CN206243422U - 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 fish body includes the trunk skeleton being connected with fish head and the trunk skeleton afterbody skeleton for connecting and the fin being arranged on trunk skeleton, the fin includes fin skeleton and the fin support being connected with fin skeleton, fin support is connected with fish body, wherein, fin skeleton includes skeleton substrate and sets the flexible joint that the multiple on skeleton substrate is hinged.The fin simple structure of bionic machine fish of the present utility model, and with bionical effect true to nature.

Description

Bionic machine fish

Technical field

The 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 robot technology, bionics, electronic technology, material science and control technology, simulation fish trip Motivation reason underwater robot --- bionic machine fish receives extensive concern both domestic and external.The rope made of hemp Institute of Technology of U.S. root " flux driving is theoretical " advanced according to the fish tail for proposing, develops bionical tuna and bionical shuttle long 0.8 meter long 1.2 meters 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 amberplex IEM, is plated in the sheet metal of bionic machine fish fin On, artificial myokinesis is realized by extra electric field, produce the travelling method of similar eel.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. 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.BJ University of Aeronautics ＆ Astronautics's robot research have developed machine eel 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.Chinese Academy of Sciences's Beijing automation research develops microminiature machine fish, multisensor bionic machine fish etc..

However, bionic machine fish fin structure is complicated both at home and abroad at present, it is more expensive to manufacture.

Utility model content

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

The utility model embodiment provides a kind of bionic machine fish, including fish head and the fish body that is connected with fish head, the fish Body includes the trunk skeleton being connected with fish head and the trunk skeleton afterbody skeleton for connecting and the fish being arranged on trunk skeleton Fin, the fin includes fin skeleton and the fin support being connected with fin skeleton, and fin support is connected with fish body, wherein, fish Fin skeleton includes skeleton substrate and sets the flexible joint that the multiple on skeleton substrate is hinged.

Further, the length bearing of trend of the skeleton substrate and the length bearing of trend of fish body are vertical, flexible joint Length bearing of trend it is parallel with the length bearing of trend of fish body

Further, one end of flexible joint is fixed with skeleton substrate and the length bearing of trend along fish body is set.

Further, the soft energy property joint includes the sub- joint of multiple sheets, and two adjacent sub- joints are by connection Rotating shaft is connected, and a torsion spring is arranged with connection rotating shaft, and the two ends of torsion spring are respectively held against two sub- joints.

Further, the fin also includes fin pendulous device and fin motor box, and fin pendulous device includes fin Oscillating motor, fin rotating disk and fin crank, wherein, fin oscillating motor is arranged in fin motor box and fin swings electricity The shaft of machine passes fin motor box, and the fin rotating disk is set on the shaft of fin oscillating motor, and the fin is bent The two ends of handle are pivotally connected with fin rotating disk and fin support respectively, and the medium position of fin support is by connecting shaft and fin electricity The front end face of machine box is pivotally connected.

Further, it is arranged in same fin motor box with two fin oscillating motors in a pair of fins, fin Motor box is fixed in trunk skeleton.

Further, the anterior of the fin motor box sets cover plate, and the cover plate of fin motor box is provided with for two fins The perforation that the shaft of portion's oscillating motor wears, connecting shaft is set on the cover board.

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

The fin simple structure of bionic machine fish of the present utility model, and with bionical effect true to nature.

Brief description of the drawings

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

Fig. 2 is the planar structure schematic diagram of Fig. 1.

Fig. 3 is the decomposing schematic representation of the fish head in Fig. 1.

Fig. 4 is the schematic cross-sectional view of the fish head in Fig. 1.

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

Fig. 6 is the partial exploded view of the fish body in Fig. 1, the specially decomposing schematic representation after fish trunk with fish tail portion.

Fig. 7 is the schematic diagram of the fish body pendulous device in Fig. 1.

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

Figure 11 is the schematic diagram of the fin in Fig. 1.

Figure 12 is the schematic diagram of the flexible joint in Figure 11.

Figure 13 is the schematic diagram of the motor box in Figure 11.

Figure 14 is the schematic diagram of the floating descending mechanism of the utility model bionic machine fish.

Figure 15 is the schematic diagram of the control system of the 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 implementation Example, is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only used to explain this Utility model, is not used to limit the utility model.

The bionic machine fish that the 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 can also be simulated realistically.

Incorporated by reference to reference picture 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 is Line direction before fish, it 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 specifically refer to, 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 is connected by open/close mechanism 13 with lower jaw 12, 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 second gear 16 to be rotated with the pin joint of the upper jaw 11 around second gear 16 by first gear 15 so that the second tooth The drive lower jaw 12 of wheel 16 rotated with the pin joint of the upper jaw 11 around second gear 16, 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 Rotated 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 closed relative to the upper jaw 11.Further, second gear 16 is located at first gear 15 Rear, in order to realistically simulate fish mouth opening and closing, it is necessary to explanation, 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 Footpath is more than the diameter of first gear 15, in order to control the opening and closing degree of fish mouth.In the present embodiment, pivot 171 and second gear 16 center of circle is hinged, and second gear 16 teeth portion of the center of circle relative to second gear 16 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 it is vertical pass the first fixed plate 170 after be connected with first gear 15.First fixed plate 170 is provided with pivot 171, second The connection that gear 16 is pivoted by 171 and first fixed plate of pivot 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, also the second fixed plate 172 including horizontally set of fixed mount 17, the first fixed plate 170 and the The vertical connection of two fixed plate 172, 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.Set the Two fixed plates 172 can ensure that fixed mount 17 can be tightened together by fixtures such as screws with the upper jaw 11, 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 The vertical connection of the fixed plate 170 of fixed plate 172 and first, 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 between two gears 16 by way of rivet, spot welding, soldering.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, with when lower jaw 12 is rotated down, limit shaft 175 and fixation plate 18 are against limiting 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 reference picture 3 and Fig. 4 is combined, two flakes are symmetrically offered in the present embodiment, on the upper jaw 11 Mounting hole 110, and a flake 19 is respectively provided with each flake mounting hole 110, in order to bionic machine fish simulation 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 that flake 19 is rotated in the flake mounting hole 110 of the upper jaw 11.In the present embodiment, the eye Drive mechanism 2 can drive flake 19 to synchronize rotation in the flake mounting 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 is assemblied on the upper jaw 11, and specifically, eye motor 21 is arranged on the second fixed plate On 172, in other words, that is, eye motor 21 is assemblied on the upper jaw 11 by the second fixed plate 172.Eye drives electricity Machine 21 is connected by crank and rocker mechanism 22 with parallel-crank mechanism 23, 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 mounting 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 in the card of eye rotating disk 220 is fixed 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 the eye crank 221 in crank and rocker mechanism 22 First connecting rod 230, the second connecting rod 231 of the both side ends of first connecting rod 230 is connected in hinged way, and flake 19 is filled respectively Fit over two flake pallets 232 on flake mounting hole 110 in the upper jaw 11, and be respectively used to connection 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 line directions of flake 19, and second connecting rod 231 is vertical relative to first connecting rod 230.Enter one Step ground, one end of the montant 233 is 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 with second connecting rod 231 using can do relative to first The rotation of connecting rod 230, and then the flake 19 that driving correspondence is fixed on flake pallet 232 carries 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 is offered on the flake pallet 232, the two ends of the connecting pin 26 are inserted respectively It is located at the first pin-and-hole 190 of flake 19 and the second pin-and-hole 235 of flake pallet 232 and 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 then drive flake 19 to rotate, with the bionical effect of flake true to nature and simple structure.

Incorporated by reference to reference picture 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 that multiple is hingedly engaged to each other to form the joint of trunk 31 of 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, positioned at first 310 lower section 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 is stacked and by vertically arranged hinge, adjacent two the two of 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 connecting portion 312 of another joint of trunk 31 of insertion in two one of joint of trunk 31 of joint of trunk 31 On cross mouth 313 in and two first 310 lean and by vertically arranged hinge, two adjacent joint of trunk Two second about 311 of 31 is distributed and contacts with each other and by vertically arranged hinge, be so achieved that two Being articulated and connected between joint of trunk 31, and two joint of trunk 31 swing by rotating shaft of the bearing pin between them.

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, including horizontally set the first installing plate 320, be located at Second installing plate 321 of the lower section of the first installing plate 320 and two ends are 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 by screw pin etc. with the 3rd fixed plate 173, 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, a pin-joint piece is respectively extended in the free end of the first installing plate 320 and the second installing plate 321 323, 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, 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 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 410 lower section the second connection sheet 412, 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.

Being hinged with the joint of trunk 31 of trunk skeleton 30 positioned at caudal articular process 41 foremost in afterbody skeleton 40.Can be with Understand, 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 go out the form of fish for realistic simulation, the size of caudal articular process 41 is closed than trunk The size of section 31 is small, and further, the caudal articular process 41 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 Extended by end and lateral connection piece 416 that the bottom with second 311 of joint of trunk 31 is hinged, with afterbody skeleton 40 with When trunk skeleton 30 is connected, the change between two skeleton difference in size is realized, and then the form for imitating out fish true to nature.

Please gather reference picture 1, Fig. 2 and Fig. 7, in the present embodiment, fish body 3 also includes fish body pendulous device 33.Fish body is put Dynamic device 33 is divided into the tail swing device for driving afterbody skeleton 40 to swing and 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 described 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 specific 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 and after wearing multiple joint of trunk 31 successively forward or backward simultaneously 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 Relaxing 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, the electric-controlled box 301 for loading control system 7, electric-controlled box 301 are provided with trunk skeleton 30 Trunk skeleton 30 is divided into anterior trunk skeleton and rear portion trunk skeleton, the joint of trunk 31 positioned at rear end of anterior trunk skeleton First 310 free end with second 311 be for example fixedly connected by screw towards electric-controlled box 301 and with electric-controlled box 301, First 310 of the joint of trunk 31 positioned at front end of rear portion trunk skeleton and the free end of second 311 are towards electric-controlled box 301 Set 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 The corresponding drawstring 36 of fish body oscillating motor 34 on anterior trunk skeleton, its two ends along multiple joint of trunk 31 arragement direction Extend forward simultaneously and fixed with positioned at joint of trunk 31 foremost after wearing multiple joint of trunk 31 successively；It is arranged on rear portion The corresponding drawstring 36 of fish body oscillating motor 34 on trunk skeleton, its two ends along multiple joint of trunk 31 arragement direction simultaneously Extend back and wear successively and fixed with positioned at rear end volume joint of trunk 31 after multiple 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 the drawing that will be located at the side of reel 35 in coiling Rope 36 is wrapped on reel 35, is furled the drawstring 36 of the side, and for example fish body oscillating motor 34 drives the up time of reel 35 When pin turns, the drawstring 36 on the right side of reel 35 is furled on reel 35, and shortening for the drawstring 36 on the right side of reel 35 is anterior Trunk skeleton swings to the right, otherwise anterior trunk skeleton then swings to the left, and the swing principle of rear portion trunk skeleton is same as described above, Will not be repeated 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 for driving trunk skeleton to swing swings electricity When drawstring 36 corresponding to machine 34 is tightened up, power can be acted on by corresponding perforation 313 and body is caused on joint of trunk 31 Dry joint 31 swings.In the present embodiment, connecting portion 312 includes the first connection plate body of triangular shape and connects plate body from first The second connection plate body that bottom vertically extends, being arranged such connecting portion 312 can 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 It is specific between first 310 and second 311 of the joint of trunk 31 positioned at rearmost end of trunk skeleton 30 in 31, The two ends of drawstring 36 corresponding to the fish body oscillating motor 34 that afterbody skeleton 40 swings are driven along the row of multiple caudal articular processes 41 Cloth direction extends back and is fixed with last caudal articular process 41 after wearing multiple caudal articular processes 41 successively simultaneously.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 Operationally, the fish body oscillating motor 34 for driving afterbody skeleton 40 to swing drives fish body pendulum to the fish body oscillating motor 34 of dynamic device The dynamic corresponding reel 35 of motor 34 is rotated, and the drawstring 36 that pulling is wrapped on reel 35 makes its two ends roll 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 the swing of afterbody skeleton 40 to pass 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, are provided with logical on lug 38 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, the quantity of flexible member 37 is two, and one of flexible member 37 passes 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 passes 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 picture 1, Figure 11 to Figure 13, in the present embodiment, fin 5 is additionally provided with fish body 3, fin 5 sets in pairs Put and be symmetrically disposed in the both sides of trunk skeleton 30.

The fin 5 includes fin skeleton 50 and the fin support 51 being connected with fin skeleton 50, fin support 51 and fish Body 3 is connected.Wherein, fin skeleton 50 includes that skeleton substrate 501 and the multiple being positioned apart from skeleton substrate 501 are hinged 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, flexibility 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 sheets, 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, because of the change of hydraulic pressure fin skeleton will not be allowed 50 there is moderate finite deformation, and be restored in the presence of torsion spring 504 after the deformation of fin skeleton 50.

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 dynamic motor 520, the two ends of the fin crank 522 pivot with fin rotating disk 521 and fin support 51 connect respectively Connect, the medium position of fin support 51 is pivotally connected by the front end face of connecting shaft 581 and fin motor box 58, it is necessary to illustrate It is that the front end face of fin motor box 58 refers to fin motor box 58 towards the face of fish head 1.It is understood that fin 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, can be driven by fin rotating disk 521 and fin crank 522, 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 specific fin motor box 58 sets 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 Understand, fin support 51 is connected by fin motor box 58 with the trunk skeleton 30 of fish body 3.

In the present embodiment, it is arranged on same fin motor box with 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 sets 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 Length bearing of trend with fish body 3 is vertical, and 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 drives connecting rod 533, connecting rod 533 to rotate and then drive fin skeleton 50 to rotate in rotation.

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 Can be for example 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 the swing of fin 5 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 by the opposition of water during rising and dive Diminish, be conducive to fish to rise and dive.

In the present embodiment, the bionic machine fish is also included under the floating for realizing bionic machine fish floating and dive Latent mechanism 6, floating descending mechanism 6 includes the first storage storage draining of displacement can 61 and first for controlling the floating of fish head 1 and dive The air accumulator 62 of the connection of tank 61 and for controlling the air accumulator 62 and first to carry out the air pump of gas exchanges between storing up displacement can 61 63.When needing fish head 1 to float, air pump 63 enters in the first storage displacement can 61 gas in air accumulator 62, and then by first Water discharge in storage displacement can 61 so that the weight of fish head 1, realizes that fish head 1 floats；Conversely, then realizing that fish head 1 is sunk. Specifically, air pump 63 turns to enter in the first storage displacement can 61 gas in air accumulator 62 clockwise, and air pump 63 is counterclockwise Turn the gas in the first storage displacement can 61 can be entered into 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 is necessary to illustrate, 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, 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 that is 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 carry for the first storage displacement can 61 with the second storage displacement can 65 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 to pass through to lead Tracheae 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 abuts elastomeric element 325, and the first storage displacement can is installed 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 can be directly set in fish head 1.

In the present embodiment, the first storage displacement can 61 includes the first tank body 610 and be arranged in first tank body 610 the One air bag 612, wherein the first water inlet is offered on first tank body 610, 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 the weight of displacement can 61, And then mitigating the weight of fish head 1 so that fish head 1 floats；Otherwise then increase the weight of fish head 1, fish head is sunk.In fish head 1 After latent dive is received.

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

In the present embodiment, the second storage displacement can 65 includes the second tank body 650 and be arranged in second tank body 650 the Two air bags 652, wherein the second water inlet is offered on second tank body 650, 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 the weight of displacement can 65, 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 the dive of fish body 3.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 the fish body 3 to carry out floating dive, the total quality of fish head 1 being greater than due to the total quality of fish body 3, therefore, 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 magnetic valve 66, the second magnetic valve 67 and the Three magnetic valves 68, the first magnetic valve 66, the second magnetic valve 67 and the 3rd magnetic valve 68 respectively include two the first air guides 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 that the second air guide port B of control and the 3rd air guide port C is turned on Switch.The first air guide port A and the second air guide port B of the first magnetic valve 66 store up displacement can with the first storage displacement can 61 and second respectively 65 connection, the second magnetic valve 67 the first air guide port A and the second air guide port B correspondence the 3rd magnetic valve 68 the second air guide port B and First air guide port A is connected, and the first air guide port A that air accumulator 62 is connected to the second magnetic valve 67 leads with the second of the 3rd magnetic valve 68 Between gas port B, the 3rd air guide port C of the first magnetic valve 66 is connected to the second air guide port B and the 3rd electromagnetism of the second magnetic valve 67 Between first air guide port A of valve 68, the 3rd air guide port C of the 3rd magnetic valve 68 is led by air pump 62 with the 3rd of the second guide valve the Gas port C is connected.When needing fish body 3 to float, such as pumping clockwise of air pump 62, and three the second valve switch of magnetic valve Open, the gas in air accumulator 62 is entered in the first storage displacement can 61, water discharge in displacement can 61 is stored up by first, so that real Existing fish head 1 is floated, otherwise then fish head 1 is sunk.When needing fish body 3 to float, such as pumping clockwise of air pump 62, and three electricity Second valve switch of magnet valve is opened, and the gas in air accumulator 62 is entered the second storage displacement can 65, and displacement can is stored up by second Water discharge in 65, 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 is connected, to control the start of the fish body oscillating motor 34 for driving trunk skeleton 30 to swing, to realize the position of trunk skeleton 30 Swing, and then realize bionic machine fish turn.When that need to turn, the control of microprocessor 701 drives what trunk skeleton 30 swung Fish body oscillating motor 34 drives the corresponding reel 35 to carry out coiling to drawstring 36, drives trunk skeleton 30 to be rotated to side, real Existing bionic machine fish is turned, and after turning terminates, the fish body oscillating motor 34 for driving trunk skeleton 30 to swing drives reel 35 Rotation makes the return of trunk drawstring 36, that is, stopped 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, for bionic machine fish provides driving force, 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, and for bionic machine fish provides driving force, stops in bionic machine fish After advance, the fish body oscillating motor 34 for controlling to drive afterbody skeleton 40 to swing is stopped operating, bionic machine fish is halted.

Microprocessor 701 is also connected with the fin oscillating motor 520 in fin pendulous device 52.To control fin to swing electricity The start of machine 520, is swung, with when bionic machine fish advances with the fin 5 for when bionic machine fish advances, making bionic machine fish 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 signalling of the afterbody skeleton 40 that microprocessor 701 is received for basis judges the position of afterbody skeleton 40 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 deflection 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 for driving afterbody skeleton 40 to swing stops operating.It is understood that in microprocessor 701 by wireless Signal receive 702 control instructions for receiving outside input 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 be swung to initial position, and is swung 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 after tail swing reaches setting time for driving the fish body of tail swing to swing electricity Machine 34 drives afterbody skeleton 40 to be swung 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, after the deflection of trunk skeleton 30 reaches peak excursion position, Microprocessor 701 controls to be rotated to opposite direction for the fish body oscillating motor 34 for driving trunk skeleton 30 to swing and then driving trunk Skeleton 30 is swung, 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 to control to drive trunk skeleton 30 to be swung to initial position for the fish body oscillating motor 34 for driving trunk to swing, and Trunk skeleton 30 swings to initial position and controls to be stopped 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 according to the operation program of its storage inside after trunk swings and reaches setting time The fish body oscillating motor 34 that trunk swings drives trunk skeleton 30 to be swung to initial position, and is swung 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 sensor 711, the second fish body hall sensing Device 712, the 3rd fish body Hall sensor 713 and fish body magnet 714.First fish body Hall sensor 711, the second fish body Hall is passed Sensor 712, the 3rd fish body Hall sensor 713 are used for the corresponding maximum left avertence position letter of generation when being alignd 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 sensor 712, the 3rd fish body Hall sensor 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 sensor 711 in putting, the second fish body Hall sensor 712, the 3rd fish body Hall sensor 713 will be with Caudal articular process 41 swings and swings, and fish body magnet 714 will not swing, such first fish body Hall sensor 711, the second fish body Hall sensor 712, the 3rd fish body Hall sensor 713 align 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 sensor 711 of trunk position detection device, the second fish body Hall sensor 712, the 3rd fish The joint of trunk 31 that body Hall sensor 713 was arranged on and was provided with the fish body oscillating motor 34 for driving trunk skeleton 30 to swing 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 sensor 711 of the fish body positional detecting device 71 that sample is used in trunk position detection device, the second fish body Hall sensor 712, the 3rd fish body Hall sensor 713 will swing with the swing of joint of trunk 31, and fish body magnet 714 will Will not swing, such first fish body Hall sensor 711, the second fish body Hall sensor 712, the 3rd fish body Hall sensor 713 align 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 mounting bracket 715.Mounting bracket 715 includes that first installs Block 716, the second mounting blocks 717 and connecting bracket 718, the first mounting blocks 716 are stacked and are hinged on the second mounting blocks about 717 Together, the bottom of the second mounting blocks 717 is fixed together with connecting bracket 718.First fish body Hall sensor 711, the Two fish body Hall sensors 712, the 3rd fish body Hall sensor 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 the swing position information of collection trunk skeleton 31 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.In this way, trunk skeleton 31 and afterbody skeleton 40 are when swinging, its is corresponding The first fish body Hall sensor 711 in fish body positional detecting device 71, the second fish body Hall sensor 712 and the 3rd fish body are suddenly You can occur position skew by sensor 713 relative to fish body magnet 714 so that the first fish body Hall sensor 711, the second fish body The fish body Hall sensor 713 of Hall sensor 712 and the 3rd can align 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 controls fin oscillating motor to return to initial position in fin according to fin initial position message Afterwards, stop control fin to swing up and down.Wherein, fin positional detecting device includes fin Hall sensor (not shown) and fin Portion's magnet (not shown), fin Hall sensor is 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 aligns with fin Hall sensor, and fin Hall sensor senses fin Magnet simultaneously produces fin to be sent 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 The opposing cover plates 59 of portion's support 51 are rotated, and such fin Hall sensor will stagger with fin magnet, and fin Hall sensor will not Fin can be produced to be located at initial position signal.The main purpose for setting 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 magnetic valve 66, the second magnetic valve 67 and the 3rd magnetic valve 68, with Control the opening and closing of air pump 63, and the first valve on the first magnetic valve 66, the second magnetic valve 67 and the 3rd magnetic 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 The principle for floating and sinking and the detailed description in the above, will not be repeated here.

In the present embodiment, the control system 7 in the utility model also includes first depth of water being connected with microprocessor 701 The water depth sensor 75 of sensor 74 and second, 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 data 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 the water depth sensor 75 of sensor 74 and second is collected control air pump 63 start, first, second and third electricity 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 magnetic 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 the water signal that microprocessor 701 is collected according to the second water depth sensor 75 judges When fish body 3 floats up to the first set depth, microprocessor 701 is closed air pump 63 while closing first, second and third electromagnetism Second valve switch of valve 66,67,68, no longer enters in the second air bag 652 gas in air accumulator 62, the first storage displacement can 65 no longer drainings, the weight of fish body 3 no longer mitigates, and fish body no longer floats.

Microprocessor 701 collects water signal and judges that fish head 1 is located at the second setting according to the first water depth sensor 74 During depth, the first valve switch of first, second and third magnetic 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, Microprocessor 701 is closed the second valve switch for simultaneously closing off first, second and third magnetic valve 66,67,68 by air pump 63, 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, in sinking watching whether be located at the second set depth, 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 and inverts first, 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 is closed, so that 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 The start of shape mechanism 23, and then drive flake 19 to rotate.

The wireless signal receiver 702 that control system 7 is also connected with microprocessor 701, wireless signal receiver 702 is used for 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, to cause bionic machine fish 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.It is multiple single The fish head that body motor pattern includes is floated, floats with fish, fish head is sunk, fish body sinks, fish mouth is opened, fish mouth is closed, eye rotation, Trunk is swung, 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 is sunk and fish body sinking synthesizing bionic machine fish dive.Fish mouth is opened imitative with fish mouth closure synthesis Raw machine fish fish mouth opening and closing.Trunk swings to form bionic machine turning.Fish tail swing provides motive force for bionic machine fish advances, Form bionic machine fish swimming.Fin swings the balance for ensureing bionic machine fish.Fin is rotated for being floated with fish Or the fin skeleton 50 of fin 5 to be turned to the angle of inclination of setting when sinking for fish body, 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 sinks 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, imitative Raw machine fish carries out the bionic machine fish water surface and moves under water first, and bionic machine fish fish mouth opening and closing, bionical machine are carried out during moving under water Device fish is moved under water after the water surface moves under water certain hour under water, and bionic machine fish fish mouth is carried out during moving under water under water Close.

Above-mentioned monomer motion, its motion process and principle, and described in detail in above process, will not be repeated 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 set in multiple battery cases 101, battery case 101 battery be installed, think this reality With in new electric energy is provided with electric device.

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

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

Claims (7)

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) including with fish Afterbody skeleton (40) and be arranged on trunk skeleton that the trunk skeleton (30) and the trunk skeleton (30) of head (1) connection are connected (30) fin (5) on, it is characterised in that what the fin (5) was connected including fin skeleton (50) and with fin skeleton (50) Fin support (51), fin support (51) is connected with fish body (3), wherein, fin skeleton (50) is including skeleton substrate (501) and sets Put the flexible joint (502) that the multiple on skeleton substrate (501) is hinged.

2. bionic machine fish as claimed in claim 1, it is characterised in that the length bearing of trend of the skeleton substrate (501) Length bearing of trend with fish body (3) is vertical, the length bearing of trend of flexible joint (502) and the length extension side of fish body (3) To parallel.

3. bionic machine fish as claimed in claim 2, it is characterised in that one end of flexible joint (502) and skeleton substrate (501) fixed and along fish body (3) length bearing of trend is set.

4. bionic machine fish as claimed in claim 3, it is characterised in that the flexible joint (502) includes multiple sheets Sub- joint (503), two adjacent sub- joints (503) are connected by connection rotating shaft (505), and connection rotating shaft is arranged with (505) One torsion spring (504), the two ends of torsion spring (504) are respectively held against two sub- joints (503).

5. bionic machine fish as claimed in claim 1, it is characterised in that the fin (5) also includes fin pendulous device (52) and fin motor box (58), fin pendulous device (52) includes fin oscillating motor (520), fin rotating disk (521) and fin Portion's crank (522), wherein, fin oscillating motor (520) is arranged in fin motor box (58) and fin oscillating motor (520) Shaft pass fin motor box (58), the fin rotating disk (521) is set in the shaft of fin oscillating motor (520) On, the two ends of the fin crank (522) are pivotally connected with fin rotating disk (521) and fin support (51) respectively, fin support (51) medium position is pivotally connected by connecting shaft (581) with the front end face of fin motor box (58).

6. bionic machine fish as claimed in claim 5, it is characterised in that swing electricity with two fins in a pair of fins (5) In same fin motor box (58), fin motor box (58) is fixed in trunk skeleton (30) machine (520).

7. bionic machine fish as claimed in claim 5, it is characterised in that the anterior of the fin motor box (58) sets cover plate (59), the cover plate (59) of fin motor box (58) is provided with the perforation worn for the shaft of two fin oscillating motors (520) (591), connecting shaft (581) is arranged on cover plate (59).