can also bear the firm of pressure for that can bear pulling force Property bar, left and right two secondary tail fins 2 are mutually engaged with the flank of tooth, to ensure the synchronism of rotation.

As shown in figure 14, the variable tail fin side connector 23 being docking together of the invention and balance force side connector 24, So as to which the intelligent alterable tail fin part and intelligent balance-adjustable force part can be connected as one formula structure, variable tail fin connection Dynamic element 6 can also bear the rigid rod of pressure for that can bear pulling force.

As shown in figure 15, the intelligent alterable tail fin part being docking together of the invention and intelligent balance-adjustable force section Point.

As shown in figure 16, the knee flexible member of the regulation knee elastic energy storage device 10 of balance force application apparatus of the invention The balance force elastic force adjustment structure 21 of 1001 elastic force initial value.Balance force elastic force adjustment structure 21 includes balance force and adjusted Power screw rod 2101, balance force rotate freely joint 2102, force adjustment locking nut 2103, spud pile locking nut 2104.

Respective bullet in the knee elastic energy storage device 10, ankle elastic energy storage device 14, hip elastic energy storage device A set of elastic force adjustment structure 21 can be added between property element and spud pile, the initial value of elastic to adjust each flexible member, Value of elastic when the bending amount in joint is 0 where i.e. each elastic energy storage device, for example, when each flexible member uses extension spring When, screwed hole is processed along the axis direction of extension spring on the spud pile of each elastic energy storage device, each balance force is adjusted One end of power screw rod 2101 is threaded into hole, and the other end rotates freely joint 2102 and extension spring phase by balancing force Even, the screw-in amount of the screw-in spud pile of balance force force adjustment screw rod 2101 is bigger, and the initial value of elastic after mounting extension spring is bigger, It is on the contrary then smaller, after setting up good initial value of elastic, the exert a force force adjustment locking nut 2103 of force adjustment screw rod 2101 of each balance is locked Tightly, finally spud pile locking nut 2104 is locked；Balance force rotates freely joint 2102 can be in balance force force adjustment spiral shell Bar 2101 is rotated freely in corresponding hole, to facilitate the elastic force for the flexible member for adjusting each joint.

As shown in figure 17, variable tail fin Intelligent control device of the invention, mainly includes tachogenerator or frequency is sensed Device, Intelligent control circuit board, manipulation power source, variable tail fin operating element；The secondary tail fin 2 of the variable tail fin device with it is variable At least one linkage element of the variable tail fin operating element of tail fin Intelligent control device between is connected, will be variable Tail fin device is connected as one with variable tail fin Intelligent control device, i.e., described intelligent alterable tail fin part.

As shown in figure 18, balance of the invention force Intelligent control device, mainly includes tachogenerator or frequency is sensed Device, Intelligent control circuit board, manipulation power source, balance force operating element；The knee flexible member of the balance force application apparatus 1001 with balancing at least one the linkage element phase of the balance force operating element of force Intelligent control device between Connection, balance force application apparatus is connected as one with balance force Intelligent control device, i.e., described intelligent balance-adjustable force section Point.

The specific embodiment of the present invention is as follows：

Embodiment one：As shown in Figure 10, the intelligent alterable tail fin part combined of the invention and intelligent levelling Weighing apparatus force part；Intelligent alterable tail fin part mainly includes main tail fin 1, secondary tail fin 2, major-minor fin articulated structure 3, variable tail fin and consolidated Fixed pole 4, variable tail fin linkage element 6, variable tail fin Intelligent control device；Intelligent balance-adjustable force part mainly includes shank The body of rod 7, the thigh body of rod 8, knee articulated structure 9, knee elastic energy storage device 10, knee locking structure 11, foot's body of rod 12, ankle Portion's articulated structure 13, ankle elastic energy storage device 14, ankle locking 15, foot's fixed structure 16, torque arm structure 17, balance force Linkage element 22, balance force Intelligent control device.

The other end among the two ends of foot's body of rod 12 of the balance force application apparatus in addition to the connection shank body of rod 7 one end with The connection of variable tail fin device part, the intelligent alterable tail fin part and intelligent balance-adjustable force part are connected as one formula Structure；Foot's body of rod 12 couples the frame mode for adding fastening screw nut with the connecting mode of variable tail fin device for screw-type.

Embodiment two：As shown in figure 11, the intelligent alterable tail fin part combined of the invention and intelligent levelling Weighing apparatus force part；The balance thigh body of rod, the shank body of rod and the foot's body of rod of force application apparatus and coupling for variable tail fin device Mode is replaced by the thigh body of rod and is joined directly together by the direct-connection type shank body of rod with variable tail fin device, saves the centre of foot's body of rod Link, the intelligent alterable tail fin part and intelligent balance-adjustable force part are connected as one formula structure；The direct-connection type The shank body of rod 18 include direct-connection type shank main rod body 1801, direct-connection type shank to thigh side extension bar 1802, direct-connection type shank to Pin side extension bar 1803.It is tight that the connecting mode of the direct-connection type shank body of rod 18 and variable tail fin device couples adduction for screw-type The frame mode of nut.

Embodiment three：As shown in figure 12, the intelligent balance-adjustable force part combined of the invention and bionical tail Fin 5, the intelligent alterable tail fin part is substituted with bionic caudal fin 5, by intelligent balance-adjustable force part by with bionic caudal fin 5 It is connected and is applied independently among swimming or underwater swimming.Compared to intelligent alterable tail fin part, the bionic caudal fin 5 is fin Broadening degree or fin developable surface accumulate immutable common bionic caudal fin.

Example IV：As shown in figure 15, the intelligent alterable tail fin part being docking together of the invention and intelligence are adjustable Force part is balanced, intelligent alterable tail fin part mainly includes main tail fin 1, secondary tail fin 2, major-minor fin articulated structure 3, variable tail fin Fix bar 4, variable tail fin linkage element 6, variable tail fin side connector 23, variable tail fin Intelligent control device；Intelligent balance-adjustable Force part mainly includes the shank body of rod 7, the thigh body of rod 8, knee articulated structure 9, knee elastic energy storage device 10, knee locking Structure 11, foot's body of rod 12, ankle articulated structure 13, ankle elastic energy storage device 14, ankle locking 15, foot's fixed structure 16th, torque arm structure 17, shank strap-on structure 19, thigh strap-on structure 20, balance force linkage element 22, balance force side connector 24th, balance force Intelligent control device.

The variable tail fin linkage element 6, balance force linkage element 22 can also bear pressure for that can bear pulling force Rigid rod or the flexible rope that pulling force can only be born；The variable tail fin side connector 23 and balance force side connector 24 can be docked at Together, so that the intelligent alterable tail fin part and intelligent balance-adjustable force part can be connected as one formula structure.

Embodiment provided above is the better embodiment of the present invention, only illustrates the present invention for convenient, not to this hair It is bright to make any formal limitation, for example, for intelligent balance-adjustable force part, swimmer can be each on two legs The a set of described balance force application apparatus part of wearing, it is corresponding each body of rod, the articulated structure of each joint, each flexible member, each Strap-on structure makes the structure type of lower limb exoskeleton, and two outsides of the two legs for the swimmer that is placed in are simultaneously each with swimmer Joint synchronous is bent, and corresponding knee articulated structure 9 and ankle articulated structure 13 are left and right two, and hip articulated structure is then One, the knee articulated structure 9 of left and right two, the two ankle articulated structures 13 in left and right are respectively provided with magnetic, can left and right adhesive in pairs It is integrated and is mutually located or mutually locking by alignment pin or flexible lock pin, the flat of lower limb exoskeleton form is become after adhesive Weigh force application apparatus part, the variable tail fin of the corresponding end of foot's body of rod 12 connection or the single web of both feet, when the knee of left and right two When articulated structure 9, the two ankle articulated structures 13 in left and right are in separated position, the corresponding separated end of foot's body of rod 12 Each single pin list web of connection one, when the knee articulated structure 9 of left and right two, the two ankle articulated structures 13 in left and right are in separated position And swimmer, when being in standing state, the balance force application apparatus part of the lower limb exoskeleton form is alternatively arranged as outside walking power-assisted Bone is used, and for ease of wearing, each body of rod can be made into the quick mounting type body of rod, and corresponding each the quick mounting type body of rod and each articulated structure are equal Make split-type structural, each quick mounting type body of rod can be with each independent articulated structure phase for being worn on each joint of swimmer Separation, i.e., each quick mounting type body of rod can be removed directly from the articulated structure of each joint, corresponding each quick mounting type body of rod Fixed form include but is not limited to magnetic attraction mode, flexible lock pin lock mode, the positioning method of the quick mounting type body of rod Including but not limited to alignment pin positioning method；Any those of ordinary skill in the art, is not departing from institute of the present invention In the range of carrying technical characteristic, using the equivalent embodiment locally changed or modified made by disclosed technology contents, And without departing from the technical characteristic content of the present invention, in the range of still falling within the technology of the present invention feature.

Claims

1. a kind of intelligent speed changing Navigating System for being used to swim, it is characterised in that：Can including intelligent alterable tail fin part and intelligence Balancing force part, the intelligent alterable tail fin part includes variable tail fin device, variable tail fin Intelligent control device, described Variable tail fin device includes main tail fin (1), secondary tail fin (2), and main tail fin (1) sets at least one secondary tail fin (2), the pair sideways Tail fin (2) is connected by major-minor fin articulated structure (3) with main tail fin (1), during secondary tail fin (2) is using major-minor fin pin joint as rotating shaft The heart is rotated, and main tail fin (1) adds the fin broadening degree or fin exhibition variable area of secondary tail fin (2), the variable tail fin Intelligent control dress Put the tachogenerator including detection swimmer's trip speed or detection swimmer swings the frequency sensing of variable tail fin device frequency Device, Intelligent control circuit board, manipulation power source, variable tail fin operating element, the manipulation power source include but is not limited to electric energy Motor, the engine of driving, the secondary tail fin (2) of the variable tail fin device and the variable tail of variable tail fin Intelligent control device At least one linkage element of fin operating element between is connected, and variable tail fin device and variable tail fin are intelligently grasped Control device is connected as one, i.e., described intelligent alterable tail fin part, and the intelligent balance-adjustable force part includes balance and exerted a force Device, balance force Intelligent control device, the balance force application apparatus includes the shank body of rod (7), the thigh body of rod (8), described small The leg body of rod (7) is arranged parallel to swimmer's shank, and is fixed with the shank of swimmer at least one, the shank body of rod (7) direction swimming One end connection of person's thigh has the thigh body of rod (8), and the thigh body of rod (8) is arranged parallel to swimmer's thigh, and with swimmer at least One thigh is fixed, and the connecting mode of the shank body of rod (7) and the thigh body of rod (8) is articulated manner, the shank body of rod (7) The knee articulated structure (9) of bending synchronous with swimmer's knee joint, the shank body of rod are provided with the connection place of the thigh body of rod (8) (7) at least one knee flexible member (1001) provided with the knee joint return for helping to bend between the thigh body of rod (8), described Balance force Intelligent control device includes the tachogenerator or detection swimmer's bending knee joint frequency of detection swimmer's trip speed Frequency sensor, Intelligent control circuit board, manipulation power source, the balance force operating element of rate, the manipulation power source include But the motor of electrical energy drive, engine are not limited to, the knee flexible member (1001) of the balance force application apparatus is applied with balance At least one linkage element of the balance force operating element of power Intelligent control device between is connected, and balance is applied Power apparatus and balance force Intelligent control device are connected as one, i.e., described intelligent balance-adjustable force part, the balance is applied Direction of the power apparatus along its shank body of rod (7) is connected with variable tail fin device, by the intelligent alterable tail fin part and intelligence Balance-adjustable force part is connected as one formula structure.

2. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1, it is characterised in that：The shank bar One end connection of body (7) towards swimmer foot has foot's body of rod (12), foot's body of rod (12) and at least the one of swimmer Pin is fixed, and the connecting mode of the shank body of rod (7) and foot's body of rod (12) is articulated manner, the shank body of rod (7) and foot's body of rod (12) connection place is provided with the ankle articulated structure (13) of bending synchronous with swimmer's ankle-joint, the shank body of rod (7) and pin At least one ankle flexible member (1401) provided with the ankle-joint return for helping to bend between portion's body of rod (12).

3. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1 or 2, it is characterised in that：The pin Portion's body of rod (12) includes foot's main rod body (1201), is located at the foot at foot's main rod body (1201) two ends to shank side extension bar (1202) and foot is to sole side expansion link (1203), foot of the foot's body of rod (12) sideways provided with fixed swimmer's pin consolidates Determine structure (16), foot's fixed structure (16) includes foot's gusset piece shaft end nut (1602) and couples board shaft by foot End nut (1602) is hinged on foot's gusset piece (1601) in foot's main rod body (1201), foot's fixed structure (16) bottom The torque arm structure for the length that portion is stretched out beyond foot's main rod body (1201) provided with adjustment foot to sole side expansion link (1203) (17) or push arm structure, the torque arm structure (17) includes being hinged shaft end nut by sole side jointed shaft (1704) and sole side (1705) the T-shaped set (1703) of the sole layback arm that is hinged on foot's gusset piece (1601), the bar side jointed shaft end spiral shell that stretches is passed through Female (1707) are hinged on foot and locked to the T-shaped set (1706) of the expansion link layback arm on sole side expansion link (1203), by torque arm Tight nut (1702) is connected in the torque arm between the T-shaped set (1706) of expansion link layback arm and the T-shaped set (1703) of sole layback arm (1701), the push arm structure is identical with the component part of torque arm structure (17), simply by torque arm structure (17) and foot Pin joint between gusset piece (1601) has been moved to foot's gusset piece (1601) bottom from the rear end of foot's gusset piece (1601) bottom The front end in portion.

4. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1, it is characterised in that：The thigh bar Body (8) couples towards one end of swimmer's trunk the trunk body of rod, and the trunk of the trunk body of rod and swimmer are fixed, trunk The connecting mode of the body of rod and the thigh body of rod (8) is articulated manner, and the connection place of the trunk body of rod and the thigh body of rod (8) is provided with and swimming The hip articulated structure that person's hip joint is synchronously bent, provided with the hip for helping to bend between the trunk body of rod and the thigh body of rod (8) At least one hip flexible member of joint return.

5. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1 or 2 or 4, it is characterised in that：It is described Knee flexible member (1001) is connected rope (1003), knee spud pile (1004), lever with knee directive wheel (1002), knee Arm (1005), lever arm jointed shaft (1006), lever arm are hinged shaft end nut (1007) and collectively constitute knee elastic energy storage device (10), the ankle flexible member (1401) is connected rope (1403), ankle spud pile with ankle directive wheel (1402), ankle (1404) collectively constitute ankle elastic energy storage device (14), the hip flexible member be connected with hip directive wheel, hip rope, Hip spud pile collectively constitutes hip elastic energy storage device.

6. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1 or 2 or 4 or 5, it is characterised in that： At least one is furnished among the knee flexible member (1001), ankle flexible member (1401), hip flexible member three Adjust the balance force elastic force adjustment structure (21) of the flexible member elastic force.

7. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1 or 2 or 4, it is characterised in that：It is described The shank body of rod (7) is fixed by shank strap-on structure (19) with the shank of swimmer at least one, and the thigh body of rod (8) is by big Leg strap-on structure (20) is fixed with the thigh of swimmer at least one, and foot's body of rod (12) passes through foot's strap-on structure and swimming At least one pin of person is fixed, and the trunk body of rod is fixed by trunk strap-on structure with swimmer's trunk.

8. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1 or 2, it is characterised in that：The pin The other end among portion's body of rod (12) two ends in addition to the shank body of rod (7) one end is coupled couples with variable tail fin device, will be described Intelligent alterable tail fin part and intelligent balance-adjustable force part are connected as one formula structure.

9. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1, it is characterised in that：Including variable tail Fin apparatus, balance force application apparatus, variable tail fin and balance force intelligent double-control device, the variable tail fin and balance force intelligence Double-control apparatus includes the tachogenerator of detection swimmer's trip speed or detection swimmer swings variable tail fin device frequency and curved Roll over frequency sensor, Intelligent control circuit board, manipulation power source, variable tail fin and the balance force dual control portion of knee joint frequency The variable tail fin and balance force dual control part of part, the variable tail fin and balance force intelligent double-control device pass through more than one Middle linkage element simultaneously with the secondary tail fin (2) of variable tail fin device, balance the knee flexible member (1001) of force application apparatus It is connected, variable tail fin device, balance force application apparatus, variable tail fin and balance force intelligent double-control device is connected as one, The variable tail fin and balance force dual control part include but is not limited to the convert rotational motion of motor or engine into behaviour Control fin exhibition change width or adjust the lead-screw drive mechanism, slider-crank mechanism, tooth of knee flexible member (1001) elastic force Take turns rackwork, cam mechanism, multi-connecting-rod mechanism, leverage.

10. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1 or 2 or 4 or 5, it is characterised in that： Among the knee flexible member (1001), ankle flexible member (1401), hip flexible member three for balancing force application apparatus At least one balances at least one linkage of force operating element between with balance force Intelligent control device Element is connected.

11. a kind of intelligent speed changing Navigating System for being used to swim according to claim 1 or 2, it is characterised in that：The intelligence Energy balance-adjustable force part is connected by foot's body of rod (12) with bionic caudal fin (5) or common flippers, and common flippers includes Double-legged list web, the double webs of both feet.