CN107998625A - A kind of speed change that turns to comprising electric control gear is cruised change system - Google Patents

Abstract

The invention discloses a kind of speed change that turns to comprising electric control gear to cruise change system,Electric control gear includes becoming fin pedal,Pedal position sensor,Control unit,Motor,Bian Qi executing agencies and elastic force adjustment actuating mechanism,Speed change change system of cruising can be turned to and further include bionic caudal fin fixed link,Bionical variable tail fin device,Balance force application apparatus,Bionic caudal fin fixed link is arranged and is secured to parallel to swimmer's shank,Couple bionical variable tail fin device towards one end of swimmer foot,Towards one end connection balance force application apparatus of swimmer's thigh,The left and right tail fin of bionical variable tail fin device is placed at left and right sides of bionic caudal fin fixed link and is coupled respectively by bionic caudal fin articulated structure with bionic caudal fin fixed link,Left and right above the tail fin of left and right becomes fin pedal and is hinged respectively by ankle articulated structure and bionic caudal fin fixed link,Left and right becomes fin pedal and is connected respectively with left and right tail fin and knee hip flexible member by automatically controlled mode of transfer force or purely mechanic mode of transfer force.

Description

A kind of speed change that turns to comprising electric control gear is cruised change system

Technical field

It is more particularly to a kind of to turn to speed change comprising electric control gear the present invention relates to swimming device and diving equipment industry Cruise change system, for swimming exercise, underwater swimming, can both swim soon at a high speed, can also low speed swim slowly, can also cruise During fine setting correct and direction and flexibly turn to, cruise particularly suitable for water middle and long distance；Using the left and right mutually independent bitubular The combination of the thigh body of rod of the bionic caudal fin fixed link of shape and left and right mutually independent bitubular shape, passes through bitubular binding face Between be in permanent magnet, magnetizer or electromagnetic coil and be in positioning pin and dowel hole, it is possible to achieve Quickly, easily position each other, draw close fitting and separation, greatly facilitated swimmer between dress, swimming, walking Random switching, also add reply option when swimmer runs into burst dangerous situation in water indirectly, substantially increase swimmer Self-aid ability for stringency when in danger.

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 to advance, 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 are 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.

The either 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, for example fetched water height with the frequency of higher Fast fast trip or with relatively low frequency fetch water low speed swim slowly 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 feeling of fatigue quickly；Either the double webs of both feet or both feet are single Web, swimmer can not all realize flexibly turn to, directional trim amendment；In addition, either double-legged double webs or the single web of both feet, usually All it is to be through on swimmer's foot, because leg and foot be there are angle, the fetch water propulsion force direction of generation of flippers necessarily can not The direction advanced with swimmer is completely the same, thus also weakens propulsive efficiency.

The leg skeletal muscle overwhelming majority of the mankind is grown in one side rather than the symmetric growth of leg bone, and knee joint and hip close Section can only unidirectionally bend and two-way cannot bend, and swimmer is during the bi-directional synchronization swinging kick force swum or dived under water, very Difficulty accomplishes that swinging kick amplitude balance is symmetrical；Existing most of swimming device and diving equipment are all difficult to thoroughly to solve human body to fit Answer the natural structure of land walking and such conflict that freely moves about in water；Since the time immemorial ancestors of the mankind leave ocean After living to land, body structure slowly changes, and the structure for originally adapting to move about in ocean gradually degenerates, disappears, The structure for adapting to land walking is the substitute is, therefore, cannot be again when the mankind, which turn again to, is engaged in swimming exercise in water Oscillating tail-fin, leisure are travelling as fish.

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 natural motion fault of construction efficiently travelling in water, that is, be difficult to realize in fast trip at a high speed and Low speed swim slowly under two states can obtain higher propulsive efficiency and can not realizing flexibly turn to, directional trim amendment the deficiencies of Part, the process that the present inventor returns to dolphin, cetacean etc. the mammal oscillating tail-fin of Ocean Living are examined, ground Study carefully, and imitate dolphin in water with the mankind, the posture that cetacean oscillating tail-fin moves about compares, and compares difference therebetween, right Made a concrete analysis of again in the reason for produce difference, with reference to human motion structure feature, by scientifically and rationally using human body work Learn, there is provided go out a kind of speed change that turns to comprising electric control gear and cruise change system, turning to for electric control gear is included by this Speed change is cruised change system, and swimmer by rotating left and right ankle respectively, that is, can stretch foot according to trip speed in water The action of the back of the body or hook, using automatically controlled mode of transfer force or purely mechanic mode of transfer force, adjusts a left side for bionical variable tail fin device respectively The corner of tail fin, right tail fin, flexibly turns to, directional trim amendment, together so as to fulfill fin broadening degree, fin exhibition rea adjusting or realization When also adjustable knee flexible member elastic force, and then the fast trip at a high speed that can both have been fetched water with higher frequency also may be used Which kind of to be swum slowly with relatively low frequency low speed of fetching water, no matter fetch water under frequency, swimmer can effectively improve useful work Proportion, to greatest extent lifting swimming and diving advance efficiency and trip speed, during swimming, when need turn to when or side To when deviateing, by the left tail fin of asynchronous adjustment, the corner of right tail fin, realization flexibly turns in real time or directional trim amendment, The traveling potential of swimmer in water is given full play of, is finally reached the purpose continuously cruised over long distances；Swimmer passes through speed change Cruise, can also effectively reduce caused feeling of fatigue of cruising over long distances；In addition, it should be patrolled comprising the speed change that turns to of electric control gear It is completely the same to swim direction and the swimmer's direct of travel of the generation thrust of change system, so as to overcome double-legged double webs or both feet Leg of single web caused by being worn on swimmer's foot and web fetch water the propulsion force direction of generation there are angle and then web cannot The defects of direction that enough and swimmer advances is completely the same, so as to further improve propulsive efficiency.

Be grown in one side rather than the symmetric growth of leg bone for the leg skeletal muscle overwhelming majority of the mankind, knee joint and Hip joint can only unidirectionally bend and cannot two-way bending the characteristics of, pass through the knee elastic energy storage component, hip elasticity storage Energy component, during the bi-directional synchronization swinging kick force swum or dived under water, the elastic energy storage component of each joint, is completed The storage of a cycle, the process to release energy, so that the not reciprocity unidirectional swaying legs action that will exert a force changes into force and more puts down The bi-directional synchronization swaying legs action for the equity that weighs, swinging kick amplitude more balanced, symmetrical, swinging kick posture are more coordinated, and effectively improve useful work Proportion, reduce the in-fighting of swaying legs action, so as to greatly improve the advance efficiency and trip speed of swimming or diving, and effectively reduce length Feeling of fatigue caused by time swimming and/or diving.

Further more, bionic caudal fin fixed link and the left and right mutually independent bitubular using left and right mutually independent bitubular shape The combination of the thigh body of rod of shape, by between bitubular binding face be in permanent magnet, magnetizer or electromagnetic coil and Be in positioning pin and dowel hole, it is possible to achieve it is quick, easily position each other, draw close fitting and separation, greatly The earth facilitates random switching of the swimmer between dress, swimming, walking, also add indirectly swimmer run into water it is prominent Send out dangerous situation when reply option, substantially increase swimmer it is in danger when self-aid ability for stringency.

The present invention specifically uses following scheme：

A kind of speed change that turns to comprising electric control gear is cruised change system, and the electric control gear includes becoming fin pedal, steps on Board position sensor, control unit, motor, Bian Qi executing agencies and elastic force adjustment actuating mechanism, it is described accordingly to turn to Speed change change system of cruising further includes at least one bionic caudal fin fixed link, bionical variable tail fin device, in addition, also wraps Include balance force application apparatus, the bionic caudal fin fixed link arranged parallel to swimmer's shank and with least one shank of swimmer Mutually fixed or binding, one end connection of the bionic caudal fin fixed link towards swimmer foot have bionical variable tail fin device, institute Stating bionical variable tail fin device includes at least one left tail fin and at least one right tail fin, the left tail fin, right tail fin point Two outsides for being placed in the left and right following i.e. left and right ankle of swimmer in two outsides of bionic caudal fin fixed link middle and lower sections are following or bionical Two outsides of tail fin fixed link end are simultaneously connected by a bionic caudal fin articulated structure with bionic caudal fin fixed link respectively, institute State left tail fin plus right tail fin fin exhibition variable-width or fin exhibition variable area, left and right the two of bionic caudal fin fixed link middle and lower sections Two outsides of the left and right ankle of outside, that is, swimmer are respectively filled with the change fin pedal of an electric control gear, bionic caudal fin fixed link Connection place with becoming fin pedal is equipped with the ankle articulated structure synchronously bent with swimmer's ankle-joint, the change fin of the electric control gear Between the left tail fin of executing agency and bionical variable tail fin device, right tail fin or the change fin pedal of the electric control gear with it is bionical Pass through each independent at least one bionical variable tail fin linkage member between the left tail fin of variable tail fin device, right tail fin respectively Part is connected；One end connection of the bionic caudal fin fixed link towards swimmer's thigh has balance force application apparatus, and the balance is applied Power apparatus includes at least one thigh body of rod, at least one knee articulated structure, and the thigh body of rod is parallel to swimmer Thigh is arranged, and is mutually fixed or bound with least one thigh of swimmer, and the thigh body of rod is towards one end of swimmer's shank with imitating Raw tail fin fixed link is connected, and the bionic caudal fin fixed link and the connecting mode of the thigh body of rod are articulated manner, described bionical The connection place of tail fin fixed link and the thigh body of rod is equipped with hingedly ties with least one knee that swimmer's knee joint is synchronously bent Structure, is equipped with least one knee bullet for the knee joint return for helping to bend between the bionic caudal fin fixed link and the thigh body of rod Property element, between the elastic force adjustment actuating mechanism of the knee flexible member and electric control gear or the knee flexible member with It is connected between the change fin pedal of electric control gear by balance force linkage element at least one each other；Pass through variable tail Fin linkage element and balance force linkage element, by the electric control gear, bionical variable tail fin device, balance force application apparatus connection It is an integral structure；The spatial form of the bionic caudal fin fixed link includes but not limited to rod, tubular, and the bionic caudal fin is consolidated Fixed pole selects the material with appropriateness elasticity to be made, specifically including but not limited to engineering plastics, fiberglass, carbon fiber, thin Wall steel, aluminium alloy, titanium alloy, thin-walled copper alloy, ceramics, tempered glass, bamboo and wood material, nylon, lightweight and high intensity, to meet For a long time, the requirement of big load operation；The change fin pedal is divided into left change fin pedal and right change fin pedal, and the left foot of swimmer is put Fix therewith on left change fin pedal and mutually, the right crus of diaphragm of swimmer is placed on right change fin pedal and mutually fixes therewith, described Pedal position sensor is installed on bionic caudal fin fixed link, experiences the width that swimmer rotates change fin pedal by rotating ankle Degree, strength, acceleration, the i.e. amplitude of change fin pedal variation in angular displacement, speed, acceleration, the control unit of the electric control gear Including control board, power supply, the control board includes printed wiring board, resistance, capacitance, IC chip, The IC chip receive the swimmer come from pedal position sensor transmission rotate the amplitude for becoming fin pedal, strength, The information such as acceleration, are calculated by the model program comprehensive analysis processing of loading, are driven by power supply, motor, by can Become tail fin linkage element driving Bian Qi executing agencies, drive elastic force adjustment actuating mechanism by balancing force linkage element, with phase The amplitude answered, strength, acceleration are made a response action, so as to drive left tail fin, right tail fin, knee flexible member respectively with corresponding Amplitude, strength, acceleration make a response action, and then realize the fin broadening degree or fin exhibition that left tail fin, right tail fin relatively rotate The increase of area, reduce function, or realizes left-hand rotation, right-hand rotation and directional trim amendment that left tail fin, right tail fin rotate in same direction Function, while the default elastic deformation of knee flexible member is adjusted, so that the elastic force of knee flexible member is adjusted, it is described pre- If elastic deformation, that is, initial deformation；The power supply includes but not limited to rechargeable battery pack, non-rechargeable battery group；It is described Bian Qi executing agencies include but not limited to the convert rotational motion of motor into manipulating left tail fin, right tail fin respectively around respective Bionic caudal fin articulated structure make lead-screw drive mechanism that is opposite or rotating in same direction, slider-crank mechanism, rack and pinion mechanism, convex Take turns mechanism, multi-connecting-rod mechanism, leverage, electromagnetic force force transmission mechanism, magnetic force force transmission mechanism；The elastic force adjustment actuating mechanism bag Include but be not limited to pass the convert rotational motion of motor into the leading screw for adjusting knee flexible member initial deformation and elastic force Motivation structure, slider-crank mechanism, rack and pinion mechanism, cam mechanism, multi-connecting-rod mechanism, leverage, electromagnetic force force transmission mechanism, Magnetic force force transmission mechanism；The Bian Qi executing agencies and elastic force adjustment actuating mechanism are by the coaxial driving of same motor, Huo Zheyou Two motor drive respectively.

The electric control gear is analogous to automobile electric gasoline throttle device, the change fin pedal of electric control gear, pedal position sensor, Control unit, motor, Bian Qi executing agencies and elastic force adjustment actuating mechanism are analogous to the oil of automobile electric gasoline throttle device respectively Door pedal, pedal position sensor, EGAS control units, motor, driving throttle execution mechanism.

The IC chip of the control board of the control unit of the electric control gear, which is loaded into have, is suitable for different operating modes Under model program, the model program includes but not limited to most trip fast mode program, most laborsaving model program, maximal efficiency soon Model program, self-studying mode program, manual adjustment mode program, each model program is according to pedal position sensor transmission That comes becomes the amplitude, strength, acceleration of fin pedal rotation, the i.e. amplitude of change fin pedal variation in angular displacement, speed, acceleration, leads to The analyzing and processing computing of the model program is crossed, most fast trip fast mode is drawn, most saves force mode, maximal efficiency pattern, self study mould Corresponding output valve under formula, manual adjustment mode, by power supply, motor, is driven by variable tail fin linkage element Bian Qi executing agencies, pass through balance force linkage element driving elastic force adjustment actuating mechanism while corresponding actions；Described is most fast Trip fast mode program, most laborsaving model program, the output valve of maximal efficiency model program and its calculation formula, empirical parameter, repair Positive coefficient passes through corresponding hydrodynamics method according to the mechanics parameters of bionical variable tail fin device, balance force application apparatus And draw and be conducted into the corresponding model program of the IC chip after simulated experiment amendment, it is described from Mode of learning program refers to the process of that among swimmer swims the IC chip is often selected according to swimmer Amplitude, speed, acceleration signal value and the signal value changing rule for becoming fin pedal variation in angular displacement are optimized and are cured, The model program for being adapted to the optimization of swimmer is drawn, by most swimming fast mode program, most laborsaving model program, maximum soon Intelligently with speed while efficiency mode program, self-studying mode program can realize bionical variable tail fin device, balance force application apparatus Adjust, and it is new that each correlation computations formula, parameter, correction factor or increase can be continued to optimize during system upgrade in the future Model program, the manual adjustment mode program refer to the process of swimmer swim among, swimmer can pass through institute State the control unit of electric control gear control board connection manual manipulation button or foot-propelled operational and controlled key button in real time manually or Foot-propelled increases or reduces the angle between left tail fin and right tail fin, or direct of travel is corrected in fine setting, while adjusts knee in real time The default elastic deformation of portion's flexible member and elastic force, the manual manipulation button or foot-propelled operational and controlled key button include but not limited to Get an electric shock switch, travel switch, toggle switch, and the manual manipulation button usually can be disposed at the position that finger can touch, The foot-propelled operational and controlled key button, which can be typically mounted at, becomes the position that the toe of fin pedal can touch.

Each model program that the IC chip of the control board of the electric control gear is loaded into can also pass through program Refreshing, upgrading realize that the software modification of the model program of the electric control gear is perfect, the mould made for different application operating mode Formula program software parameter adjustment, develop be suitable for the dedicated mode program software of different features, be analogous to automobile electricity Function superposition of electronic throttle accelerator etc..

The control board of the electric control gear can also include by the driving Bian Qi executing agencies of the IC chip, The output signal of elastic force adjustment actuating mechanism, which is amplified to, to be enough to drive Bian Qi executing agencies, elastic force adjustment actuating mechanism to move work Rate amplification module, it is generally the case that the circuit components for forming the power amplifier module have included but not limited to power amplification Triode, the resistance of effect, the control board provide electric energy by power supply, and the control board is loaded on control circuit Among plate protective enclosure, the making material of the control board protective enclosure includes but not limited to metal, plastics, rubber, right The control board plays the role of protection and fixation, the control board, power supply, control board protective enclosure Collectively constitute described control unit.

In the present invention, the electric control gear be arranged in bionic caudal fin fixed link, left tail fin, right tail fin, inside thigh bar body.

Swimmer stretches the action of instep or hook, passes through except above-described by rotating left and right ankle respectively Automatically controlled mode of transfer force manipulates left tail fin, right tail fin relatively or rotates in same direction respectively, and adjusts the default of knee flexible member at the same time Beyond elastic deformation and elastic force, using purely mechanic mode of transfer force, it is same can be achieved to manipulate left tail fin, right tail fin respectively it is opposite Or rotate in same direction, and default elastic deformation and the elastic force of knee flexible member are adjusted at the same time, it is specific as follows：The left side Become fin pedal to be connected with left tail fin by least one variable tail fin linkage element, the change fin pedal on right side passes through at least one Variable tail fin linkage element is connected with right tail fin, while exerts a force linkage element by left and right change fin by least one balance Pedal is connected with least one knee flexible member, i.e. homonymy connecting mode, and swimmer is corresponding to become by rotating ankle Fin pedal drives the tail fin of homonymy to rotate, while adjusts default elastic deformation and the elastic force of knee flexible member；The left side The change fin pedal of side is connected by least one variable tail fin linkage element with right tail fin, and the change fin pedal on right side passes through at least One variable tail fin linkage element is connected with left tail fin, while will be left and right by least one balance force linkage element Become fin pedal to be connected with least one knee flexible member, i.e. heteropleural connecting mode, swimmer is by rotating ankle, accordingly The fin pedal of becoming drive the tail fin of heteropleural to rotate, while adjust default elastic deformation and the elastic force of knee flexible member；Nothing By being homonymy connecting mode or heteropleural connecting mode, swimmer can realize left tail fin and the right side by rotating synchronously the ankle of both feet Tail fin makees synchronous relative rotation around respective bionic caudal fin articulated structure, i.e., swimmer may be implemented in during oscillating tail-fin Increase, the function of reducing fin broadening degree or fin developable surface product, that is, realize speed changing function, the ankle that swimmer passes through asynchronous rotary both feet It can be achieved rotating in same direction for left tail fin and right tail fin, i.e., swimmer may be implemented in the turning function during oscillating tail-fin or direction Debugging functions are finely tuned, while adjust default elastic deformation and the elastic force of knee flexible member in real time.

When swimmer accelerates swinging kick frequency in water, by rotating left and right ankle at the same time, that is, the action of instep is stretched, Using automatically controlled mode of transfer force or purely mechanic mode of transfer force, while adjust turn of the left tail fin of bionical variable tail fin device, right tail fin Angle, by left tail fin and the opposite gathering of right tail fin, fin broadening degree, fin developable surface product reduce, while tune up the knee of balance force application apparatus The default elastic deformation of flexible member and elastic force, and then adapt to fetch water with higher frequency and swim while keep higher soon at a high speed Propulsive efficiency；When swimmer reduces swinging kick frequency in water, by rotating left and right ankle at the same time, that is, the action of hook is done, is adopted With automatically controlled mode of transfer force or purely mechanic mode of transfer force, while left tail fin, the corner of right tail fin of bionical variable tail fin device are adjusted, By left tail fin and the opposite expansion of right tail fin, fin broadening degree, the product increase of fin developable surface, while turn the knee elasticity of balance force application apparatus down The default elastic deformation of element and elastic force, and then adapt to fetch water that holding higher pushes away low speed at the same time for trip slowly with relatively low frequency Into efficiency；During swimming, when needing to turn to or when direction is deviateed, the left and right ankle of swimmer's asynchronous rotary, is adopted With automatically controlled mode of transfer force or purely mechanic mode of transfer force, by the left tail fin of asynchronous adjustment, the corner of right tail fin, realize and flexibly turn in real time To or directional trim amendment；Swimmer is cruised by speed change, can also effectively reduce caused feeling of fatigue of cruising over long distances；Separately Outside, should containing electric control gear turn to speed change cruise equipment generations thrust direction and swimmer's direct of travel complete one Cause, thus overcome leg due to being worn on swimmer's foot caused by of double-legged double web or the single web of both feet and web there are angle into And web fetch water generation propulsion force direction can not with swimmer advance direction it is completely the same the defects of, so as to further improve Propulsive efficiency.

Linked each other with knee flexible member by the electric control gear by fin pedal is become, will each other with automatically controlled mode of transfer force It is connected as one, or is linked each other with knee flexible member by knee linkage element by fin pedal is become, with purely mechanic power transmission Mode will be coupled to each other and be integrated；Swimmer stretches the action of instep or hook by rotating left and right ankle respectively, with Automatically controlled mode of transfer force or purely mechanic mode of transfer force adjust default elastic deformation and the elastic force of knee flexible member, to adapt to The change of high efficiency swinging kick under high and low different frequency needs.

Further as above-mentioned technical proposal is improved：

It can distinguish each setting one less left side tail fin, right side tail fin, institute in two sides of the left tail fin, right tail fin State between left tail fin and less left side tail fin, be hinged between right tail fin and less right side tail fin by the bionic caudal fin Structure is connected, the left side tail fin, right side tail fin two sides can also again distinguish it is each set a smaller small left tail fin, Between the small left tail fin of small right tail fin, the left side tail fin and smaller, it is also logical between the small right tail fin of right side tail fin and smaller The bionic caudal fin articulated structure is crossed to be connected, and so on, left tail fin, less left side tail fin, the small left tail fin of smaller lead to Bionic caudal fin articulated structure between crossing is serially connected into plural serial stage structure more than two-stage, right tail fin, the less right side Side tail fin, the small right tail fin of smaller are also serially connected into multistage more than two-stage by bionic caudal fin articulated structure each other Cascaded structure, left tail fin, less left side tail fin, smaller small left tail fin between be equipped with and apply elastic force between each other Bionic caudal fin return flexible member (701), right tail fin, less right side tail fin, smaller small right tail fin between be also equipped with Apply the bionic caudal fin return flexible member of elastic force each other, the bionic caudal fin return flexible member includes but not limited to Spring, gas spring, rubber band, its respective coefficient of elasticity k is constant or changes with its deflection and changes, the concrete kind of spring Type includes but not limited to extension spring, compression spring, torsional spring, disc spring, shrapnel, when each bionic caudal fin return flexible member is During torsional spring, directly it is sleeved on the articulated shaft of the bionic caudal fin articulated structure, it is bionical that the both ends of torsional spring are individually fixed in this Two adjacent tail fins that tail fin articulated structure is coupled；Left side becomes fin pedal, the change fin pedal on right side respectively by respective Independent at least one variable tail fin linkage element through homonymy or after the left tail fin in each centre of heteropleural, each intermediate right tail fin with Minimum left tail fin positioned at end, minimum right tail fin are connected；Swimmer does and stretches by rotating left and right ankle respectively Straight feet is carried on the back or the action of hook, and left tail fin, right tail fin are manipulated respectively around respective imitative by automatically controlled mode or purely mechanic mode Raw tail fin articulated structure is made opposite or is rotate in same direction, and swimmer can realize left tail fin and right tail by rotating synchronously the ankle of both feet The synchronous relative rotation of fin, i.e. swimmer may be implemented in increase, reduction fin broadening degree or the fin developable surface product during oscillating tail-fin Function, that is, realize speed changing function, swimmer can realize the in the same direction of left tail fin and right tail fin by the ankle of asynchronous rotary both feet Rotate, i.e., swimmer may be implemented in the turning function or directional trim debugging functions during oscillating tail-fin.

Under normal conditions, between left tail fin and bionic caudal fin fixed link, between right tail fin and bionic caudal fin fixed link, respectively set A bionic caudal fin articulated structure is put, can also be by 2 bionic caudal fins when bionic caudal fin fixed link is single bar Articulated structure merges into 1, i.e., left tail fin, right tail fin are articulated with 1 point；The bionic caudal fin articulated structure is hinged including tail fin Bolt axle, tail fin are hinged shaft end nut；It can ensure to rotate in a manner of the flank of tooth is mutually twisted between left tail fin, right tail fin same Step property.

The left tail fin, right tail fin, bionic caudal fin the fixed link mode associated with one another connect include but not limited to hinge-coupled Mode, be slidably matched connecting mode, and the i.e. left tail fin of the connecting mode that is slidably matched, right tail fin, bionic caudal fin fixed link are each other It is linked together each other, accordingly the slip between the left tail fin, right tail fin, bionic caudal fin fixed link sliding rail Track is curve track or rectilinear orbit；Above two connecting mode can realize similar function, i.e., left tail fin, right tail Fin, bionic caudal fin fixed link can be relatively rotated or relatively moved each other, and the fin of right tail fin is added so as to fulfill left tail fin Open up variable-width or fin exhibition variable area.

The fin pedal that becomes includes but not limited to foot's fixed plate structure of fixed walking swimming dual-purpose shoe, integral type shoe style Structure, the sled card footwear device structure for being directly caught in ordinary shoe；Described in foot's fixed plate structure of fixed walking swimming dual-purpose shoe Walking swimming dual-purpose shoe sole have it is completely corresponding logical with the more than one threaded hole that is provided with foot's fixed plate Foot's fixed plate and walking swimming dual-purpose shoe, can be connected as one by hole by penetrating bolt；The integral type shoe style structure The foot of swimmer can be formed directly into wherein.

The bionic caudal fin fixed link can be single bar, be arranged between two shanks of swimmer and bundled by shank Two shanks of structure and swimmer are bound at the same time, the left tail fin, right tail fin be placed in bionic caudal fin fixed link end a left side, The outside of the right side two is simultaneously connected by a bionic caudal fin articulated structure with bionic caudal fin fixed link respectively, and ankle articulated structure is with imitating Arranged before and after the direction that raw tail fin articulated structure is advanced along swimmer, the left tail fin plus the fin of right tail fin open up variable-width or Fin opens up variable area, it is generally the case that the length of the bionic caudal fin fixed link of single bar is longer than the length of two shank of swimmer simultaneously It is extend out to backward beyond swimmer's both feet between two shank of swimmer, the bionic caudal fin fixed link is towards swimmer's thigh There is the single thigh body of rod in one end by a knee articulated structure connection, between the bionic caudal fin fixed link and the thigh body of rod The knee flexible member of the knee joint return bent equipped with a help, the thigh body of rod are arranged simultaneously parallel to swimmer's thigh Fixed or be bound between two thighs of swimmer by thigh strap-on structure；Or the bionic caudal fin fixed link is mutually solely Vertical left and right double rod, is respectively arranged in left and right two outside of two shanks of swimmer and by respective two sets binding wall scroll shanks Structure and two shanks of swimmer fix respectively, the bionic caudal fin fixed link in the left tail fin and left side is bionical by one Tail fin articulated structure is connected, and the bionic caudal fin articulated structure is located at the left-external side of the bionic caudal fin fixed link middle and lower sections in left side Below be swimmer's left ankle left-external side below or left side bionic caudal fin fixed link end left-external side, the right tail fin with The bionic caudal fin fixed link on right side is connected by another bionic caudal fin articulated structure, another described bionic caudal fin is hingedly tied Structure is located at below the right outside of the bionic caudal fin fixed link middle and lower sections on right side i.e. below the right outside of swimmer's right ankle or right side Bionic caudal fin fixed link end right outside, the direction that ankle articulated structure and bionic caudal fin articulated structure are advanced along swimmer Front and rear arrangement, the left tail fin is plus the fin exhibition variable-width or fin exhibition variable area of right tail fin, the bionic caudal fin of left and right double rod The length of fixed link can both be longer than the length of two shank of swimmer and double from swimmer is extend out between two shank of swimmer backward , also can be of substantially equal with the length of two shank of swimmer beyond foot, the bionic caudal fin fixed link in the left side is left towards swimmer One end of side thigh is fixed by a thigh body of rod on the left of a knee articulated structure connection, the bionic caudal fin on the right side A thigh body of rod of the bar towards one end of swimmer's right lateral thigh by another knee articulated structure connection right side, the left side Between the bionic caudal fin fixed link of side and the thigh body of rod in left side, the thigh body of rod on the bionic caudal fin fixed link on right side and right side it Between be respectively provided with the knee flexible member of left and right knee joint return for helping to bend, the thigh body of rod point of the arranged on left and right sides Not parallel to the left and right thigh arrangement of swimmer and fix or be bound to swimmer by the structure of respective binding wall scroll thigh The outside of left and right thigh；Again or the bionic caudal fin fixed link is monotubular shape, and swimmer is double-legged and double with the posture erect Leg is penetrated wherein and mutually fixed with it successively from top to bottom, and the left tail fin, right tail fin are placed in the bionic caudal fin of monotubular shape Below two outsides of the following i.e. left and right ankle of swimmer in left and right two outside of fixed link middle and lower sections or bionic caudal fin fixed link end Two outsides at end are simultaneously connected by respective bionic caudal fin articulated structure and the bionic caudal fin fixed link of monotubular shape respectively, ankle Arranged before and after the direction that portion's articulated structure is advanced with bionic caudal fin articulated structure along swimmer, the left tail fin is plus right tail fin Fin, which opens up variable-width or fin exhibition variable area, the length of the bionic caudal fin fixed link of monotubular shape, can both be longer than two shank of swimmer Length and extend out to backward beyond swimmer's both feet between two shank of swimmer, also can be with the length base of two shank of swimmer This is equal, and the bionic caudal fin fixed link of the monotubular shape splits the knee of left and right towards one end of swimmer's thigh by a pair Articulated structure couples the thigh body of rod for having monotubular shape, the bionic caudal fin fixed link of the monotubular shape and the thigh of monotubular shape The knee flexible member for the knee joint return that a help is bent is equipped between the body of rod, the thigh body of rod of the monotubular shape is parallel It can penetrate wherein in two thighs of swimmer arrangement and two thighs of swimmer and mutually be fixed with it；It is or described bionical Tail fin fixed link is mutually independent left and right bitubular shape, swimmer with the posture left foot erect and left leg from top to bottom successively Penetrate among the tubular bionic caudal fin fixed link in left side and mutually fixed with it, right crus of diaphragm and right leg penetrate right side successively from top to bottom Mutually fixed among tubular bionic caudal fin fixed link and with it, the tubular bionic caudal fin fixed link in the left tail fin and left side passes through one A bionic caudal fin articulated structure is connected, under the bionic caudal fin articulated structure is located in the tubular bionic caudal fin fixed link in left side The left-external side of i.e. below the left-external side of the swimmer's left ankle or bionic caudal fin fixed link end in left side, institute below the left-external side of section The tubular bionic caudal fin fixed link for stating right tail fin and right side is connected by another bionic caudal fin articulated structure, it is described another It is swimmer's right ankle that bionic caudal fin articulated structure, which is located at below the right outside of the tubular bionic caudal fin fixed link middle and lower sections on right side, Right outside below or right side bionic caudal fin fixed link end right outside, the tubular bionic caudal fin fixed link in left side and right side Tubular bionic caudal fin fixed link it is parallel to each other and mutually draw close fitting, and be pulled together each other with permanent magnetic or electromagnetic force, The binding face of the tubular bionic caudal fin fixed link in corresponding left side and the tubular bionic caudal fin fixed link on right side is respectively provided with mutually Paired permanent magnet, magnetizer or electromagnetic coil, the tubular bionic caudal fin fixed link in left side and the tubular bionic caudal fin on right side are consolidated The binding face of fixed pole further respectively have be in positioning pin and dowel hole, positioning pin includes but not limited to taper bolt, circle Pin, hemisphere face pin, elastic positioning pin, flexible lock pin, the positioning pin can be permanent magnet or magnetizer, or without magnetic Property metal material or nonmetallic materials, cloth before and after the direction that ankle articulated structure and bionic caudal fin articulated structure are advanced along swimmer Put, the left tail fin is consolidated plus the fin exhibition variable-width or fin exhibition variable area, the bionic caudal fin of left and right bitubular shape of right tail fin The length of fixed pole can both be longer than the length of two shank of swimmer and from extend out to backward between two shank of swimmer swimmer both feet In addition, also can be of substantially equal with the length of two shank of swimmer, the left and right bionic caudal fin of the mutually independent bitubular shape is consolidated The knee articulated structure that fixed pole respectively splits left and right towards one end of left and right two thighs of swimmer by a pair couples independently of each other Bitubular shape the left and right thigh body of rod, the left and right bionic caudal fin fixed link of the mutually independent bitubular shape with mutually solely The knee flexible member for the knee joint return that a help is bent is respectively provided between the left and right thigh body of rod of vertical bitubular shape, The left and right thigh body of rod of the mutually independent bitubular shape is arranged parallel to two thighs of swimmer and swimmer is left and right Two thighs can be respectively penetrated wherein and mutually fixed with it, the tubular thigh body of rod in left side and the tubular thigh body of rod on right side that This is parallel and mutually draws close fitting, and is pulled together each other with permanent magnetic or electromagnetic force, the tubular thigh bar in corresponding left side The binding face of body and the tubular thigh body of rod on right side be respectively provided be in permanent magnet, magnetizer or electromagnetic coil, left side The tubular thigh body of rod and right side the tubular thigh body of rod binding face further respectively have be in positioning pin and positioning pin Hole, positioning pin include but not limited to taper bolt, straight pin, hemisphere face pin, elastic positioning pin, flexible lock pin, and the positioning pin can For permanent magnet or magnetizer, or without magnetic metal material or nonmetallic materials,.Using left and right mutually independent double The bionic caudal fin fixed link of barrel shape, the thigh body of rod, by between bitubular binding face be in permanent magnet, magnetizer or Electromagnetic coil and be in positioning pin and dowel hole, it is possible to achieve it is quick, easily position each other, draw close fitting And separation, random switching of the swimmer between dress, swimming, walking has been greatly facilitated, swimmer has also been added indirectly and exists Run into water burst dangerous situation when reply option, substantially increase swimmer it is in danger when self-aid ability for stringency.

Between the bionic caudal fin fixed link and left tail fin, right tail fin, or between left tail fin and right tail fin, equipped with that Apply the bionic caudal fin return flexible member of elastic force between this, to help left tail fin, right tail fin return upon actuation.

The bionic caudal fin return flexible member includes but not limited to spring, gas spring, rubber band, its respective elasticity system Number k is constant or changes with its deflection and changes；The particular type of spring include but not limited to extension spring, compression spring, Torsional spring, disc spring, shrapnel；The bionic caudal fin return flexible member of the spring-piece type can make of metal material, can also apparatus Flexible nonmetallic materials make.

It is bionic caudal fin fixed link and left tail fin, bionical under the resilient force of the bionic caudal fin return flexible member Tail fin fixed link is in maximum rating in contact point each other, fin broadening degree, fin developable surface product against each other with right tail fin； A center can be opened up in the contact point that bionic caudal fin fixed link arranged on left and right sides is pressed against with left tail fin, right tail fin respectively Line installs stop screw parallel to left tail fin, the threaded hole of right tail fin rotational plane in hole, the stop screw withstands on a left side respectively Tail fin, right tail fin are pressed against on the contact point of bionic caudal fin fixed link, and adjusting the screw-in depth of stop screw can adjust respectively The initial fin broadening degree of left tail fin, right tail fin is saved, swimmer can voluntarily be finely tuned by this adjusting stop screw, correct and advance The deviation phenomenon found in journey.

Between the bionic caudal fin fixed link and left tail fin, right tail fin, or between left tail fin and right tail fin, tune can be added Section bionic caudal fin return flexible member presets elastically-deformable bionical variable tail fin elastic force adjustment structure, so as to adjust bionic caudal fin The elastic force of return flexible member, presets elastic deformation, that is, initial elasticity deformation.

Its inside of at least one is rigid backbone among both the left tail fin and right tail fin, and outside parcel streamlined is soft Rigid material can be selected in property covering, the rigid backbone, specifically including but not limited to engineering plastics, fiberglass, carbon fiber, Steel, aluminium alloy, titanium alloy, glass, ceramics, timber, nylon, the flexible covering can be selected elastic material, specifically include But it is not limited to elastomer, silicon rubber, flexiplast, flexible polyurethane；The rigidity of structure of the rigid backbone is ladder rigidity Or progressive rate form, the direction advanced along swimmer are along the direction of the longitudinal axis of bionic caudal fin fixed link from front to back The rigidity of structure of rigid backbone gradually reduces or the inner side rigid bone by left tail fin, outside tail fin, the right tail fin to the left of right tail fin The rigidity of structure of frame gradually reduces, and similar with the tail fin skeleton structure of nature Mesichthyes, the tip of rigid backbone does component The shape of fork, to make up due to the decline of supportive and active area caused by rigidity reduction, so that lifting pendulum to greatest extent The propulsive efficiency of leg；Its exterior parcel Thin Elastic set of at least one or Thin Elastic among both the left tail fin and right tail fin Film, the material for making the Thin Elastic set or elastic film includes but not limited to elastic rubber, elastic silica gel, to reduce left tail Fin, right tail fin, the surface irregularity of bionic caudal fin fixed link, so as to reduce the resistance during moving about.

At least one can also make the form of front and rear section splicing among both the left tail fin or right tail fin, and leading portion is Rigid material, back segment are fusiform elastic material or flexible material, and front and rear section is an integral structure.

At least one can also be no stressed-skin construction among both the left tail fin and right tail fin, i.e., use glass completely Steel, carbon fiber, steel, aluminium alloy, titanium alloy, glass, ceramics, timber, engineering plastics, nylon, elastomer or polyurethane are direct It is made；The left tail fin and right tail fin can be made of same material, can also be made of not same material.

The shape that left tail fin, the right tail fin of the bionical variable tail fin device are composed includes but not limited to imitative dolphin tail Fin, imitative whale tail fin, imitative shark tail fin, imitative tuna tail fin, imitative sailfish tail fin, further according to above-mentioned animal tail swing strength and Hunting frequency and the mankind contrast situation of the swinging strength of synchronous hunting both legs and hunting frequency in water, by the tail of above-mentioned animal Fin carries out correspondingly bi-directional scaling, actual left tail fin is made, the shape that right tail fin is composed, to match swimmer in water It is middle to imitate above-mentioned corresponding animal synchronous hunting both legs and fetch water and produce the needs of propulsive force；The left tail fin, right tail fin group Close the shape type formed and include but not limited to meniscus, deep forked type, triangular form, semi-circular, meniscus, that is, crescent shaped；Left tail When fin, right tail fin are relatively rotated so that bionical variable tail fin device fin broadening degree or fin developable surface product change, left tail fin, right tail Fin allows left tail fin, the partly overlapping situation of right tail fin occur after being collapsed to the direction of the longitudinal axis of bionic caudal fin fixed link, imitates Before and after raw variable tail fin device fin broadening degree or fin developable surface product changes, the shape that the left tail fin, right tail fin are composed Type can change at the same time, i.e., converted each other between the shape type such as crescent shaped, deep forked type, triangular form, semi-circular, It is described to include electricity to adapt to duty requirements of the swimmer for different distances of cruising, different trip speed, and no matter under which kind of operating mode Control device turns to speed change change system of cruising and can obtain higher propulsive efficiency.

One end connection of the thigh body of rod towards swimmer's trunk has the trunk body of rod, the trunk body of rod and swimmer Trunk it is mutually fixed or bind, the connecting mode of the trunk body of rod and the thigh body of rod be articulated manner, the trunk body of rod and the thigh body of rod Connection place be equipped with the hip articulated structure that is synchronously bent with swimmer's hip joint, set between the trunk body of rod and the thigh body of rod There is the hip flexible member of at least one hip joint return for helping to bend.

The knee flexible member, knee directive wheel, knee connection rope, knee spud pile, lever arm, lever arm are hinged Axis, lever arm are hinged shaft end nut and collectively constitute knee elastic energy storage component.

The knee flexible member is connected with becoming fin pedal by least one balance force linkage element each other Connect, it is generally the case that knee flexible member passes through lever arm each other and balance force linkage element phase with becoming fin pedal Connection.

The hip flexible member, hip spud pile, hip directive wheel, hip connection rope collectively constitute hip elasticity storage Can component.

The hip flexible member is connected with becoming fin pedal by least one balance force linkage element each other Connect, it is generally the case that hip flexible member passes through lever arm each other and balance force linkage element phase with becoming fin pedal Connection.

Be grown in one side rather than the symmetric growth of leg bone for the leg skeletal muscle overwhelming majority of the mankind, knee joint and Hip joint can only unidirectionally bend and cannot two-way bending the characteristics of, pass through the knee elastic energy storage component, hip elasticity storage Energy component, during the bi-directional synchronization swinging kick force swum or dived under water, the elastic energy storage component of each joint, is completed The storage of a cycle, the process to release energy, so that the not reciprocity unidirectional swaying legs action that will exert a force changes into force and more puts down The bi-directional synchronization swaying legs action for the equity that weighs, swinging kick amplitude more balanced, symmetrical, swinging kick posture are more coordinated, and effectively improve useful work Proportion, reduce the in-fighting of swaying legs action, so as to greatly improve the advance efficiency and trip speed of swimming or diving, and effectively reduce length Feeling of fatigue caused by time swimming and/or diving.

The knee flexible member, hip flexible member include but not limited to spring, gas spring, rubber band, its is respective Coefficient of elasticity k is constant or changes with its deflection and changes；The particular type of the spring include but not limited to extension spring, Compress spring, torsional spring, leaf spring, disc spring, reed.

The knee flexible member, hip flexible member can also be intimate leading flank and the trailing flank elastic force such as not Swimming suit, the i.e. springy rubber of swimming suit apparatus, plastics, silica gel or stretch fabric are made, and at the knee joint of swimming suit, hip joint before The elastic force of side and trailing flank is unequal, and the elastic force of side is larger, and the elastic force of opposite side corresponding thereto is smaller；The leading flank Do not wait elastic force swimming suit to be equivalent to trailing flank and bridge and be bound to place joint front and rear sides and itself flexible body of rod, Itself flexible body of rod stores elastic potential energy when place joint is bent, and discharges elastic potential when place joint return Can, joint return where helping.

When swimmer using prostrate or lie on the back swimming position swimming when, the knee flexible member, hip flexible member, Leading flank does not wait elastic force swimming suit with trailing flank, bridges and be bound to place joint both sides and itself flexible body of rod, should also Be superimposed with the effect of gravity, i.e., when knee flexible member, hip flexible member, leading flank and trailing flank not etc. elastic force swimming suit, across Joint front and rear sides and itself flexible body of rod, store gravitional force, to next time where connecing and being bound to when being folded upward at Gravitional force is discharged during position, joint return where helping.

In view of the presence of gravity, when swimmer is switched to the swimming position lain on the back by prostrate or is switched to by lying on the back During the swimming position of prostrate, can by adjusting knee flexible member, balance that hip flexible member each adds force elastic force tune Section structure further adjusts the elastic force of each flexible member of knee hip, with the muscle strength size with swimmer and patrols Trip is adapted apart from length.

The bionic caudal fin fixed link is mutually fixed or bound by shank strap-on structure and the shank of swimmer, shank binding The concrete structure of structure is, be equipped with the bionic caudal fin fixed link it is at least a pair of be used to bundling, it is fixed at left and right sides of shank And take root in the wide bandage of shank wide belt or shank of bionic caudal fin fixed link, the belt fastener or belt lock of the shank wide belt Detain as Magnetic hasp structure, the Magnetic hasp structure is placed in shank wide belt two ends and the shank that is mutually matched for a pair Wedge block and shank wedge groove, the shank wedge block is pre-small post-large, and shank wedge groove is pre-large post-small, the shank wedge block and Shank wedge groove alternative one is kicker magnet or electromagnet, and another one is magnetizer, or kicker magnet or electromagnet, when described When shank wedge block or shank wedge groove are electromagnet, the speed change change system of cruising that turns to comprising electric control gear is equipped with Corresponding power supply and the folding control device of control shank strap-on structure folding, the folding control device connection have opposite The folding manual manipulation button answered.

The thigh body of rod is mutually fixed or bound by thigh strap-on structure and at least one thigh of swimmer, thigh bundle The concrete structure of stitch structure is, be equipped with the thigh body of rod it is at least a pair of be used to bundling, it is fixed at left and right sides of thigh and life Root is taken in the thigh wide belt or thigh breadth bandage of the thigh body of rod, the belt fastener or strap snap of the thigh wide belt for magnetism Buckle structure, the Magnetic hasp structure are placed in thigh wide belt two ends and the thigh wedge block that is mutually matched and big for a pair Leg wedge groove, the thigh wedge block is pre-small post-large, and thigh wedge groove is pre-large post-small, the thigh wedge block and thigh wedge groove Alternative one is kicker magnet or electromagnet, and another one is magnetizer, or kicker magnet or electromagnet, when the thigh wedge block Or thigh wedge groove is when being electromagnet, the speed change change system of cruising that turns to comprising electric control gear is equipped with corresponding power supply Power supply and the folding control device of control thigh strap-on structure folding, the folding control device connection have corresponding folding hand Dynamic operational and controlled key button.

The trunk body of rod is mutually fixed or bound, the tool of trunk strap-on structure with swimmer's trunk by trunk strap-on structure Body structure is to be used to bundle, fix trunk and take root in the trunk of the trunk body of rod equipped with least one on the trunk body of rod Wide belt or the wide bandage of trunk, the belt fastener or strap snap of the trunk wide belt are Magnetic hasp structure, and the magnetism is taken Buckle structure is placed in trunk wide belt two ends and the trunk wedge block and trunk wedge groove that are mutually matched for a pair, the trunk Wedge block is pre-small post-large, and trunk wedge groove is pre-large post-small, and trunk wedge block and trunk the wedge groove alternative one is kicker magnet Or electromagnet, another one are magnetizer, or kicker magnet or electromagnet, when the trunk wedge block or trunk wedge groove are electricity During magnet, the speed change that turns to comprising electric control gear cruises change system equipped with corresponding power supply and control trunk bundle The folding control device of stitch structure folding, the folding control device connection have corresponding folding manual manipulation button.

When the wedge block of the wide belt two ends of above-mentioned each strap-on structure is put into wedge groove and presses each folding manual manipulation When button is powered, each wedge block under the action of magnetic force or electromagnetic force, is attracted each other and mutually guided, positions with wedge groove, from It is dynamic to tighten each wide belt.

The trunk body of rod, hip articulated structure, hip elastic energy storage component, trunk strap-on structure, hip strap-on structure Respectively refer to the corresponding thigh body of rod, knee articulated structure, knee portion elastic energy storage component, thigh strap-on structure, The structure type of knee strap-on structure and trunk, the concrete shape of hip joint and size according to swimmer makes corresponding tune It is whole and obtain；By the electric control gear by become fin pedal linked each other with hip flexible member, with automatically controlled mode of transfer force by that This is connected as one, or is linked each other with hip flexible member by hip linkage element by fin pedal is become, with purely mechanic biography Power mode will be coupled to each other and be integrated；Swimmer stretches the action of instep or hook by rotating left and right ankle respectively, Default elastic deformation and the elastic force of hip flexible member are adjusted with automatically controlled mode of transfer force or purely mechanic mode of transfer force, to adapt to The change of high efficiency swinging kick under high and low different frequency needs.

The speed change that turns to comprising electric control gear cruises one-piece swimsuit can be wrapped up outside change system, the disjunctor swimming Clothing is whole by the both legs and both feet of the balance force application apparatus and swimmer down toward bionic caudal fin fixed link up to swimmer's neck Body wraps, the one-piece swimsuit parcel swimmer trunk, balance force application apparatus, swimmer both legs and both feet in, Hypomere is levels off to fusiform single tubular construction, and to reduce travelling resistance, epimere wraps up two arm segments as the trunk that is placed in Two less tubular constructions of both sides, the one-piece swimsuit are disposed with longitudinal direction from swimmer's neck to bionic caudal fin fixed link and pass through At least one waterproof slide fastener worn, in order to wear and take off, is provided with least one for connecting pumping on the one-piece swimsuit The gas nozzle or valve cock of air pump or pump bowl, for will be more in one-piece swimsuit after having worn one-piece swimsuit and having pulled on waterproof slide fastener Remaining air extraction, the part that the one-piece swimsuit end is in contact with bionic caudal fin fixed link are the ring of embedded elastic O-ring Shape structure, offers the O-ring groove for accommodating the loop configuration, one-piece swimsuit end in the bionic caudal fin fixed link accordingly Loop configuration insertion bionic caudal fin fixed link on O-ring groove, sealing, waterproof can be played the role of, outside the one-piece swimsuit Surface is waterproof and multi-pore structure that is microcosmic adsorbable or accommodating the vaseline smeared, and one-piece swimsuit outer surface is fully smeared Running resistance when can effectively reduce travelling after vaseline, the outer surface of the one-piece swimsuit at least one at post reflection plaster or Reflectorized material is scribbled, to improve the passive safety that swimmer cruises at night.

With it is described balance force linkage element balance force application apparatus by bionic caudal fin fixed link can also with it is common The bionic caudal fin for being divided into left and right two halves or the double webs of common both feet be connected, i.e., be divided into left and right two halves with common Bionic caudal fin or the double webs of common both feet replace the bionical variable tail fin device, and bionic caudal fin fixed link herein is mutually solely The vertical left and right bitubular shape or the left and right double rod shape, when bionic caudal fin fixed link is left and right double rod shape, Left and right double rod is individually fixed in the inner side of the left and right shank of swimmer, the bionic caudal fin fixed link in left side and the bionic caudal fin on right side Fixed link is parallel to each other and mutually draws close fitting, and is pulled together each other with permanent magnetic or electromagnetic force, and corresponding left side is imitated The binding face of raw tail fin fixed link and the bionic caudal fin fixed link on right side be respectively provided be in permanent magnet, magnetizer or electricity The binding face of magnetic coil, the bionic caudal fin fixed link in left side and the bionic caudal fin fixed link on right side further respectively have be in Positioning pin and dowel hole, positioning pin include but not limited to taper bolt, straight pin, hemisphere face pin, elastic positioning pin, snap lock Pin, the positioning pin can be permanent magnet or magnetizer, or without magnetic metal material or nonmetallic materials；The left side, The bionic caudal fin fixed link of right bitubular shape or the left and right double rod shape is in the positioning pin and permanent magnetic or electromagnetic force Under effect, the bionic caudal fins of the left and right two halves is combined into one as complete common bionic caudal fin, and swimmer can be as dolphin The same synchronous hunting both legs realize the action of dolphin butterfly, separated then facilitate swimmer's dress and take off, the common both feet Double webs two are the single web of common both feet, swimmer equally can the synchronous hunting both legs as dolphin realize the dynamic of dolphin butterfly Make, separated then be the common double webs of both feet, swimmer can realize that the both legs crawled are kicked alternately action, and same conveniently swim Person wears and takes off.

The turning to speed change change system of cruising and can also be applied integrally to Biomimetic Fish, aquatic bionic comprising electric control gear Robot, by it is described turn to speed change cruise change system according to Biomimetic Fish, underwater bionic robot size carry out it is matched Overall ratio scales, and in Biomimetic Fish, the afterbody of underwater bionic robot, passes through bionic caudal fin fixed link and variable tail fin device phase Connection, to substitute common immutable bionic caudal fin, as its propulsion device, according to the trip of Biomimetic Fish, underwater bionic robot Speed, the frequency for swinging variable tail fin or amplitude dynamic realtime adjust the fin broadening degree or fin developable surface product of bionical variable tail fin device, So that Biomimetic Fish, underwater bionic robot reach inaccessiable more compared to common immutable bionic caudal fin institute is provided with Height trip speed and higher propulsive efficiency, bionical variable tail fin device copy dolphin tail fin arrangement swing up and down in the case of, may be used also By left tail fin, right tail fin rotate in same direction realize turn to or direction fine setting amendment, correspondingly, the electric control gear is received The left tail fin of manipulation, right tail fin is opposite or the action command that rotates in same direction comes from the center of Biomimetic Fish, underwater bionic robot Main control computer chip, rather than come from pedal position sensor.

The bionic caudal fin fixed link can also be the telescopic Telescopic rod structure of the small bar of big rod set, big bar and small bar it Between be equipped with locking bolt, holding screw, elastic positioning pin, the flexible lock pin that big bar and small bar can be mutually locked, it is or described Bionic caudal fin fixed link for slide cover slide bar telescopic telescopic rail structure, between slide and slide bar be equipped with can by slide with Locking bolt that slide bar is mutually locked, holding screw, elastic positioning pin, flexible lock pin, big bar or slide and swimmer are at least One shank is arranged on telescopic small bar or slide bar to fixed or binding, the bionic caudal fin articulated structure, in order to The left tail fin of flexible modulation, right tail fin are stretched out below shank or received to collapsing length more than shank；For the single bar, double Bar, monotubular shape, the bionic caudal fin fixed link of four type of bitubular shape are applicable in, particularly with the bionic caudal fin of bitubular shape Fixed link is more applicable in, it is necessary to when swimming, by left tail fin, right tail fin stretch out below shank and locking, it is necessary to debark walking when, will Left tail fin, right tail fin are received to more than shank and locking.

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

The advantage of the invention is that：

1st, arranged on left and right sides of the invention become fin pedal by each independent bionical variable tail fin linkage element respectively with Left tail fin, right tail fin are connected, and swimmer, with automatically controlled mode of transfer force or purely mechanic mode of transfer force, becomes fin and step on by rotating ankle Strip is moved corresponding tail fin and is rotated, and swimmer can realize the synchronous phase of left tail fin and right tail fin by rotating synchronously the ankle of both feet To rotating, i.e., swimmer may be implemented in the speed changing function during oscillating tail-fin, the ankle that swimmer passes through asynchronous rotary both feet It can be achieved rotating in same direction for left tail fin and right tail fin, i.e., swimmer may be implemented in the turning function during oscillating tail-fin and direction Debugging functions are finely tuned, while adjust the elastic force of knee flexible member；No matter swimmer fetches water under which kind of frequency, can obtain Higher propulsive efficiency is obtained, plays the traveling potential of swimmer in water to greatest extent；Swimmer is cruised by speed change, can be with Caused feeling of fatigue of cruising over long distances is effectively reduced, and then can realize that water middle and long distance is continuously cruised, realizes automatically controlled power transmission The electric control gear of mode is analogous to the E-Gas device of automobile.

2nd, the bionic caudal fin fixed link of mutually independent left and right bitubular shape of the invention is by the phase on binding face each other Mutually paired permanent magnet, magnetizer or electromagnetic coil, and be in positioning pin and dowel hole, it is possible to achieve it is quick, Easily position each other, draw close fitting and separation, greatly facilitated swimmer dress, swimming, walking between with Meaning switching, also adds reply option when swimmer runs into burst dangerous situation in water, it is in danger to substantially increase swimmer indirectly When self-aid ability for stringency.

3rd, left tail fin of the invention, less left side tail fin, the small left tail fin of smaller pass through bionic caudal fin each other Articulated structure, bionic caudal fin return flexible member are serially connected into plural serial stage structure more than two-stage, right tail fin, the less right side Side tail fin, the small right tail fin of smaller pass through bionic caudal fin articulated structure each other, bionic caudal fin return flexible member also phase The plural serial stage structure being mutually connected into more than two-stage, left side become fin pedal, the change fin pedal on right side respectively by each independent At least one variable tail fin linkage element through homonymy or after the left tail fin in each centre of heteropleural, each intermediate right tail fin with being located at Minimum left tail fin, the right tail fin of end are connected, and swimmer can realize each tail in left side by rotating synchronously the ankle of both feet The synchronous relative rotation of fin and each tail fin on right side, i.e., swimmer may be implemented in the speed changing function during oscillating tail-fin, swimming Person can realize the asynchronous relative rotation of each tail fin in left side and each tail fin on right side by the ankle of asynchronous rotary both feet, that is, swim Person may be implemented in the turning function during oscillating tail-fin.

4th, walking swimming dual-purpose shoe can be directly anchored in foot's fixed plate or used sled by change fin pedal of the invention Ordinary shoe is directly clamped among on gusset piece by card footwear device, and wearing is succinctly, conveniently, comfortably.

5th, it is of the invention to be pressed each other with right tail fin with left tail fin, bionic caudal fin fixed link installed in bionic caudal fin fixed link The stop screw of the contact point leaned on, adjust the screw-in depth of the stop screw can adjust respectively left tail fin, right tail fin it is initial Fin broadening degree, swimmer can voluntarily be finely tuned by this adjusting stop screw, correct the deviation phenomenon found during advancing.

6th, can between bionic caudal fin fixed link of the invention and left tail fin, right tail fin, or between left tail fin and right tail fin Additive regulating bionic caudal fin return flexible member presets the bionical variable tail fin elastic force adjustment structure of elastic deformation and elastic force, In order to which swimmer is according to the muscle strength size of oneself and the bullet for the whole bionic caudal fin return flexible member of distance minor of cruising Power size.

7th, both left tail fin of the invention and right tail fin among at least one can use it internal for rigid backbone, outside The structure type of package flow linear flexible covering, the rigidity of structure of the rigid backbone can make ladder rigidity or progressive rate shape Formula, the direction advanced along swimmer are along the firm of the direction rigid backbone of the longitudinal axis of bionic caudal fin fixed link from front to back Degree gradually reduce, or by left tail fin, right tail fin outside to the left tail fin, right tail fin inner side rigid backbone the rigidity of structure it is gradual Reduce, it is similar with the tail fin skeleton structure of nature Mesichthyes, so as to lift the propulsive efficiency of swinging kick to greatest extent；It is described Its exterior parcel Thin Elastic set or elastic film of at least one among both left tail fin and right tail fin, to reduce left tail fin, the right side The surface irregularity of tail fin, bionic caudal fin fixed link, so as to reduce the resistance during moving about.

8th, the shape that left tail fin, the right tail fin of bionical variable tail fin device of the invention are composed includes but not limited to imitative Dolphin tail fin, imitative whale tail fin, imitative shark tail fin, imitative tuna tail fin, imitative sailfish tail fin, the left tail fin, the combination of right tail fin The shape type formed includes but not limited to meniscus, deep forked type, triangular form, semi-circular, meniscus, that is, crescent shaped；Left tail fin, When right tail fin is relatively rotated so that bionical variable tail fin device fin broadening degree or fin developable surface product change, the left tail fin, the right side The shape type that tail fin is composed can change at the same time, i.e., in the shape class such as crescent shaped, deep forked type, triangular form, semi-circular What converted each other between type, to adapt to duty requirements of the swimmer for different distances of cruising, different trip speed, and no matter at Under kind of operating mode, the turning to speed change change system of cruising and can obtain higher propulsive efficiency comprising electric control gear.

9th, balance force application apparatus of the invention is adaptation land walking or the natural motion evolved of running for the mankind Structure can not adapt to the main movement fault of construction moved about in water, i.e., when the mankind imitate dolphin, cetacean swing both legs move about, no It can accomplish bi-directional symmetrical swinging kick truly, by the balance force application apparatus, with reference to human motion structure feature, science is closed Reason ground uses ergonomics, and bi-directional symmetrical swinging kick, exerts a force isoequilibrium, plays the traveling of swimmer in water to greatest extent and dives Can, and then the purpose continuously cruised over long distances.

10th, the IC chip of the control board of the control unit of electric control gear of the invention is loaded into have and is suitable for not With the model program under operating mode, the model program includes but not limited to most trip fast mode program, most laborsaving model program, most soon Big efficiency mode program, self-studying mode program, manual adjustment mode program are, it can be achieved that left tail fin, the rotation of right tail fin and knee The manipulations such as portion's flexible member, hip flexible member initial elasticity deformation adjustment automate, are intelligent, so as to fulfill described bionical Variable tail fin device, the intelligence of balance force application apparatus with velocity modulation section, each model program of loading can also by the refreshing of program, Upgrading realizes that the software modification of the model program of the electric control gear is perfect, the model program made for different application operating mode Software parameter adjustment, develop and be suitable for the dedicated mode program software of different features, be analogous to automobile electric gasoline throttle and add The function superposition of fast device.

11st, the control board of the control unit of electric control gear of the invention can be also included the IC chip Driving Bian Qi executing agencies, the output signal of elastic force adjustment actuating mechanism are amplified to and are enough to drive Bian Qi executing agencies, elastic force tune Save the power amplifier module of executing agency's action.

12nd, in view of the presence of gravity, when swimmer is switched to the swimming position lain on the back by prostrate or is cut by lying on the back When being changed to the swimming position of prostrate, can by adjusting knee flexible member, balance that hip flexible member each adds force bullet Power adjustment structure further adjusts the elastic force of each flexible member of knee hip, with the muscle strength size with swimmer It is adapted with cruising apart from length.

13rd, when the wedge block of the wide belt two ends of each strap-on structure of the invention is put into wedge groove, wedge block and wedge shape Groove is attracted each other and mutually guided, positions, automatically tighten wide belt under the action of magnetic force or electromagnetic force, easy to wearing and Take off.

14th, turning to the cruise outside of change system of speed change and can wrap up one-piece swimsuit comprising electric control gear of the invention, To reduce travelling resistance, the one-piece swimsuit is disposed with longitudinal direction perforative at least one from swimmer's neck to bionic caudal fin fixed link A waterproof slide fastener, in order to wear and take off, is provided with least one for connecting aspiration pump or pumping on the one-piece swimsuit The gas nozzle or valve cock of cylinder, for taking out air unnecessary in one-piece swimsuit after having worn one-piece swimsuit and having pulled on waterproof slide fastener Go out, the O-ring groove in the loop configuration of one-piece swimsuit end insertion bionic caudal fin fixed link, sealing, waterproof can be played Effect, the one-piece swimsuit outer surface are waterproof and multi-pore structure that is microcosmic adsorbable or accommodating the vaseline smeared, are connected Running resistance when can effectively reduce travelling after vaseline is fully smeared in body swimming suit outer surface, the outer surface of the one-piece swimsuit Reflection plaster is posted at least one or scribbles reflectorized material, to improve the passive safety that swimmer cruises at night.

15th, the balance force application apparatus with the balance force linkage element of the invention passes through mutually independent left and right The bionic caudal fin fixed link of bitubular shape or left and right double rod shape can also be with the common bionical tail for being divided into left and right two halves Fin or the double webs of common both feet are connected, i.e., with the common bionic caudal fin for being divided into left and right two halves or the double webs of common both feet Replace the bionic caudal fin of the bionical variable tail fin device, the mutually independent left and right bitubular shape or left and right double rod shape Fixed link by each other on binding face be in permanent magnet, magnetizer or electromagnetic coil, and be in positioning Pin and dowel hole, realization is quick, easily positions each other, draws close fitting and separation.

16th, turning to speed change change system of cruising and can be applied integrally to Biomimetic Fish, water containing electric control gear of the invention Lower bio-robot, by it is described turn to speed change cruise change system according to Biomimetic Fish, underwater bionic robot size carry out Matched overall ratio scaling, in Biomimetic Fish, the afterbody of underwater bionic robot, passes through bionic caudal fin fixed link and variable tail fin Device is connected, to substitute common immutable bionic caudal fin, as its propulsion device.

17th, bionic caudal fin fixed link of the invention can be the telescopic Telescopic rod structure or slide of the small bar of big rod set The telescopic telescopic rail structure of slide bar is covered, between big bar and small bar, is equipped with and will can lock each other between slide and slide bar At least one shank of locking bolt, holding screw, elastic positioning pin, flexible lock pin only, big bar or slide and swimmer to Fixed or binding, the bionic caudal fin articulated structure is arranged on telescopic small bar or slide bar, particularly with bitubular shape Bionic caudal fin fixed link be more applicable in, it is necessary to when swimming, by left tail fin, right tail fin stretch out below shank and locking, it is necessary on When bank is walked, left tail fin, right tail fin are received to more than shank and locking.

18th, it is of the invention comprising electric control gear turn to speed change cruise change system under normal conditions can be along the vertical of human body Axis arrange, it is described turn to speed change cruise change system produce thrust direction and swimmer's direct of travel it is completely the same, from And overcome the leg of double-legged double web or the single web of both feet caused by being worn on swimmer's foot there are angle and then web with web Fetch water generation propulsion force direction can not with swimmer advance direction it is completely the same the defects of.

19th, light structure of the present invention, reliable operation, corresponding manufacture craft is simple, of low cost, easy to mass produce Used with popularization.

Brief description of the drawings

Fig. 1 is cruising dress comprising the speed change that turns to that electric control gear and bionic caudal fin fixed link are bitubular shape for the present invention The composition structure diagram of standby system.

Fig. 2 is the bionic caudal fin fixed link of the present invention and left tail fin, right tail fin, the bionic caudal fin of bionical variable tail fin device The combining structure schematic diagram of articulated structure, bionical variable tail fin elastic force adjustment structure, bionical variable tail fin linkage element etc..

Fig. 3 is the bionic caudal fin fixed link of the present invention, the change fin pedal of electric control gear and bionical variable tail fin device The combining structure schematic diagram of ankle articulated structure, bionical variable tail fin linkage element etc..

Fig. 4 is the present invention along shown bionic caudal fin fixed link after bionic caudal fin fixed link longitudinal axis facade cutting and flat Weigh the cuing open of the combinations such as the thigh body of rod of force application apparatus, knee articulated structure, knee elastic energy storage component, balance force linkage element Face structure diagram.

Fig. 5 is the combination of the knee flexible member additional equilibrium force elastic force adjustment structure of the balance force application apparatus of the present invention Structure diagram.

Fig. 6 is the bionic caudal fin fixed link including single bar of the invention, bionical variable tail fin device, balance force application apparatus And the speed change that turns to of electric control gear is cruised change system combining structure schematic diagram.

In figure：1st, bionic caudal fin fixed link；2nd, left tail fin；3rd, right tail fin；4th, bionic caudal fin articulated structure；401st, tail fin is cut with scissors Connecting bolt axis；402nd, tail fin is hinged shaft end nut；5th, ankle articulated structure；501st, ankle articulated shaft；502nd, ankle is hinged shaft end Nut；6th, fin pedal is become；7th, bionical variable tail fin elastic force adjustment structure；701st, bionic caudal fin return flexible member；702nd, it is variable Tail fin force adjustment screw rod；703rd, variable tail fin rotates freely connector；704th, variable tail fin force adjustment locking nut；8th, shank binding knot Structure；801st, bionic caudal fin fixed link binding body；802nd, shank wide belt；803rd, shank wedge block；804th, shank wedge groove；9、 Bionical variable tail fin linkage element；10th, balance force linkage element；11st, the thigh body of rod；12nd, knee articulated structure；1201st, knee Portion's articulated shaft；1202nd, knee is hinged shaft end nut；13rd, knee elastic energy storage component；1301st, knee flexible member；1302nd, knee Portion's directive wheel；1303rd, knee connection rope；1304th, knee spud pile；1305th, lever arm；1306th, lever arm articulated shaft； 1307th, lever arm is hinged shaft end nut；14th, balance force elastic force adjustment structure；1401st, balance force force adjustment screw rod；1402nd, put down Weighing apparatus force rotates freely connector；1403rd, balance force force adjustment locking nut；1404th, spud pile locking nut；15th, the thigh body of rod Strap-on structure；1501st, thigh body of rod binding body；1502nd, thigh wide belt；1503rd, thigh wedge block；1504th, thigh wedge shape Groove.

Wherein belong to having for bionical variable tail fin device：2nd, left tail fin；3rd, right tail fin；4th, bionic caudal fin articulated structure； 401st, tail fin link bolt axis；402nd, tail fin is hinged shaft end nut；5th, ankle articulated structure；501st, ankle articulated shaft；502nd, ankle Portion is hinged shaft end nut；7th, bionical variable tail fin elastic force adjustment structure；701st, bionic caudal fin return flexible member；702nd, variable tail Fin force adjustment screw rod；703rd, variable tail fin rotates freely connector；704th, variable tail fin force adjustment locking nut；8th, shank strap-on structure； 801st, bionic caudal fin fixed link binding body；802nd, shank wide belt；803rd, shank wedge block；804th, shank wedge groove；9th, imitate Raw variable tail fin linkage element.

Wherein belong to having for balance force application apparatus：10th, balance force linkage element；11st, the thigh body of rod；12nd, knee is hinged Structure；1201st, knee articulated shaft；1202nd, knee is hinged shaft end nut；13rd, knee elastic energy storage component；1301st, knee elasticity Element；1302nd, knee directive wheel；1303rd, knee connection rope；1304th, knee spud pile；1305th, lever arm；1306th, lever Arm articulated shaft；1307th, lever arm is hinged shaft end nut；14th, balance force elastic force adjustment structure；1401st, balance force force adjustment spiral shell Bar；1402nd, balance force rotates freely connector；1403rd, balance force force adjustment locking nut；1404th, spud pile locking nut； 15th, thigh body of rod strap-on structure；1501st, thigh body of rod binding body；1502nd, thigh wide belt；1503rd, thigh wedge block； 1504th, thigh wedge groove.

Wherein belong to having for electric control gear：6th, fin pedal is become；Electric control gear additionally includes：Pedal position sensor, control Unit, motor, Bian Qi executing agencies and elastic force adjustment actuating mechanism processed.

Bionic caudal fin fixed link one end is connected with bionical variable tail fin device, the other end and balance force application apparatus, will be imitative Raw variable tail fin device and balance force application apparatus are connected as one formula structure.

Embodiment

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

As shown in Figure 1, the present invention's turns to speed change comprising electric control gear and bionic caudal fin fixed link 1 for bitubular shape Cruise change system, the main bionic caudal fin fixed link 1 for including bitubular shape, left tail fin 2, the right tail of bionical variable tail fin device Fin 3, bionic caudal fin articulated structure 4, ankle articulated structure 5, balance the thigh body of rod 11, the knee hinge of the bitubular shape of force application apparatus Binding structure 12, knee flexible member 1301, the change fin pedal 6 of electric control gear, pedal position sensor, control unit, motor, Bian Qi executing agencies and elastic force adjustment actuating mechanism.

As shown in Fig. 2, the bionic caudal fin fixed link 1 and the left tail fin 2 of bionical variable tail fin device of the present invention, right tail fin 3, The combination knot of bionic caudal fin articulated structure 4, bionical variable tail fin elastic force adjustment structure 7, bionical variable tail fin linkage element 9 etc. Structure.

Wherein, bionic caudal fin articulated structure 4 includes tail fin link bolt axis 401, tail fin is hinged shaft end nut 402；It is bionical Variable tail fin elastic force adjustment structure 7 includes bionic caudal fin return flexible member 701, variable tail fin force adjustment screw rod 702, variable tail fin Rotate freely connector 703, variable tail fin force adjustment locking nut 704.

The effect of the bionical variable tail fin elastic force adjustment structure 7 is to meet muscle strength size of the swimmer according to oneself With the needs of the elastic force of the whole bionic caudal fin return flexible member 701 of distance minor of cruising, the variable tail fin freely revolves Adapter 703 can rotate freely in variable 702 corresponding hole of tail fin force adjustment screw rod, and bionic caudal fin return elasticity is adjusted to facilitate The size of 701 elastic force of element, locks variable tail fin force adjustment locking nut 704 after setting.

The bionical variable tail fin linkage element 9 of arranged on left and right sides in this figure, one end are connected with left tail fin 2, right tail fin 3, The other end and the change fin pedal 6 of arranged on left and right sides are connected or are connected with the Bian Qi executing agencies of electric control gear, are stepped on becoming fin Plate 6, which is connected, is connected in purely mechanic mode of transfer force, is connected with Bian Qi executing agencies and is connected in automatically controlled mode of transfer force.

As shown in figure 3, the change fin pedal 6 and bionical variable tail fin of the bionic caudal fin fixed link 1 of the present invention, electric control gear The combining structure of the ankle articulated structure 5 of device, bionical variable tail fin linkage element 9, balance force linkage element 10 etc..

Wherein, ankle articulated structure 5 includes ankle articulated shaft 501, ankle is hinged shaft end nut 502.

The bionical variable tail fin linkage element 9 of arranged on left and right sides in this figure, one end are connected with left tail fin 2, right tail fin 3, The other end and the change fin pedal 6 of arranged on left and right sides are connected, and are purely mechanic mode of transfer force；The balance of arranged on left and right sides in this figure is applied Power linkage element 10, one end are connected by lever arm 1305 and knee flexible member 1301, the change of the other end and arranged on left and right sides Fin pedal 6 is connected, and is also purely mechanic mode of transfer force.

As shown in figure 4, the present invention's fixes along shown bionic caudal fin after 1 longitudinal axis facade cutting of bionic caudal fin fixed link The thigh body of rod 11 of bar 1 and balance force application apparatus, knee articulated structure 12, knee elastic energy storage component 13, balance force linkage The cross-section structure of the grade combination of element 10.

Wherein, knee articulated structure 12 includes knee articulated shaft 1201, knee is hinged shaft end nut 1202；Knee elasticity storage Can component 13 include knee flexible member 1301, knee directive wheel 1302, knee connection rope 1303, knee spud pile 1304, Lever arm 1305, lever arm articulated shaft 1306, lever arm are hinged shaft end nut 1307.

The balance force linkage element 10 of arranged on left and right sides in this figure, one end pass through lever arm 1305 and knee elasticity member Part 1301 is connected, and the change fin pedal 6 of the other end and arranged on left and right sides is connected or adjusts execution machine with the elastic force of electric control gear Structure is connected, and is connected with change fin pedal 6 and is connected in purely mechanic mode of transfer force, is connected with elastic force adjustment actuating mechanism and is connected in automatically controlled power transmission Mode.

As shown in figure 5, the balance force elastic force tune that the knee flexible member 1301 of the balance force application apparatus of the present invention is additional The combining structure of section structure 14.

Wherein, balance force elastic force adjustment structure 14 includes balance force force adjustment screw rod 1401, balance force rotates freely Connector 1402, balance force force adjustment locking nut 1403, spud pile locking nut 1404.

In the knee elastic energy storage component 13, hip elastic energy storage component between respective flexible member and spud pile A set of balance force elastic force adjustment structure 14 can be added, to adjust the initial value of elastic of each flexible member, i.e., each flexible member Value of elastic when the bending amount in joint is 0 where value of elastic during initial elasticity deformation, namely each elastic energy storage component, for example, When each flexible member uses extension spring, processed on the spud pile of each elastic energy storage component along the axis direction of extension spring Go out threaded hole, the one end for balancing force force adjustment screw rod 1401 is threaded into hole, the other end is rotated freely by balancing force Connector 1402 is connected with extension spring, and the screw-in amount that balance force force adjustment screw rod 1401 screws in spud pile is bigger, mounting stretching bullet Initial value of elastic after spring is bigger, on the contrary then smaller, after setting up good initial value of elastic, will balance force force adjustment screw rod 1401 Balance force force adjustment locking nut 1403 is locked, and finally locks spud pile locking nut 1404；Balance force, which rotates freely, to be connect First 1402 can rotate freely in 1401 corresponding hole of balance force force adjustment screw rod, to facilitate the elasticity member for adjusting each joint The elastic force of part.

As shown in fig. 6, the speed change that turns to of the present invention is cruised change system combining structure, it is main bionical including single bar Tail fin fixed link 1, bionical variable tail fin device, balance force application apparatus and electric control gear.

Wherein, bionical variable tail fin device is hingedly tied including left tail fin 2, right tail fin 3, bionic caudal fin articulated structure 4, ankle Structure 5, bionical variable tail fin elastic force adjustment structure 7, shank strap-on structure 8, bionical variable tail fin linkage element 9.

Wherein, balancing force application apparatus includes the thigh body of rod 11, knee articulated structure 12, knee elastic energy storage component 13, big Leg body of rod strap-on structure 15, balance force linkage element 10.

Wherein, electric control gear includes becoming fin pedal 6, additionally include pedal position sensor, control unit, motor, Bian Qi executing agencies and elastic force adjustment actuating mechanism.

Shank strap-on structure 8 includes bionic caudal fin fixed link binding body 801, shank wide belt 802, shank wedge block 803rd, shank wedge groove 804.

Thigh body of rod strap-on structure 15 includes thigh body of rod binding body 1501, thigh wide belt 1502, thigh wedge block 1503rd, thigh wedge groove 1504.

The specific embodiment of the present invention is as follows：

Embodiment one：As shown in fig. 6, a kind of speed change that turns to comprising electric control gear of the present invention is cruised change system, The main bionic caudal fin fixed link 1 including single bar, bionical variable tail fin device, balance force application apparatus and electric control gear.

Left tail fin 2, right tail fin 3 are parallel to each other and have a smooth, mellow and full low flow resistance curved surface.

The bionical variable tail fin linkage element 9 of arranged on left and right sides in this figure, one end are connected with left tail fin 2, right tail fin 3, The other end and the change fin pedal 6 of arranged on left and right sides are connected, and can also be connected with the Bian Qi executing agencies of electric control gear, with change Fin pedal 6, which is connected, is connected in purely mechanic mode of transfer force, is connected with Bian Qi executing agencies and is connected in automatically controlled mode of transfer force.

The balance force linkage element 10 of arranged on left and right sides in this figure, one end passes through knee elastic energy storage component 13, hip The respective lever arm of elastic energy storage component is connected with knee flexible member 1301, hip flexible member, the other end and left and right two The change fin pedal 6 of side is connected, and can also be connected with the elastic force adjustment actuating mechanism of electric control gear, is connected with becoming fin pedal 6 Purely mechanic mode of transfer force is connected in, is connected with elastic force adjustment actuating mechanism and is connected in automatically controlled mode of transfer force.

Swimmer is during swimming, by rotating ankle, i.e., hook or stretches instep, becoming fin pedal 6 can by driving Change tail fin linkage element 9, balance force linkage element 10 are stretched, contracting action, so as to drive left tail fin 2, right tail fin 3 to relatively rotate And the elastic force of knee flexible member 1301, hip flexible member is adjusted by each lever arm, and then realize swimmer During swimming, bionical variable tail fin is voluntarily adjusted according to trip speed or the frequency, the amplitude that swing bionical variable tail fin device Fin broadening degree or fin the developable surface product and knee flexible member 1301, the elastic force of hip flexible member of device, reach and both may be used To be fetched water at a high speed with higher frequency, trip, the low speed that can also be fetched water with relatively low frequency are swum slowly soon, and no matter swimmer is in which kind of frequency Fetch water under rate, can obtain higher propulsive efficiency, play the traveling potential of swimmer in water to greatest extent；Swimmer is led to Cross speed change to cruise, can effectively reduce caused feeling of fatigue of cruising over long distances, and then can realize that water middle and long distance continuously patrols Trip；During swimming, when needing to turn to or when direction is deviateed, the left and right ankle of swimmer's asynchronous rotary, by different The left tail fin of successive step, the corner of right tail fin, realization flexibly turns in real time or directional trim amendment.

The bionical variable tail fin linkage element 9, balance force linkage element 10 are that can bear to draw under normal conditions The rigid rod of power also allowable stress；When the bionical variable tail fin device is equipped with bionic caudal fin return flexible member 701, together When, there is the presence of knee flexible member 1301, the bionical variable tail fin linkage element 9, balance force linkage element 10 also may be used Think the flexible rope for only bearing pulling force.

Embodiment provided above is the better embodiment of the present invention, is only used for the convenient explanation present invention, not to this hair The limitation of bright work in any form, for example, the thigh body of rod 11 of the bionic caudal fin fixed link 1, single bar for single bar, by institute State the 2 shank strap-on structures 8 in left and right, the 2 thigh body of rod strap-on structures 15 in left and right, trunk body of rod strap-on structure and make 2 respectively Overall parcel swimmer or so shank, 2 entirety wrap up swimmer or so thigh, 1 entirety wraps up the dermoskeleton of swimmer's trunk Bone entirety package structure form, i.e., 2 wrap up respectively swimmer or so shank ectoskeleton inclusion enclave of shank, 2 wrap up respectively The thigh ectoskeleton inclusion enclave of swimmer or so thigh, 1 trunk ectoskeleton inclusion enclave for wrapping up swimmer's trunk, it is each described The joint bearing block of more than 2 is respectively arranged with ectoskeleton inclusion enclave, the joint shaft with the 2 shank ectoskeleton inclusion enclaves in the left and right The oscillating bearing bulb that bearing is corresponding and quantity is equal is mounted in the left and right sides of bionic caudal fin fixed link 1,2 big with the left and right The oscillating bearing bulb that the joint bearing block of leg ectoskeleton inclusion enclave is corresponding and quantity is equal is mounted in the left and right two of the thigh body of rod 11 Side, oscillating bearing bulb corresponding with the joint bearing block of the trunk ectoskeleton inclusion enclave and that quantity is equal are mounted in the trunk body of rod On, when on the left and right shank ectoskeleton inclusion enclave, on the thigh ectoskeleton inclusion enclave of left and right, on trunk ectoskeleton inclusion enclave it is each When having 2 joint bearing blocks, at left and right sides of the left and right sides of bionic caudal fin fixed link 1, the thigh body of rod 11, on the trunk body of rod Respectively there are 2 corresponding oscillating bearing bulbs, each oscillating bearing bulb is inserted into after corresponding joint bearing block, oscillating bearing The resilient key that is equipped with or flexible lock pin will limit the loosening, it is necessary to extract oscillating bearing bulb of the oscillating bearing bulb on seat When need to only press the spacing releasing of resilient key or flexible lock pin by oscillating bearing bulb, to facilitate swimmer easily and quickly to wear It is upper or take off the speed change that turns to comprising electric control gear and cruise change system；Have in any technical field and usually know The knowledgeable, in the range of not departing from the present invention and carrying technical characteristic, locally changes using made by disclosed technology contents Dynamic or modification equivalent embodiment, and without departing from the technical feature content of the present invention, still fall within the technology of the present invention feature In the range of.

Claims (10)

1. a kind of speed change that turns to comprising electric control gear is cruised change system, the electric control gear includes becoming fin pedal (6), steps on Board position sensor, control unit, motor, Bian Qi executing agencies and elastic force adjustment actuating mechanism, it is described accordingly to turn to Speed change change system of cruising further includes at least one bionic caudal fin fixed link (1) and bionical variable tail fin device, in addition, Further include balance force application apparatus, it is characterised in that：The bionic caudal fin fixed link (1) parallel to swimmer's shank arrange and with trip At least one shank of swimmer is mutually fixed or binds, and the bionic caudal fin fixed link (1) couples towards one end of swimmer foot There is bionical variable tail fin device, the bionical variable tail fin device includes at least one left tail fin (2) and at least one right side Tail fin (3), the left tail fin (2), right tail fin (3) are placed in below left and right two outside of bionic caudal fin fixed link (1) middle and lower sections I.e. below two outsides of the left and right ankle of swimmer or two outsides of bionic caudal fin fixed link (1) end are simultaneously imitative by one respectively Raw tail fin articulated structure (4) is connected with bionic caudal fin fixed link (1), and the left tail fin (2) adds the fin broadening of right tail fin (3) Variable or fin exhibition variable area is spent, left and right two outside of bionic caudal fin fixed link (1) middle and lower sections is the left and right ankle of swimmer Two outsides are respectively filled with the change fin pedal (6) of an electric control gear, bionic caudal fin fixed link (1) and the connection for becoming fin pedal (6) The place of connecing is equipped with the ankle articulated structure (5) that is synchronously bent with swimmer's ankle-joint, the Bian Qi executing agencies of the electric control gear with Between the left tail fin (2) of bionical variable tail fin device, right tail fin (3) or the change fin pedal (6) of the electric control gear with it is bionical Pass through each independent at least one bionical variable tail fin between the left tail fin (2) of variable tail fin device, right tail fin (3) respectively Linkage element (9) is connected, and one end connection of the bionic caudal fin fixed link (1) towards swimmer's thigh has balance force dress Put, the balance force application apparatus includes at least one thigh body of rod (11), at least one knee articulated structure (12), described The thigh body of rod (11) is arranged parallel to swimmer's thigh, and is mutually fixed or bound, the thigh body of rod with least one thigh of swimmer (11) it is connected towards one end of swimmer's shank and bionic caudal fin fixed link (1), the bionic caudal fin fixed link (1) and thigh The connecting mode of the body of rod (11) is articulated manner, and the bionic caudal fin fixed link (1) and the connection place of the thigh body of rod (11) are equipped with At least one knee articulated structure (12) synchronously bent with swimmer's knee joint, the bionic caudal fin fixed link (1) with it is big At least one knee flexible member (1301) for the knee joint return for helping to bend, the knee are equipped between the leg body of rod (11) Between flexible member (1301) and the elastic force adjustment actuating mechanism of electric control gear or the knee flexible member (1301) with electricity It is connected, is passed through by balance force linkage element (10) at least one each other between the change fin pedal (6) of control device Variable tail fin linkage element (9) and balance force linkage element (10), by the electric control gear, bionical variable tail fin device, put down Weighing apparatus force application apparatus is connected as one formula structure, and the spatial form of the bionic caudal fin fixed link (1) includes but not limited to rod, cylinder Shape, the control unit of the electric control gear include control board, power supply, and the control board includes printed wire Plate, resistance, capacitance, IC chip, the power supply include but not limited to rechargeable battery pack, non-rechargeable battery Group, the Bian Qi executing agencies include but not limited to the convert rotational motion of motor into manipulating left tail fin (2), right tail respectively Fin (3) makees lead-screw drive mechanism, crank block machine opposite or rotate in same direction around respective bionic caudal fin articulated structure (4) Structure, rack and pinion mechanism, cam mechanism, multi-connecting-rod mechanism, leverage, electromagnetic force force transmission mechanism, magnetic force force transmission mechanism, it is described Elastic force adjustment actuating mechanism include but not limited to by the convert rotational motion of motor into adjust knee flexible member elastic force Lead-screw drive mechanism, slider-crank mechanism, rack and pinion mechanism, cam mechanism, multi-connecting-rod mechanism, leverage, electromagnetic force Force transmission mechanism, magnetic force force transmission mechanism, the electric control gear are arranged in bionic caudal fin fixed link (1), left tail fin (2), right tail fin (3), among the thigh body of rod (11).

2. a kind of speed change that turns to comprising electric control gear according to claim 1 is cruised change system, it is characterised in that： The bionic caudal fin fixed link (1) is single bar, be arranged between two shanks of swimmer and by shank strap-on structure (8) with Two shanks of swimmer are bound at the same time, and the left tail fin (2), right tail fin (3) are placed in bionic caudal fin fixed link (1) end Left and right two outside is simultaneously connected by a bionic caudal fin articulated structure (4) with bionic caudal fin fixed link (1) respectively, the left side Tail fin (2) is plus the fin exhibition variable-width or fin exhibition variable area of right tail fin (3), bionic caudal fin fixed link (1) the direction trip There is the single thigh body of rod (11) in one end of swimmer's thigh by knee articulated structure (12) connection, and the bionic caudal fin is consolidated The knee flexible member (1301) for the knee joint return that a help is bent, institute are equipped between fixed pole (1) and the thigh body of rod (11) The thigh body of rod (11) is stated to arrange parallel to swimmer's thigh and fix or be bound to swimmer two by thigh strap-on structure (15) Between bar thigh, or the bionic caudal fin fixed link (1) is mutually independent left and right double rod, is respectively arranged in swimmer two Left and right two outside of bar shank is simultaneously solid respectively by two shanks of the respective two sets structures for bundling wall scroll shank and swimmer Fixed, the left tail fin (2) and the bionic caudal fin fixed link (1) in left side are connected by a bionic caudal fin articulated structure (4), institute It is left to state below the left-external side of bionic caudal fin fixed link (1) middle and lower sections that bionic caudal fin articulated structure (4) is located at left side i.e. swimmer The left-external side of bionic caudal fin fixed link (1) end in below the left-external side of ankle or left side, the right tail fin (3) are imitative with right side Raw tail fin fixed link (1) is connected by another bionic caudal fin articulated structure (4), another described bionic caudal fin articulated structure (4) positioned at right side bionic caudal fin fixed link (1) middle and lower sections right outside below i.e. swimmer's right ankle right outside below or The right outside of bionic caudal fin fixed link (1) end on right side, fin exhibition variable-width of the left tail fin (2) plus right tail fin (3) Or fin exhibition variable area, one end of bionic caudal fin fixed link (1) towards the thigh on the left of swimmer in the left side pass through a knee A piece thigh body of rod (11) in portion's articulated structure (12) connection left side, bionic caudal fin fixed link (1) the direction swimming on the right side One end of person's right lateral thigh passes through a thigh body of rod (11) on another knee articulated structure (12) connection right side, the left side Bionic caudal fin fixed link (1) and left side the thigh body of rod (11) between, the bionic caudal fin fixed link (1) on right side it is big with right side Be respectively provided with the knee flexible member (1301) of left and right knee joint return for helping to bend between the leg body of rod (11), it is described it is left, The thigh body of rod (11) of right both sides is respectively parallel to the left and right thigh arrangement of swimmer and by the knot of respective binding wall scroll thigh The outside of the left and right thigh of swimmer is fixed or be bound to structure, then or the bionic caudal fin fixed link (1) be monotubular shape, trip Swimmer is penetrated wherein and is mutually fixed with it, the left tail fin (2), right tail with the posture both feet and both legs erect successively from top to bottom Fin (3) be placed in monotubular shape bionic caudal fin fixed link (1) middle and lower sections the left and right following i.e. left and right foot of swimmer in two outsides Below two outsides of ankle or two outsides of bionic caudal fin fixed link (1) end simultaneously pass through respective bionic caudal fin articulated structure respectively (4) the bionic caudal fin fixed link (1) with monotubular shape is connected, and the left tail fin (2) can plus the fin broadening degree of right tail fin (3) Become or fin opens up variable area, one end of bionic caudal fin fixed link (1) towards the swimmer's thigh of the monotubular shape passes through a pair Splitting knee articulated structure (12) connection of left and right has the thigh body of rod (11) of monotubular shape, the bionic caudal fin of the monotubular shape The knee elasticity member for the knee joint return that a help is bent is equipped between fixed link (1) and the thigh body of rod (11) of monotubular shape Part (1301), the thigh body of rod (11) of the monotubular shape is parallel to two thigh arrangements of swimmer and two thighs of swimmer It can penetrate wherein and mutually be fixed with it, or the bionic caudal fin fixed link (1) is mutually independent left and right Dual-barrel-shaped Shape, swimmer with the posture left foot erect and left leg penetrate successively from top to bottom left side tubular bionic caudal fin fixed link (1) it In and mutually fix with it, right crus of diaphragm and right leg penetrate successively from top to bottom among the tubular bionic caudal fin fixed link (1) on right side and with It is mutually fixed, and the left tail fin (2) and the tubular bionic caudal fin fixed link (1) in left side pass through a bionic caudal fin articulated structure (4) it is connected, the bionic caudal fin articulated structure (4) is located at the left outside of tubular bionic caudal fin fixed link (1) middle and lower sections in left side The left-external side of i.e. below the left-external side of swimmer's left ankle or bionic caudal fin fixed link (1) end in left side, the right side below side Tail fin (3) and the tubular bionic caudal fin fixed link (1) on right side are connected by another bionic caudal fin articulated structure (4), described Another bionic caudal fin articulated structure (4) is located at below the right outside of tubular bionic caudal fin fixed link (1) middle and lower sections on right side i.e. The right outside of bionic caudal fin fixed link (1) end on below the right outside of swimmer's right ankle or right side, the tubular in left side are bionical Tail fin fixed link (1) is parallel to each other with the tubular bionic caudal fin fixed link (1) on right side and mutually draws close and is bonded, and with permanent magnetic or Electromagnetic force is pulled together each other, and the tubular bionic caudal fin fixed link (1) in corresponding left side and the tubular bionic caudal fin on right side are consolidated The binding face of fixed pole (1) be respectively provided be in permanent magnet, magnetizer or electromagnetic coil, the tubular bionic caudal fin in left side consolidates The binding face of fixed pole (1) and the tubular bionic caudal fin fixed link (1) on right side further respectively have be in positioning pin and positioning Pin hole, positioning pin include but not limited to taper bolt, straight pin, hemisphere face pin, elastic positioning pin, flexible lock pin, the left tail fin (2) the fin exhibition variable-width plus right tail fin (3) or fin exhibition variable area, the left and right of the mutually independent bitubular shape are imitated Raw tail fin fixed link (1) respectively splits the knee articulated structure of left and right towards one end of left and right two thighs of swimmer by a pair (12) the left and right thigh body of rod (11) of mutually independent bitubular shape is coupled, the left and right of the mutually independent bitubular shape is imitated A help is respectively provided between raw tail fin fixed link (1) and the left and right thigh body of rod (11) of mutually independent bitubular shape to bend Knee joint return knee flexible member (1301), the left and right thigh body of rod (11) of the mutually independent bitubular shape is flat Row can be respectively penetrated wherein in two thighs of swimmer arrangement and left and right two thighs of swimmer and mutually fixed with it, left The tubular thigh body of rod (11) of side is parallel to each other with the tubular thigh body of rod (11) on right side and mutually draws close and is bonded, and with permanent magnetic Or electromagnetic force is pulled together each other, the tubular thigh body of rod (11) in corresponding left side and the tubular thigh body of rod (11) on right side Binding face be respectively provided be in permanent magnet, magnetizer or electromagnetic coil, the tubular thigh body of rod (11) in left side and right side The tubular thigh body of rod (11) binding face further respectively have be in positioning pin and dowel hole, positioning pin includes but not It is limited to taper bolt, straight pin, hemisphere face pin, elastic positioning pin, flexible lock pin.

3. a kind of speed change that turns to comprising electric control gear according to claim 1 is cruised change system, it is characterised in that： Between the bionic caudal fin fixed link (1) and left tail fin (2), right tail fin (3), or between left tail fin (2) and right tail fin (3), Equipped with the bionic caudal fin return flexible member (701) for applying elastic force between each other, the bionic caudal fin fixed link (1) and a left side , can additive regulating bionic caudal fin return elasticity between tail fin (2), right tail fin (3), or between left tail fin (2) and right tail fin (3) Element (701) presets the bionical variable tail fin elastic force adjustment structure (7) of elastic deformation and elastic force, presets elastic deformation i.e. just Beginning elastic deformation.

4. a kind of speed change that turns to comprising electric control gear according to claim 1 is cruised change system, it is characterised in that： The left tail fin (2) and right tail fin (3) among the two at least one its it is internal be rigid backbone, exterior package flow linear flexible Covering, the rigidity of structure of the rigid backbone is ladder rigidity or progressive rate form, along the direction that swimmer advances before Gradually reduced or by left tail fin along the rigidity of structure of the direction rigid backbone of the longitudinal axis of bionic caudal fin fixed link (1) backward (2), tail fin (2), the rigidity of structure of inner side rigid backbone of right tail fin (3) gradually reduce to the left in the outside of right tail fin (3), described Its exterior parcel Thin Elastic set or elastic film of at least one, make the bullet among both left tail fin (2) and right tail fin (3) Property thin set or the material of elastic film include but not limited to elastic rubber, elastic silica gel, a left side for the bionical variable tail fin device The shape that tail fin (2), right tail fin (3) are composed include but not limited to imitative dolphin tail fin, imitative whale tail fin, imitative shark tail fin, Imitative tuna tail fin, imitative sailfish tail fin, the shape type that the left tail fin (2), right tail fin (3) are composed include but not limited to It is meniscus, deep forked type, triangular form, semi-circular.

5. a kind of speed change that turns to comprising electric control gear according to claim 1 is cruised change system, it is characterised in that： One end connection of the thigh body of rod (11) towards swimmer's trunk has the body of the trunk body of rod, the trunk body of rod and swimmer The connecting mode of dry mutually fixed or binding, the trunk body of rod and the thigh body of rod (11) is articulated manner, the trunk body of rod and the thigh body of rod (11) connection place is equipped with the hip articulated structure synchronously bent with swimmer's hip joint, the trunk body of rod and the thigh body of rod (11) at least one hip flexible member for the hip joint return for helping to bend is equipped between.

6. a kind of speed change that turns to comprising electric control gear according to claim 1 or 2 or 5 is cruised change system, it is special Sign is：The bionic caudal fin fixed link (1) is mutually fixed or bound by shank strap-on structure (8) and the shank of swimmer, small The concrete structure of leg strap-on structure (8) is to be equipped with least a pair on the bionic caudal fin fixed link (1) to be used to bundle, fix The left and right sides shank and shank wide belt (802) or the wide bandage of shank, the shank taken root in bionic caudal fin fixed link (1) are wide The belt fastener or strap snap of belt (802) are Magnetic hasp structure, and the Magnetic hasp structure is wide for a pair shank that is placed in Belt (802) two ends and the shank wedge block (803) and shank wedge groove (804) being mutually matched, the shank wedge block (803) pre-small post-large, shank wedge groove (804) is pre-large post-small, the shank wedge block (803) and shank wedge groove (804) two One of person is kicker magnet or electromagnet, and another one is magnetizer, or kicker magnet or electromagnet, when the shank wedge block (803) when or shank wedge groove (804) is electromagnet, the speed change change system of cruising that turns to comprising electric control gear is equipped with Corresponding power supply and the folding control device of control shank strap-on structure folding, the folding control device connection have opposite The folding manual manipulation button answered, the thigh body of rod (11) are at least one big by thigh strap-on structure (15) and swimmer's Leg is mutually fixed or binds, and the concrete structure of thigh strap-on structure (15) is that at least a pair is equipped with the thigh body of rod (11) For bundling, fix left and right sides thigh and take root in the thigh wide belt (1502) or thigh breadth bandage of the thigh body of rod (11), The belt fastener or strap snap of the thigh wide belt (1502) are Magnetic hasp structure, and the Magnetic hasp structure is a pair of point The thigh wedge block (1503) and thigh wedge groove (1504) for being placed in thigh wide belt (1502) two ends and being mutually matched, it is described Thigh wedge block (1503) is pre-small post-large, and thigh wedge groove (1504) is pre-large post-small, the thigh wedge block (1503) and thigh Wedge groove (1504) alternative one is kicker magnet or electromagnet, and another one is magnetizer, or kicker magnet or electromagnet, works as institute When to state thigh wedge block (1503) or thigh wedge groove (1504) be electromagnet, the speed change that turns to comprising electric control gear is patrolled Change system is swum to be equipped with corresponding power supply and control the folding control device of thigh strap-on structure folding, the folding control Device connection has corresponding folding manual manipulation button, and the trunk body of rod passes through trunk strap-on structure and swimmer's trunk phase Fixed or binding, the concrete structure of trunk strap-on structure are to be equipped with least one be used to bundling, be fixed on the trunk body of rod Trunk and take root in the wide bandage of trunk wide belt or trunk of the trunk body of rod, the belt fastener or strap snap of the trunk wide belt For Magnetic hasp structure, the Magnetic hasp structure is placed in trunk wide belt two ends and the trunk wedge that is mutually matched for a pair Shape block and trunk wedge groove, the trunk wedge block is pre-small post-large, and trunk wedge groove is pre-large post-small, the trunk wedge block and body Dry wedge groove alternative one is kicker magnet or electromagnet, and another one is magnetizer, or kicker magnet or electromagnet, when the body When dry wedge block or trunk wedge groove is electromagnet, the speed change change system of cruising that turns to comprising electric control gear is equipped with phase The power supply and the folding control device of control trunk strap-on structure folding answered, the folding control device connection have corresponding Folding manual manipulation button.

7. a kind of speed change that turns to comprising electric control gear according to claim 1 is cruised change system, it is characterised in that： The speed change that turns to containing electric control gear is cruised the exterior parcel one-piece swimsuit of change system, and the one-piece swimsuit is up to trip Swimmer's neck, down toward bionic caudal fin fixed link (1), by the overall parcel of the both legs and both feet of the balance force application apparatus and swimmer Firmly, the one-piece swimsuit parcel swimmer trunk, balance force application apparatus, swimmer both legs and both feet in, hypomere be Level off to fusiform single tubular construction, it is the two less tubular knots of trunk both sides of being placed in that epimere, which wraps up two arm segments, Structure, the one-piece swimsuit are disposed with the perforative at least one waterproof in longitudinal direction from swimmer's neck to bionic caudal fin fixed link (1) and draw Chain, at least one gas nozzle or valve cock for being used to connect aspiration pump or pump bowl, the disjunctor are provided with the one-piece swimsuit The part that swimming suit end is in contact with bionic caudal fin fixed link (1) is the loop configuration of embedded elastic O-ring, corresponding described imitative Offer the O-ring groove for accommodating the loop configuration on raw tail fin fixed link (1), the one-piece swimsuit outer surface is waterproof and micro- Multi-pore structure that is adsorbable or accommodating the vaseline smeared in sight, the outer surface of the one-piece swimsuit at least one at post it is anti- Light pastes or scribbles reflectorized material.

8. a kind of speed change that turns to comprising electric control gear according to claim 1 is cruised change system, it is characterised in that： Balance force application apparatus with the balance force linkage element (10) is divided into by bionic caudal fin fixed link (1) and common The bionic caudal fin of left and right two halves or the double webs of common both feet are connected, i.e., with the common bionic caudal fin for being divided into left and right two halves Or the common double webs of both feet replace the bionical variable tail fin device, bionic caudal fin fixed link (1) herein is mutually independent Left and right bitubular shape or left and right double rod shape, when bionic caudal fin fixed link (1) is left and right double rod shape, left and right double rod point The inner side of the left and right shank of swimmer, the bionic caudal fin fixed link (1) in left side and the bionic caudal fin fixed link on right side are not fixed on (1) it is parallel to each other and mutually draw close fitting, and be pulled together each other with permanent magnetic or electromagnetic force, the bionical tail in corresponding left side The binding face of fin fixed link (1) and the bionic caudal fin fixed link (1) on right side be respectively provided be in permanent magnet, magnetizer or The binding face of electromagnetic coil, the bionic caudal fin fixed link (1) in left side and the bionic caudal fin fixed link (1) on right side further respectively has phase Mutually paired positioning pin and dowel hole, positioning pin include but not limited to taper bolt, straight pin, hemisphere face pin, elastic positioning pin, Flexible lock pin.

9. a kind of speed change that turns to comprising electric control gear according to claim 1 is cruised change system, it is characterised in that： The speed change change system of cruising that turns to containing electric control gear is applied integrally to Biomimetic Fish, underwater bionic robot, by institute Speed change change system of cruising can be turned to by stating carries out matched overall ratio contracting according to the size of Biomimetic Fish, underwater bionic robot Put, in Biomimetic Fish, the afterbody of underwater bionic robot, be connected by bionic caudal fin fixed link (1) with variable tail fin device, with Common immutable bionic caudal fin is substituted, it is the left tail fin of manipulation (2) that the electric control gear is received, right as its propulsion device Tail fin (3) is opposite or the action command that rotates in same direction comes from the central primary control computer chip of Biomimetic Fish, underwater bionic robot, Rather than come from pedal position sensor.

10. a kind of speed change that turns to comprising electric control gear according to claim 1 or 2 is cruised change system, its feature It is：The bionic caudal fin fixed link (1) is the telescopic Telescopic rod structure of the small bar of big rod set, is equipped between big bar and small bar Locking bolt, holding screw, elastic positioning pin, the flexible lock pin that big bar and small bar can be mutually locked, or the bionical tail Fin fixed link (1) covers the telescopic telescopic rail structure of slide bar for slide, and being equipped between slide and slide bar can be by slide and cunning At least the one of locking bolt that bar is mutually locked, holding screw, elastic positioning pin, flexible lock pin, big bar or slide and swimmer Bar shank is arranged on telescopic small bar or slide bar to fixed or binding, the bionic caudal fin articulated structure (4).