CN206050034U - Bionic machine fish - Google Patents

Abstract

The utility model discloses a kind of bionic machine fish, the fish body being connected including fish head and with fish head, the afterbody skeleton that the fish body is included trunk skeleton and is connected with the trunk skeleton, trunk skeleton includes multiple joint of trunk being hingedly engaged to each other to form trunk skeleton, afterbody skeleton includes multiple caudal articular processes being hingedly engaged to each other to form fish tail portion, the fish body also includes flexible member and multiple lugs, through hole is provided with lug, the plurality of lug is distributed on joint of trunk and caudal articular process, flexible member wears through hole and flexible member is fixed with trunk skeleton and afterbody skeleton respectively.The fish body structure of bionic machine fish of the present utility model enhances fish in pliability when swinging simply and by arranging flexible member with fish, and with bionical effect true to nature.

Description

Bionic machine fish

Technical field

This utility model belongs to bio-robot technical field, and in particular to a kind of bionic machine fish.

Background technology

The nineties in 20th century focuses primarily upon theoretical side previously for the bionic research of Fish, with Fish pusher What reason was studied gos deep into, the new development of roboticses, bionics, electronic technology, material science and control technology, simulation Fish trip Motivation reason underwater robot --- bionic machine fish receives extensive concern both domestic and external.The rope made of hemp Institute of Technology of U.S. root According to " flux driving is theoretical " of the fish tail propulsion for proposing, long 1.2 meters bionical tuna and long 0.8 meter bionical shuttle are developed Fish.Marine Science Center of Northeast USA university develops the machine eel of undulatory propulsion using marmem and linkage Fish.University of New Mexico of the U.S. utilizes polyelectrolyte ion exchange membrane IEM, is plated in the foil of bionic machine fish fin On, artificial myokinesiss are realized by extra electric field, the travelling method of similar Anguillar japonica is produced.Essex universities of Britain devise to be had The machine fish of three-dimensional motion ability.Tokyo Univ Japan have developed the robotic dolphin of two joint propulsion.Kato etc. is have studied to fish The control of fin propulsive mechanism simultaneously develops machine fish model machine sea bass.It is micro- that Japan Nagoya university develops marmem driving The dipterus type microrobot of type physical undulations formula underwater propeller and Piezoelectric Ceramic.At home, Harbin Institute of Engineering work Cheng great Xue has carried out the research work of bionic machine Zhang Yu.The have developed machine eel of BJ University of Aeronautics ＆ Astronautics's robot research Fish, robotic dolphin and the SPC series bionic machine fish using flat roomy axe shape hydrodynamic force external form.Chinese Academy of Sciences Shenyang is automatic Change the diarticular bionic machine fish model of Research Institute.Peking University's mechanics have developed bionical dolphin sample with engineering science system Machine.The developed microminiature machine fish of Chinese Academy of Sciences's Beijing automation research, multisensor bionic machine fish etc..

However, if bionic machine fish body framing structure is complicated both at home and abroad at present and swings toughness not enough, manufacturing cost is high.

Utility model content

The purpose of this utility model is to provide a kind of bionic machine fish for solving above-mentioned technical problem.

This utility model embodiment provides a kind of bionic machine fish, including fish head and the fish body being connected with fish head, the fish The afterbody skeleton that body is included trunk skeleton and is connected with the trunk skeleton, trunk skeleton include it is multiple be hingedly engaged to each other with The joint of trunk of trunk skeleton is formed, afterbody skeleton includes multiple caudal articular processes being hingedly engaged to each other to form fish tail portion, The fish body also includes flexible member and multiple lugs, and through hole is provided with lug, and the plurality of lug is distributed in joint of trunk On caudal articular process, flexible member wears through hole and flexible member is fixed with trunk skeleton and afterbody skeleton respectively.

Further, joint of trunk takes the shape of the letter U, including in the form of sheets and first of horizontally set, positioned at first lower section and Second in the form of sheets, and two ends respectively with first and second connecting portion being connected, wherein, adjacent two trunks are closed Two about first of section is stacked and contacts connection, and two about second of two adjacent joint of trunk is stacked and contacts Connection, the lug being distributed on joint of trunk are arranged on the top of first.

Further, the connecting portion offered mouth the end of neighbouring first, two neighboring joint of trunk its In crossing in mouth on first connecting portion for inserting another joint of trunk in a joint of trunk and two first leans And by vertically arranged hinge, two about second of two adjacent joint of trunk is distributed and contacts with each other and pass through Vertically arranged hinge.

Further, the trunk skeleton also includes that affixed with fish head and with trunk skeleton the trunk positioned at forefront is closed The fish neck frame that section is hinged, in the plurality of lug a lug are distributed on fish neck frame, one end of the flexible member Fix through the lug on the fish neck frame and with fish neck frame.

Further, the fish neck frame takes the shape of the letter U, the first installing plate including horizontally set, under the first installing plate Second installing plate and two ends of side is connected with the first installing plate and the second installing plate piece respectively, and stator fixes company with fish head Connect, first positioned at joint of trunk foremost of the free end of the first installing plate and the second installing plate and the trunk skeleton And second be hinged.

Further, the free end of first installing plate and the second installing plate respectively extends a pin-joint piece, and first The pin-joint piece insertion of installing plate positioned at the joint of trunk of front end cross in mouth and with first against and by vertically arranged pin Axle is hinged, pin-joint piece on the second installing plate and second against and pass through hinge.

Further, afterbody skeleton includes multiple caudal articular processes being hingedly engaged to each other to form fish tail portion, and afterbody is closed Section includes the first connection sheet of horizontally set, the second connection sheet below the first connection sheet, and two ends respectively with first 3rd connection sheet of connection sheet and the second connection sheet, two first connection sheets in two adjacent tail portions joints are distributed and mutual up and down Contact connection, two second connection sheets in two adjacent tail portions joints are distributed and contact with each other connection up and down, are distributed in afterbody and close Lug on section is arranged on the top of the first connection.

Further, the 3rd connection sheet is offered in the end of neighbouring first connection sheet and wears mouth, two neighboring afterbody The first connection sheet in one of caudal articular process in joint insert wearing in mouth in the 3rd connection sheet of another caudal articular process and Two the first connection sheets lean connection.

Due to the application of above-mentioned technical proposal, this utility model has the advantages that：

The fish body structure of bionic machine fish of the present utility model is enhanced simply and by arranging flexible member with fish Fish in pliability when swinging, and with bionical effect true to nature.

Description of the drawings

Fig. 1 is provided the dimensional structure diagram of bionic machine fish by this utility model preferred embodiment.

Planar structure schematic diagrams of the Fig. 2 for Fig. 1.

Decomposing schematic representations of the Fig. 3 for the fish head in Fig. 1.

Cross-sectional schematics of the Fig. 4 for the fish head in Fig. 1.

The anterior decomposing schematic representation with fish neck of partial exploded views of the Fig. 5 for the fish body in Fig. 1, specially fish trunk.

Partial exploded views of the Fig. 6 for the fish body in Fig. 1, the specially decomposing schematic representation after fish trunk with fish tail portion.

Schematic diagrams of the Fig. 7 for the fish body pendulous device in Fig. 1.

Fig. 8-10 drives the schematic diagram of the trunk skeleton swing of fish body for the fish body pendulous device in Fig. 1.

Schematic diagrams of the Figure 11 for the fin in Fig. 1.

Schematic diagrams of the Figure 12 for the flexible joint in Figure 11.

Schematic diagrams of the Figure 13 for the motor box in Figure 11.

Schematic diagrams of the Figure 14 for the floating descending mechanism of this utility model bionic machine fish.

Schematic diagrams of the Figure 15 for the control system of this utility model bionic machine fish.

Specific embodiment

In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain this Utility model, is not used to limit this utility model.

The bionic machine fish that this utility model preferred embodiment is provided can with the true to nature head for simulating Fish float with Dive, while the mouth opening and closing of Fish realistically can also be simulated.

Incorporated by reference to reference to Fig. 1, Fig. 2, Figure 14 and Figure 15, bionic machine fish of the present utility model, including fish head 1, fish body 3, Floating descending mechanism 6 and control system 7.First of all for being easy to be described the bionic mechanical machine fish, initially set up and give advice Coordinate system, defines X, Y, Z-direction and is respectively first direction, second direction and third direction, first direction horizontal direction and be Line direction before fish, which is vertical with first direction for horizontal direction for second direction, and third direction is vertical, and fish is along on third direction Rise and dive.

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

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

Specifically, when opening and closing motor 14 drives first gear 15 to rotate clockwise, the second gear 16 is in the first tooth Rotate counterclockwise under the transmission of wheel 15, second gear 16 drives lower jaw 12 to do the motion opened relative to the upper jaw 11；Conversely, the Two gear 16 drives lower jaw 12 to do the motion relative to the closure of the upper jaw 11.Further, second gear 16 is located at first gear 15 Rear, in order to realistically simulate the mouth opening and closing of Fish, it should be noted that second gear 16 be located at first gear 15 Rear refer to for first gear 15, second gear 16 is closer to fish body.Preferably, second gear 16 is straight Diameter of the footpath more than first gear 15, in order to control the opening and closing degree of fish mouth.In the present embodiment, pivot 171 and second gear 16 center of circle is hinged, and the center of circle of second gear 16 relative to second gear 16 teeth portion closer to fish body 3, it is true to nature to ensure Simulation realizes the quick opening and closing of fish mouth while going out the mouth opening and closing of Fish.

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

In the present embodiment, second fixed plate 172 of the fixed mount 17 also including horizontally set, the first fixed plate 170 and the Two fixed plates, 172 vertical connection, the second fixed plate 172 is affixed with the upper jaw 11 by fixtures such as screws, and opening and closing motor 14 Main body be fixed in the second fixed plate 172, i.e., opening and closing motor 14 by the second fixed plate 172 it is affixed with the upper jaw 11.Arrange the Two fixed plates 172 can ensure that fixed mount 17 can be tightened together with the upper jaw 11 by fixtures such as screws, strengthen bionical machine The structural strength of device fish.

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

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

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

Continuing with combining with reference to Fig. 3 and Fig. 4, in the present embodiment, two flakes on the upper jaw 11, are symmetrically offered Installing hole 110, and a flake 19 is respectively provided with each flake installing hole 110, simulate in order to the bionic machine fish is presented The appreciation effect that flake is rotated in Fish, the fish head of the present embodiment also includes being arranged between the upper jaw 11 and lower jaw 12 to be used to drive The eye drive mechanism 2 rotated in the flake installing hole 110 of the upper jaw 11 by flake 19.In the present embodiment, the eye Drive mechanism 2 can drive flake 19 to synchronize rotation in the flake installing hole 110 of the upper jaw 11.

Specifically, the eye drive mechanism 2 includes eye motor 21, crank and rocker mechanism 22 and parallelogram Mechanism 23, the eye motor 21 are assemblied on the upper jaw 11, specifically, and eye motor 21 is arranged on the second fixed plate That is, eye motor 21 is assemblied on the upper jaw 11 by the second fixed plate 172 on 172, in other words,.Eye drives electricity Machine 21 is connected with parallel-crank mechanism 23 by crank and rocker mechanism 22, and parallel-crank mechanism 23 is connected with flake 19, eye Portion's motor 21 drives parallel-crank mechanism 23 to rotate and then drive flake 19 in the upper jaw 11 by crank and rocker mechanism 22 Flake installing hole 110 in rotated.

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

The parallel-crank mechanism 23 includes being articulated and connected with eye crank 221 in crank and rocker mechanism 22 First connecting rod 230, the second connecting rod 231 for being connected to 230 both side ends of first connecting rod in hinged way, and flake 19 is filled respectively Two flake pallets 232 on flake installing hole 110 in the upper jaw 11 are fitted over, and is respectively used to connect flake pallet 232 and the Two montants 233 of two connecting rods 231.Wherein, first connecting rod 230 is horizontally disposed with second connecting rod 231, and first connecting rod 230 length bearing of trends are parallel with two flakes, 19 line direction, and second connecting rod 231 is vertical relative to first connecting rod 230.Enter one Step ground, one end of the montant 233 are fixed on a side end of the second connecting rod 231 away from first connecting rod 230, and the other end is with vertical Mode be fixed on flake pallet 232, so the flake pallet 232 is using can do relative to first with second connecting rod 231 The rotation of connecting rod 230, and then drive the flake 19 that correspondence is fixed on flake pallet 232 to carry out rotation operation.In the present embodiment In, it is to be fixedly connected by connecting pin 26 between the flake 19 and flake pallet 232, specifically, on the flake 19 The first pin-and-hole 190 is offered, the second pin-and-hole 235 on the flake pallet 232, is offered, the two ends of the connecting pin 26 are inserted respectively The first pin-and-hole 190 of flake 19 is located at the second pin-and-hole 235 of flake pallet 232 and is fixedly connected.It is understood that this reality Crank and rocker mechanism 22 is driven with parallel-crank mechanism 23 by eye drive mechanism 2 with its flake of new bionic machine fish Rotate, with the bionical effect of flake true to nature and simple structure.

Incorporated by reference to reference to Fig. 1, Fig. 2, Fig. 5 and Fig. 6, in the present embodiment, fish body 3 includes trunk skeleton 30 and and bone of body The afterbody skeleton 40 of the connection of frame 30.

Trunk skeleton 30 includes multiple joint of trunk 31 being hingedly engaged to each other to form trunk skeleton 30.Joint of trunk 31 take the shape of the letter U, including in the form of sheets and first 310 of horizontally set, below first 310 and in the form of sheets second 311, And two ends respectively with first 310 and second 311 connecting portion connected vertically 312.Wherein, two adjacent joint of trunk Two first about 310 of 31 stacked and by vertically arranged hinge, two of adjacent two joint of trunk 31 It is stacked and by vertically arranged hinge for second about 311.

Specifically, in the present embodiment, connecting portion 312 offered mouth 313 in neighbouring first 310 end, adjacent First 310 in one of joint of trunk 31 of two joint of trunk 31 inserts the connecting portion 312 of another joint of trunk 31 On cross in mouth 313 and two first 310 leans and by vertically arranged hinge, two adjacent joint of trunk Two second about 311 of 31 is distributed and contacts with each other and by vertically arranged hinge, be so achieved that two Being articulated and connected between joint of trunk 31, and two joint of trunk 31 swing with the bearing pin between them as rotating shaft.

In the present embodiment, fish body 3 also includes that affixed with fish head 1 and with trunk skeleton 30 the trunk positioned at forefront is closed The fish neck frame 32 that section 31 is hinged.Specifically, fish neck frame 32 takes the shape of the letter U, and the first installing plate 320 including horizontally set, is located at The second installing plate 321 and two ends below first installing plate 320 is vertical with the second installing plate 321 with the first installing plate 320 respectively Be connected piece 322.Specifically, in the present embodiment, stator 322 is fixedly connected with fish head 1.In the present embodiment, stator 322 are for example fixedly connected with the 3rd fixed plate 173 by screw pin etc., so that fish body 3 is connected with fish head 1.Wherein, fish Neck frame 32 is used to install the rising of control fish head and the storage displacement can of dive sees below detailed description.

In the present embodiment, the free end of the first installing plate 320 and the second installing plate 321 respectively extends a pin-joint piece 323, the insertion of the pin-joint piece 323 of the first installing plate 320 positioned at the joint of trunk 31 of front end cross in mouth 313 and with first 310 Against and by vertically arranged hinge, the pin-joint piece 323 on the second installing plate 321 with second 311 against and lead to Hinge is crossed, and then realizes being pivotally connected between joint of trunk 31 and fish neck frame 32, trunk skeleton 30 is relative to fish The pendulum with the bearing pin between them as rotating shaft or so of neck frame 32.

In the present embodiment, afterbody skeleton 40 is pivotally connected with trunk skeleton 30, including it is multiple be hingedly engaged to each other with The caudal articular process 41 in fish tail portion is formed, caudal articular process 41 includes the first connection sheet 410 of horizontally set, positioned at the first connection sheet The second connection sheet 412 below 410, and two ends respectively with the first connection sheet 410 and the 3rd connection sheet of the second connection sheet 412 413.3rd connection sheet 413 is offered in the end of neighbouring first connection sheet 410 and wears mouth 414.Two neighboring caudal articular process The first connection sheet 410 in 41 one of caudal articular process 41 is inserted in the 3rd connection sheet 413 of another caudal articular process 41 Wear in mouth 414 and two the first connection sheets 410 lean and by vertically arranged hinge, two adjacent tail portions joints 41 Two the second connection sheets be distributed about 412 and contact with each other and by vertically arranged hinge, be so achieved that two Being articulated and connected between individual caudal articular process 41, and two caudal articular processes 41 with the bearing pin between them as rotating shaft or so pendulum.

The joint of trunk 31 positioned at caudal articular process 41 foremost with trunk skeleton 30 in afterbody skeleton 40 is hinged.Can be with It is understood by, the caudal articular process 41 of afterbody skeleton 40 is essentially identical with the structure of the joint of trunk 31 of trunk skeleton 30, simply fish Afterbody it is of different sizes with trunk, therefore in order to realistic simulation goes out the form of Fish, the size of caudal articular process 41 is closed than trunk The size of section 31 is little, and further, the caudal articular process 41 being hinged with joint of trunk 31 is transition joints, used as the tail of transition joints Second connection sheet 412 in portion joint 41 is extended obliquely downward and is formed with oblique connection sheet 415 and oneself from the oblique connection sheet 415 The lateral connection piece 416 for being extended and be hinged with the bottom of second 311 of joint of trunk 31 by end, with afterbody skeleton 40 with When trunk skeleton 30 connects, the change between two skeleton difference in size is realized, and then the form for imitating out Fish true to nature.

Please gather with reference to Fig. 1, Fig. 2 and Fig. 7, in the present embodiment, fish body 3 also includes fish body pendulous device 33.Fish body is put Dynamic device 33 is divided into the tail swing device for driving the swing of afterbody skeleton 40 and the body for driving trunk skeleton 30 to swing Dry pendulous device.Each fish body pendulous device 33 includes fish body oscillating motor 34, reel 35 and is wrapped on reel 35 The wherein reel 35 of drawstring 36 is set on the shaft of fish body oscillating motor 34, and the two ends of the drawstring 36 are from reel 35 is protruding.The fish body oscillating motor 34 of trunk pendulous device is arranged in the joint of trunk 31 of trunk skeleton 30 and concrete position Between first 310 and second 311, the drawstring 36 corresponding to fish body oscillating motor 34 that driving trunk skeleton 30 swings Two ends extend forward or backward simultaneously and are worn after multiple joint of trunk 31 successively along the arragement direction of multiple joint of trunk 31 With positioned at foremost or the joint of trunk 31 of rearmost end is fixed.So operationally, fish body swings electricity to the fish body oscillating motor 34 Machine 34 drives reel 35 to be rotated, and pull the drawstring 36 that is wrapped on reel 35 make its two ends do corresponding retracting with Relaxation exercise, and then realize the fish body oscillating motor 34 and drive trunk skeleton 30 to be swung, so as to imitate out Fish The action that trunk swings.

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

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

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

Fish body oscillating motor 34 in tail swing device is arranged on the joint of trunk positioned at rearmost end of trunk skeleton 30 In 31, between first 310 and second 311 of the concrete joint of trunk 31 positioned at rearmost end for being arranged on trunk skeleton 30, Row of the two ends of the drawstring 36 corresponding to fish body oscillating motor 34 that driving afterbody skeleton 40 swings along multiple caudal articular processes 41 Cloth direction is extended back simultaneously and is fixed with last caudal articular process 41 after wearing multiple caudal articular processes 41 successively.Trunk skeleton 30 joint of trunk 31 positioned at rearmost end refers to that joint being connected with afterbody skeleton 40 of trunk skeleton 30.Afterbody is put The fish body oscillating motor 34 of dynamic device operationally, drives the fish body oscillating motor 34 that afterbody skeleton 40 swings to drive the fish body to put 34 corresponding reel 35 of galvanic electricity machine is rotated, and pulls the drawstring 36 being wrapped on reel 35 its two ends is rolled up accordingly Receiving and loosen, and then realize fish body oscillating motor 34 drives afterbody skeleton 40 to be swung, so as to imitate out Fish tail The action that portion swings.

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

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

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

Incorporated by reference to reference to Fig. 1, Figure 11 to Figure 13, in the present embodiment, fin 5 on fish body 3, is additionally provided with, fin 5 is set in pairs Put and be symmetrically disposed in the both sides of trunk skeleton 30.

The fin support 51 that the fin 5 is included fin skeleton 50 and is connected with fin skeleton 50, fin support 51 and fish Body 3 connects.Wherein, fin skeleton 50 includes skeleton substrate 501 and multiple being hinged of being positioned apart from skeleton substrate 501 Flexible joint 502, wherein, the length bearing of trend of skeleton substrate 501 is vertical with the length bearing of trend of fish body 3, flexible to close The length bearing of trend of section 502 is parallel with the length bearing of trend of fish body 3.

One end of each flexible joint 502 is fixed with skeleton substrate 501 and the length bearing of trend along fish body 3 sets Put.Each soft energy property joint 502 includes the sub- joint 503 of multiple lamellars, and two sub- joints 503 of adjacent company pass through connection rotating shaft 505 connections, are arranged with a torsion spring 504 on connection rotating shaft 505, the two ends of each torsion spring 504 are respectively held against two sub- joints 503, so that the pliability of fin skeleton 50 can be kept when fin skeleton 50 swings, fin skeleton will not be allowed because of the change of hydraulic pressure 50 there is moderate finite deformation, and restore in the presence of torsion spring 504 after fin skeleton 50 deforms.

In the present embodiment, fin 5 also includes fin pendulous device 52 and fin motor box 58.Fin pendulous device 52 is wrapped Include fin oscillating motor 520, fin rotating disk 521 and fin crank 522.Wherein, fin oscillating motor 520 is arranged on fin motor In box 58 and the shaft of fin oscillating motor 520 passes fin motor box 58.The fin rotating disk 521 is set in fin pendulum On the shaft of galvanic electricity machine 520, the two ends of the fin crank 522 are pivoted with fin rotating disk 521 and fin support 51 respectively and are connected Connect, the front end face of the medium position of fin support 51 by connecting shaft 581 with fin motor box 58 is pivotally connected, and needs explanation It is that the front end face of fin motor box 58 refers to fin motor box 58 towards the face of fish head 1.It is understood that fin rotating disk 521st, fin crank 522 and fin support 51 constitute a double leval jib linkage structure, and so the fin oscillating motor 520 is in work When, fin rotating disk 521 and fin crank 522 can be passed through and be driven, fin support 51 swings up and down operation.In the present embodiment In, fin motor box 58 is arranged in the joint of trunk 31 of trunk skeleton 30, and concrete fin motor box 58 arranges the joint of trunk Between first 310 of 31 and second 311, and specifically for example it is fixed on second 311 by fixtures such as screws, can be with It is understood by, fin support 51 is connected with the trunk skeleton 30 of fish body 3 by fin motor box 58.

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

In the present embodiment, fin 5 also includes the fin tumbler 53 for driving fin skeleton 50 to swing.Fin turns Dynamic device 53 includes fin rotary electric machine 531, shaft coupling 532 and connecting rod 533, the rotating shaft axial direction of the fin rotary electric machine 531 Vertical with the length bearing of trend of fish body 3, fin rotary electric machine 531 is fixedly connected with fin support 51, fin rotary electric machine 531 It is connected with connecting rod 533 by shaft coupling 532, connecting rod 533 is fixedly connected with skeleton substrate 501, fin tumbler 53 Fin rotary electric machine 531 is rotating drive connecting rod 533, and connecting rod 533 is rotated and then drive fin skeleton 50 is rotated.

It is understood that fin 5 can be divided into anterior fin and rear portion fin, the structure of anterior fin institute as described above State, rear portion fin can only swing up and down will not swing, in other words, that is, rear portion fin include fin rotate dress Put 53.It is understood that fin 5 is not when fin tumbler 53 is included, fin support 51 and the fin skeleton 50 of fin 5 For example can be fixed together by way of the fixtures such as screw or welding.More particularly, the fin motor of anterior fin Box 58 is fixed in the joint of trunk 31 being connected with electric-controlled box 301 of anterior trunk skeleton, the fin motor box 58 of rear portion fin It is fixed in the joint of trunk 31 of rear portion trunk skeleton.

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

In the present embodiment, the bionic machine fish also include for realize the bionic machine fish float and the floating of dive under Latent mechanism 6, floating descending mechanism 6 include floating and the first of dive the storage displacement can 61, and the first storage draining for controlling fish head 1 The air accumulator 62 of the connection of tank 61, and for controlling the air pump of gas exchange is carried out between air accumulator 62 and the first storage displacement can 61 63.When needing fish head 1 to float, air pump 63 enters the gas in air accumulator 62 in first storage displacement can 61, and then by first Water in storage displacement can 61 is discharged so that the weight of fish head 1, realizes that fish head 1 floats；Conversely, then realizing that fish head 1 sinks. Specifically, air pump 63 turns the gas in air accumulator 62 can be entered in first storage displacement can 61 clockwise, and air pump 63 is counterclockwise Turn the gas in the first storage displacement can 61 to be entered gas tank 62.In the present embodiment, being provided with electric-controlled box 301 will be automatically controlled Box 301 is divided into the dividing plate of Liang Ge chamber resettling, one of chamber installation control system 7, and another chamber resettling installs and floats Air pump 62 in descending mechanism 6, and air pump 62 is fixed on dividing plate, it should be noted that in the present embodiment, dividing plate is by electricity Control box 301 is divided into upper and lower spaced Liang Ge chamber resettling.Air accumulator 62 is arranged in the joint of trunk 31 of trunk skeleton 30. Specifically, the quantity of air accumulator 62 can be for example two in this embodiment, and two air accumulators 62 are arranged at anterior bone of body In the joint of trunk 31 of frame, be specifically located in the joint of trunk 31 being connected with fish neck frame 32 and anterior trunk skeleton with electricity In the joint of trunk 31 of the control connection of box 301, the air accumulator 62 being located in the joint of trunk 31 being connected with electric-controlled box 301 is located at fin The top of motor box 58, to reach reasonable utilization space, and can be carried with the second storage displacement can 65 for the first storage displacement can 61 For the gas in two storage displacement cans of sufficient gas and suction, realize the floating of fish head 1 and fish body 3 and sink.

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

In the present embodiment, the first storage displacement can 61 include the first tank body 610 and be arranged in first tank body 610 the One air bag 612, wherein the first water inlet on first tank body 610, is offered, and by first water inlet and extraneous water It is connected.It is understood that when fish head 1 needs floating or dive, the gas in air accumulator 62 is entered first by air pump 63 In air bag 612, the first air bag 612 expands and for the water in the first tank body 610 to enter the external world, mitigates first and stores up 61 weight of displacement can, And then mitigating the weight of fish head 1 so that fish head 1 floats；Otherwise then increase the weight of fish head 1, make fish head sink.On fish head 1 After latent dive is received.

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

In the present embodiment, the second storage displacement can 65 include the second tank body 650 and be arranged in second tank body 650 the Two air bags 652, wherein the second water inlet on second tank body 650, is offered, and by second water inlet and extraneous water It is connected.It is understood that when fish body 3 needs floating or dive, the gas in air accumulator 62 is entered second by air pump 63 In air bag 652, the second air bag 652 expands and for the water in the second tank body 650 to enter the external world, mitigates second and stores up 65 weight of displacement can, And then mitigating the weight of fish body 3 so that fish body 3 floats；Otherwise then increase the weight of fish body 3, make 3 dive of fish body.On fish body 3 After latent dive terminates.

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

Further, in the present embodiment, floating descending mechanism 6 includes the first electromagnetic valve 66, the second electromagnetic valve 67 and Three electromagnetic valves 68, the first electromagnetic valve 66, the second electromagnetic valve 67 and the 3rd electromagnetic valve 68 respectively include two the first inducing QIs respectively 3rd air guide port C of mouthful A, the second air guide port B and the first air guide port A and the second air guide port B connection, the first air guide port A of control with First valve switch of the 3rd air guide port C conductings, and the second valve of the second air guide port B of control and the 3rd air guide port C conductings Switch.The first air guide port A and the second air guide port B of the first electromagnetic valve 66 stores up displacement can with the first storage displacement can 61 and second respectively 65 connection, the second electromagnetic valve 67 the first air guide port A and the second air guide port B correspondence the 3rd electromagnetic valve 68 the second air guide port B and First air guide port A connects, and air accumulator 62 is connected to the first air guide port A of the second electromagnetic valve 67 and leads with the second of the 3rd electromagnetic valve 68 Between QI KOU B, the 3rd air guide port C of the first electromagnetic valve 66 is connected to the second air guide port B and the 3rd electromagnetism of the second electromagnetic valve 67 Between first air guide port A of valve 68, the 3rd air guide port C of the 3rd electromagnetic valve 68 is led with the 3rd of the second guide valve by air pump 62 QI KOU C connects.When needing fish body 3 to float, air pump 62 is for example evacuated clockwise, and the second valve switch of three electromagnetic valves Open, the gas in air accumulator 62 is entered in the first storage displacement can 61, water in displacement can 61 is stored up by first and discharged, so as to reality Existing fish head 1 floats, otherwise then fish head 1 sinks.When needing fish body 3 to float, air pump 62 is for example evacuated clockwise, and three electric Second valve switch of magnet valve is opened, and makes the gas in air accumulator 62 enter the second storage displacement can 65, stores up displacement can by second Water in 65 is discharged, and so as to realize that fish body 3 floats, otherwise then fish body 3 sinks.

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

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

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

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

Control system 7 also includes fish body positional detecting device 71, and 71 points of fish body positional detecting device is for gathering afterbody The position signalling of skeleton 40 is simultaneously transmitted to the tail position detection device of microprocessor 701, and for gathering trunk skeleton 30 Position signalling and be sent to the trunk position detection device of microprocessor 70.

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

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

Specifically, each fish body positional detecting device 71 includes the first fish body Hall element 711, the second fish body hall sensing Device 712, the 3rd fish body Hall element 713 and fish body Magnet 714.First fish body Hall element 711, the second fish body Hall are passed Sensor 712, the 3rd fish body Hall element 713 produce maximum left avertence position letter for corresponding when aliging with fish body Magnet 714 Number, initial position signal and maximum right avertence position signalling.Specifically, the first fish body hall sensing in tail position detection device Device 711, the second fish body Hall element 712, the 3rd fish body Hall element 713 are arranged on caudal articular process 41 foremost, Fish body Magnet 714 is arranged on the fish body oscillating motor 34 for driving afterbody skeleton 40 to swing, such tail position detection dress The first fish body Hall element 711 in putting, the second fish body Hall element 712, the 3rd fish body Hall element 713 will be with Caudal articular process 41 swings and swings, and fish body Magnet 714 will not swing, such first fish body Hall element 711, the second fish body Hall element 712, the 3rd fish body Hall element 713 are alignd with fish body Magnet 714 respectively as afterbody skeleton 40 swings, right Afterbody maximum right avertence position signalling, afterbody initial position signal and afterbody maximum right avertence position signalling should be produced.

First fish body Hall element 711 of trunk position detection device, the second fish body Hall element 712, the 3rd fish Body Hall element 713 is arranged on and is provided with the joint of trunk 31 of the fish body oscillating motor 34 for driving trunk skeleton 30 to swing and faces On near joint of trunk 31, fish body Magnet 714 is arranged on the fish body oscillating motor 34 for driving trunk skeleton 30 to swing, this First fish body Hall element 711 of the fish body positional detecting device 71 that sample is used in trunk position detection device, the second fish body Swing with joint of trunk 31 is swung by Hall element 712, the 3rd fish body Hall element 713, and fish body Magnet 714 will Will not swing, such first fish body Hall element 711, the second fish body Hall element 712, the 3rd fish body Hall element 713 are alignd with fish body Magnet 714 respectively as trunk skeleton 30 swings, and correspondence produces trunk maximum right avertence position signalling, trunk Initial position signal and trunk maximum right avertence position signalling.

In the present embodiment, fish body positional detecting device 71 also includes installing rack 715.Installing rack 715 includes the first installation Block 716, the second mounting blocks 717 and connecting bracket 718, the first mounting blocks 716 are stacked and are hinged on about 717 with the second mounting blocks Together, the bottom of the second mounting blocks 717 is fixed together with connecting bracket 718.First fish body Hall element 711, the Two fish body Hall elements 712, the 3rd fish body Hall element 713 are arranged on the first mounting blocks 716, and fish body Magnet 714 sets Put on the second mounting blocks 717.The fish body positional detecting device 71 and collection afterbody of 31 swing position information of collection trunk skeleton The fish body positional detecting device 71 of the swing position information of skeleton 40, the first mounting blocks 716 in them are separately positioned on and peace On the joint of trunk 31 that joint of trunk 31 equipped with the fish body oscillating motor 34 for driving trunk skeleton 30 to swing closes on and foremost Caudal articular process 41 on be particularly located in first 310 of the joint of trunk 31 and the first connection sheet 410 of the caudal articular process, it In the second mounting blocks 717 the fish body oscillating motor 34 that drives trunk skeleton 31 is arranged on by connecting bracket 715 and is driven On the fish body oscillating motor 34 that afterbody skeleton 40 swings.Thus, trunk skeleton 31 and afterbody skeleton 40 are when swinging, which is corresponding The first fish body Hall element 711 in fish body positional detecting device 71, the second fish body Hall element 712 and the 3rd fish body are suddenly You can occur position skew relative to fish body Magnet 714 by sensor 713 so that the first fish body Hall element 711, the second fish body Hall element 712 and the 3rd fish body Hall element 713 can be alignd with fish body Magnet 714, and then produce fish body position letter Number.

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

In the present embodiment, control system 7 also includes fin positional detecting device, and fin positional detecting device is used to obtain Fin is located at initial position signal, and returns to initial position in fin according to fin initial position message control fin oscillating motor Afterwards, stop control fin to swing up and down.Wherein, fin positional detecting device includes fin Hall element (not shown) and fin Portion's Magnet (not shown), fin Hall element are arranged on fin support 51, and fin Magnet is arranged on cover plate 59, in fin When portion's support 51 is located at initial position, fin Magnet is alignd with fin Hall element, and fin Hall element senses fin Magnet simultaneously produces fin and sends to microprocessor 701 positioned at initial position signal, when not needing fin to swing, microprocessor 701 receive fin return to initial position signal stop drive fin swing.It is understood that fin is when swinging, fin Support 51 opposing cover plates 59 in portion's are rotated, and such fin Hall element will be staggered with fin Magnet, and fin Hall element will not Fin can be produced positioned at initial position signal.The main purpose for arranging fin positional detecting device is to facilitate fin to return to initial bit Put.

Microprocessor 701 is also connected with air pump 63, the first electromagnetic valve 66, the second electromagnetic valve 67 and the 3rd electromagnetic valve 68, with The opening and closing of control air pump 63, and the first valve on the first electromagnetic valve 66, the second electromagnetic valve 67 and the 3rd electromagnetic valve 68 and the The opening and closing of two valves, when bionic machine fish needs to float or sink, to make bionic machine fish float or sink.Bionic machine fish Floating and the principle sunk and the detailed description in the above, will not be described here.

In the present embodiment, the control system 7 in this utility model also includes first depth of water being connected with microprocessor 701 Sensor 74 and the second water depth sensor 75, the first water depth sensor 74 and the second water depth sensor 75 are separately mounted to fish head 1 On fish body 3, the first water depth sensor 74 and the second water depth sensor 75 are used to gather the fish head 1 and fish body 3 of bionic machine fish The depth of water is simultaneously converted into digital signal and is sent to microprocessor 701 by the depth that is in water, and microprocessor 701 is passed according to first depth of water The water signal that sensor 74 and the second water depth sensor 75 are collected is controlling the start of air pump 63, first, second and third electric The opening and closing of the valve switch of magnet valve 66,67,68.

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

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

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

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

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

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

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

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

Above-mentioned monomer motion, its motor process and principle, and described in detail in above process, will not be described here.

It should be noted that the fish body 3 of bionic machine fish of the present utility model is also in the joint of trunk 31 of trunk skeleton 31 First 310 and second 312 between multiple battery cases 101 are set, accumulator is installed in battery case 101, this reality is thought Electric energy is provided with electric device with new.

The simple structure of bionic machine fish of the present utility model, low cost, in addition, this utility model bionic machine fish has Bionical effect true to nature.

Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all at this Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in this utility model Protection domain within.

Claims (8)

1. a kind of bionic machine fish, including fish head (1) and the fish body (3) being connected with fish head (1), the fish body (3) is including trunk Skeleton (30) and the afterbody skeleton (40) being connected with the trunk skeleton (30), trunk skeleton (30) including it is multiple it is mutually hinged Together to form the joint of trunk (31) of trunk skeleton (30), afterbody skeleton (40) is hingedly engaged to each other to be formed including multiple The caudal articular process (41) in fish tail portion, it is characterised in that the fish body (3) also includes flexible member (37) and multiple lugs (38), Through hole (380) is provided with lug (38), the plurality of lug (38) is distributed on joint of trunk (31) and caudal articular process (41), Flexible member (37) wears through hole (380) and flexible member (37) is solid with trunk skeleton (30) and afterbody skeleton (40) respectively It is fixed.

2. bionic machine fish as claimed in claim 1, it is characterised in that joint of trunk (31) takes the shape of the letter U, including in the form of sheets and horizontal To first (310) arranging, second (311) below first (310) and in the form of sheets, and two ends are respectively with the The connecting portion (312) that one (310) and second (311) connect, wherein, two first of adjacent two joint of trunk (31) Portion (310) is stacked and contacts connection up and down, and two second (311) of two adjacent joint of trunk (31) are stacked up and down and connect Connection is touched, the lug (38) being distributed on joint of trunk (31) is arranged on the top of first (310).

3. bionic machine fish as claimed in claim 2, it is characterised in that the connecting portion (312) is in neighbouring first (310) End offered mouth (313), first in one of joint of trunk (31) of two neighboring joint of trunk (31) (310) insert crossing in mouth (313) on the connecting portion (312) of another joint of trunk (31) and two first (310) lean And by vertically arranged hinge, distribution is simultaneously mutual up and down for two second (311) of two adjacent joint of trunk (31) Contact and by vertically arranged hinge.

4. bionic machine fish as claimed in claim 3, it is characterised in that the trunk skeleton (30) also includes and fish head (1) Fish neck frame (32) that affixed and with trunk skeleton (30) the joint of trunk (31) positioned at forefront is hinged, the plurality of lug (38) lug (38) in is distributed on fish neck frame (32), and one end of the flexible member (37) passes through the fish neck Lug (38) on frame (32) is simultaneously fixed with fish neck frame (32).

5. bionic machine fish as claimed in claim 4, it is characterised in that the fish neck frame (32) takes the shape of the letter U, including laterally setting The first installing plate (320), the second installing plate (321) below the first installing plate (320) and the two ends put are respectively with first Installing plate (320) and the second installing plate (321) are connected piece (322), and stator (322) is fixedly connected with fish head (1), and first The free end of installing plate (320) and the second installing plate (321) is with the trunk skeleton (30) positioned at joint of trunk foremost (31) first (310) and second (311) are hinged.

6. bionic machine fish as claimed in claim 5, it is characterised in that first installing plate (320) and the second installing plate (321) free end respectively extends a pin-joint piece (323), and pin-joint piece (323) insertion of the first installing plate (320) is positioned at front The joint of trunk (31) at end cross in mouth (313) and with first (310) against and by vertically arranged hinge, second Pin-joint piece (323) on installing plate (321) and second (311) against and pass through hinge.

7. bionic machine fish as claimed in claim 1, it is characterised in that afterbody skeleton (40) is including multiple mutually hinged Rise to form the caudal articular process (41) in fish tail portion, first connection sheet (410) of the caudal articular process (41) including horizontally set, positioned at the The second connection sheet (412) below a connecting piece (410), and two ends respectively with the first connection sheet (410) and the second connection sheet (412) the 3rd connection sheet (413), two the first connection sheets (410) of two adjacent tail portions joints (41) are distributed and phase up and down Mutually contact connection, two the second connection sheets (412) of two adjacent tail portions joints (41) are distributed and contact with each other connection up and down, divide Lug (38) of the cloth on caudal articular process (41) is arranged on the top of the first connection (410).

8. bionic machine fish as claimed in claim 7, it is characterised in that the 3rd connection sheet (413) connects neighbouring first The end of contact pin (410) offers wears mouth (414), in one of caudal articular process (41) of two neighboring caudal articular process (41) First connection sheet (410) inserts wearing in mouth (414) in the 3rd connection sheet (413) of another caudal articular process (41) and two first Connection sheet (410) leans connection.