CN206604190U - Toy and Biomimetic Fish in a kind of water with vectored thrust system - Google Patents

Abstract

The utility model provides toy in a kind of water with vectored thrust system, including can swim body, be installed in the propeller of body, the propeller can be relative to the body swing；Also include driver, the driver includes motor, the first output shaft of rotation is driven by motor；The free end of first output shaft is fixed with rocking arm；A moveable centering block is additionally provided with, the rocking arm drives the centering block to swing；The propeller is connected with the centering block and driven by the centering block and swung.User can easily and efficiently achieve flat trip, dive, floating, left-hand bend, right-hand bend, left-hand screw dive, left-hand screw floating, right-hand screw dive, right-hand screw floating function by various control means.

Description

Toy and Biomimetic Fish in a kind of water with vectored thrust system

Technical field

The utility model is related to toy and Biomimetic Fish in toy in water, more particularly to a kind of water with vectored thrust system.

Background technology

In the prior art, bionics is the comprehensive frontier science occurred 1960s, and it is by life science Interpenetrated with engineering technology program, be combineding with each other forms, by study, imitate, replicate and reproduce the structure of biosystem, work( Energy, operation principle and controlling mechanism, to improve existing or creative machinery, instrument, building and technical process.Bionic machine The premise that this subject of people is produced and existed is that biology have passed through long-term natural selection and evolve, in structure, function Reasonability of the many-side such as execution, information processing, environment adaptation, autonomous learning with height, scientific and progressive.Rather than knot Structure, unknown working environment, complicated exquisite highly difficult task and for pinpoint accuracy, high flexibility, height Reliability, high intelligent target requirement are then the objective power that bio-robot is proposed and developed.

Utility model content

The utility model purpose is that there is provided played in a kind of water with vectored thrust system in order to overcome the deficiencies in the prior art Tool, its can in water free movement, dependable performance.

Another purpose of the present utility model is to provide for a kind of Biomimetic Fish.

In order to achieve the above object, the utility model uses following technical scheme：

Toy in a kind of water with vectored thrust system, including can swim body, be installed in the propeller of body, it is described Propeller can be relative to the body swing；Also include driver, the driver includes motor, driven by motor First output shaft of rotation；The free end of first output shaft is fixed with rocking arm；A moveable centering block is additionally provided with, it is described Rocking arm drives the centering block to swing；The propeller is connected with the centering block and driven by the centering block and swung.

Preferably, also including vectored thrust controller；The vectored thrust controller includes pulley, camb cap, cam And one-way clutch；The positive side of the pulley is provided with slide bar；The camb cap is provided with slotted eye and dorsal surface is provided with stopper slot, institute Slotted eye is stated in the stopper slot；The dorsal surface of the cam is provided with a non-circular chute of circle；The driver also includes The second output shaft driven by motor；The one-way clutch is fixedly connected with the pulley；The camb cap is rotatable Ground is located at the dorsal surface of the cam；The slide bar of the pulley sequentially passes through the stopper slot and the slotted eye and extended to described The chute of cam.

Preferably, also including a controller, the controller is connected with the motor；The one side of the pulley Provided with coding disk, the coding disk crosses unthreaded hole provided with circumferential；Correspondence coding disk is provided with photoelectric sensor switch；The light Inductance inductive switch is connected with the controller.

Preferably, also including two elevators, the elevator is located at the both sides of the body；The elevator and water Plane is parallel or with respect to the horizontal plane into negative angle.

Preferably, the shape of the chute substantially passes through the cam in apple Xray films shape or the chute First in separated time.

Preferably, the propeller includes oscillating bearing and water repellent device；The oscillating bearing is connected with the centering block, institute Water repellent device is stated to be fixedly connected with the oscillating bearing.

Preferably, also including controller, the controller includes pcb board, IC, wet sensitive electronic component；The IC and wet Quick electronic component is located at the pcb board.

Preferably, also including vectored thrust controller；The vectored thrust controller is including in cycloid foreign steamer, cycloid Wheel, runner and unilateral bearing；Cycloid foreign steamer has open inner chamber, and the side wall of the open inner chamber of the cycloid foreign steamer is provided with cycloid Tooth, the lateral wall of the cycloid lubrication groove is provided with cycloid external tooth；Cycloid lubrication groove is located at the open inner chamber, the cycloid internal tooth and institute State the intermeshing of cycloid external tooth；The dorsal surface of cycloid foreign steamer is provided with a cylinder provided with a circular chute, the positive side of cycloid lubrication groove Sliding block；The positive side of runner is provided with driven rod, and driven rod runs through cycloid wheel cap and is inserted into the jack of cycloid lubrication groove；Unilateral bearing It is connected with runner, unilateral bearing is connected with the first output shaft.

Preferably, also including a controller, the controller is connected with the motor；The one side of the runner Provided with coding disk, the coding disk crosses unthreaded hole provided with circumferential；Correspondence coding disk is provided with photoelectric sensor switch；The light Inductance inductive switch is connected with the controller.

It is a kind of to include the Biomimetic Fish of the structure of toy in the water with vectored thrust system, it is characterised in that the body Body is shaped as fish figure shape, the elevator is shaped as fin shape, and the propeller is shaped as fish tail shape.

Compared with prior art, the utility model has the advantages that：

Into a Biomimetic Fish when toy profile is fish shape in water described in the utility model with vectored thrust system, this is bionical Fish can imitate the action during activity of nature Mesichthyes to the life, and user can be convenient, fast by various control means Prompt achieves flat trip, dive, floating, left-hand bend, right-hand bend, left-hand screw dive, left-hand screw floating, right-hand screw dive, the right side Spiral floating function.Also appearance color change, sound of fish etc. can be imitated.Vectored thrust controller design is ingenious, realizes water repellent device Thrust vectoring changeability and controllability so that bionical fish swimming gets up vivid.

Brief description of the drawings

Fig. 1-1 is the structural representation of toy in the water described in the utility model with vectored thrust system；

Fig. 1-2 is the internal structure schematic diagram of removal side shell in Fig. 1-1；

Fig. 1-3 is Fig. 1-2 parting face schematic diagrames；

Fig. 2-1 is the structural representation of vectored thrust controller；

Fig. 2-2 is the exploded perspective view a of vectored thrust controller；

Fig. 2-3 is the exploded perspective view b of vectored thrust controller；

Fig. 2-4 is the parting face schematic diagram of vectored thrust controller；

Fig. 2-5 is movement locus in the chute of cam of slide bar P points in pulley part and respectively positions point diagram；

Each anchor point in movement locus is corresponding with slide bar P points by Fig. 2-6, the thrust vectoring figure on propeller；

Swimming gesture stability schematic diagram of each thrust vectorings of Fig. 2-7 to fish；

Fig. 3-1 is the structural representation of controller；

Fig. 4-1 is the structural representation of driver；

Fig. 4-2 is the driver assembling schematic diagram for removing gear-box；

Fig. 4-3 is reducer gear mesh schematic representation；

Fig. 4-4 is the driver assembling schematic diagram with gimbal；

The structural representation of Fig. 5-1 propellers；

The exploded perspective view of Fig. 5-2 propellers；

Fig. 6-1 is the structural representation of another embodiment of vectored thrust controller；

Fig. 6-2 is the explosive view of another embodiment of vectored thrust controller；

Fig. 6-3 is the parting face figure of another embodiment of vectored thrust controller；

Fig. 6-4 be vectored thrust controller another embodiment in runner part P points in Cycloidal Wheel

Movement locus and respectively position point diagram；

Fig. 6-5 is the thrust vectoring figure of the propeller in another embodiment of vectored thrust controller（With turning

Take turns P points each anchor point in movement locus corresponding）.

Fig. 6-6 is swimming posture of each vectored thrust in another embodiment of vectored thrust controller to fish

Control schematic diagram.

In figure：

1-body；11-elevator；12-closure；13-sealing ring；2-vectored thrust controller；201-unidirectional Clutch；202-locating ring；203-cam；2031-chute；2032-centre bore；2033-disc portion；204-cam Lid；2041-stopper slot；2042-central glue post；205-pulley；2051-slide bar；2052-coding disk；20521-light excessively Hole；211-cycloid foreign steamer；2111-opening inner chamber；2112-cycloid internal tooth；212-rubber ring；213-retainer ring；214— Cycloid lubrication groove；2141-jack；2142-cycloid external tooth；215-cycloid wheel cap；216-runner；2161-driven rod； 2162-coding disk；21621-cross unthreaded hole；217-unilateral bearing；3-controller；301-wet sensitive electronic component；302—PCB Plate；303—IC；4-driver；401-front output shaft；402-gear box cover；403-gear-box；404-decelerator module； 405-rear output shaft；406-iron axle；407-centering block；408-rocking arm；409-motor；410-shell fragment；411-photoelectricity Inductive switch；412-gimbal A；5-propeller；501-oscillating bearing；502-water repellent device；503-screw steel wire；6-electricity Pond；7-LED light；8-loudspeaker.

Embodiment

In conjunction with accompanying drawing, the utility model is described in further detail with specific embodiment.

Referring to Fig. 1-1 to Fig. 6-6, toy is pushed away including body 1, vector in the water of the present invention with vectored thrust system Force controller 2, controller 3, driver 4, propeller 5, battery 6, elevator 11.

Body 1 is made up of rigidity plastics, in a preferred embodiment, and body 1 includes left shell and right shell, left side Housing is assembled into a seal casinghousing with right shell.The front end both sides of body 1 are provided with elevator 11, and elevator 11 is put down with horizontal plane Go or with respect to the horizontal plane down tilted into negative angle, i.e. elevator 11.Body 1 is shaped as fish figure shape, elevator 11 Fin shape is shaped as, the water repellent device 502 of propeller 5 is shaped as fish tail shape, and now toy is a Biomimetic Fish in water.Vector Thrust controller 2, controller 3, driver 4, battery 6 are installed in body 1；The intermediate symmetry parting face of driver 4 is aligned in The parting face of the intermediate symmetry of body 1.

The dorsal fin shape position of body 1 and elevator 11 are all that translucent material makes and surface frosted, both edge parts Position is provided with luminous component, such as seven color LED lights 7, and seven-color LED is luminous and light injects to it through transparent or semitransparent fin Side edge, forms the color for dazzling beautiful change.Those LED lights 7 can also respectively be shown by sending the light of different colours Fish is in state of activation or fish is in positive charged state.Loudspeaker 8 is additionally provided with body 1.

Driver 4 includes front output shaft 401, gear box cover 402, gear-box 403, decelerator module 404, rear output shaft 405th, iron axle 406, centering block 407, Rocker arm 4 08, motor 409.The electric power of motor 409 is supplied to controller by battery 6 3, then motor 409 is supplied to by controller 3.The rotary motion of motor 409 is slowed down by decelerator module 404, and one End output rotated to front output shaft 401, the other end is output to rear output shaft 405 and rotated, rear output shaft 405 with Rocker arm 4 08 is fixedly connected, and rear output shaft 405 drives Rocker arm 4 08 to rotate；Centering block 407 is arranged in gear-box by iron axle 406 On 403, Rocker arm 4 08 drives centering block 407 to be moved back and forth on iron axle 406, so that centering block 407 can realize the work(of drying Energy.The direction that centering block 407 is moved is vertical with the shaft axis of Rocker arm 4 08, and specifically, the side of centering block 407 towards Rocker arm 4 08 is provided with One recess, the width that the arm of Rocker arm 4 08 is extended on recess, the direction of the movement of centering block 407 of recess is less than what arm was rotated The diameter of track, and the width on the moving direction of centering block 407 of recess is not less than the diameter for the track that arm is rotated； Thus Rocker arm 4 08, which is rotated, can drive centering block 407 to move back and forth.

Driver 4 is screwed in fish body by gimbal A412, therefore driver 4 can obtain the branch of fish body indirectly Hold, and due to gimbal A412 position-limiting action, limit all prismatic pairs of driver 4, only there is the transhipment around certain point It is secondary.

Propeller 5 includes oscillating bearing 501, gimbal, water repellent device 502, screw steel wire 503.The one end of centering block 407 is provided with In the oscillating bearing 501 of small column activity insertion propeller 5 so that driver 4 can be effectively connected with propeller 5, and be caused small Cylinder can be slided in the hole of oscillating bearing 501, to eliminate the relative position when oscillating bearing 501 is being swung between both Minor variations；And oscillating bearing 501 can undertake the change of the relative angle between both.Oscillating bearing 501 is located at body 1 Interior, the front end of screw steel wire 503 is connected with oscillating bearing 501, and water repellent device 502 is arranged on end or the installation of screw steel wire 503 In the place close to end, screw steel wire 503 by sealing ring is sealed through body 1 and through position.The reciprocally swinging of centering block 407 The swing of oscillating bearing 501 has been driven, and has been passed to by screw steel wire and pulls out hydrophone 502.The relative body 1 of water repellent device 502 is put It is dynamic, therefore promote in water whole Toy Motion.Preferably, propeller 5 is arranged on the body 1 of fish using gimbal and with screw In, so allowing for oscillating bearing 501 can only swing and rock, it is impossible to move.Water repellent device 502 is then made up of flexiplast Or fried batter in a thin layer shape using rigidity plastics.Install in longitudinally asymmetric face of the propeller 5 along body 1.Propeller 5 can obtain fish body 1 Supporting.

Vectored thrust controller 2 includes screw, locating ring 202, cam 203, camb cap 204, pulley 205, one-way clutch Device 201.The positive side of pulley 205 is provided with slide bar 2051, and the dorsal surface of pulley 205 is provided with coding disk 2052, and coding disk 2052 is set There is circumferential unthreaded hole 20521 excessively, correspondence coding disk 2052 is provided with photoelectric sensor switch 411；Camb cap 204 is provided with slotted eye And its dorsal surface is provided with stopper slot 2041, slotted eye is located in stopper slot 2041, and the leading flank of camb cap 204 is provided with central glue post 2042, the dorsal surface of cam 203 is provided with a non-circular chute 2031 of circle；The interference fit of one-way clutch 201 is pacified with pulley 205 It is fitted together, the preceding output of one-way clutch 201 and driver 4Axle401It is flexibly connected；Camb cap 204 passes through central glue post 2042 are rotatably arranged in the dorsal surface of cam 203；The slide bar 2051 of pulley 205 sequentially passes through stopper slot 2041 and slotted eye and prolonged Extend the chute 2031 of cam 203.

Cam 203 is disc cam, and disc cam can be provided with the chute 2031 of different curves, to realize pulley 205 motion can follow the chute track in cam 203.

Central glue post 2042 is arranged on the centre bore 2032 of cam 203, and locating ring 202 is arranged on central glue post 2042 End, and fixed with screw, both work in coordination at square structure.Locating ring carries several elastic constructions, and and cam The plum-shaped structure of 203 leading flank is engaged, and to realize the axial limiting to camb cap 204, pulley 205 passes through slide bar 2051st, the common mating reaction of stopper slot 2041 and chute 2031 is realized and moves radially and position.

The rotary power of pulley 205 is provided by the front output shaft 401 in driver 4 by one-way clutch 201.Due to list To the effect of clutch 201, front output shaft 401 can only be at a direction of rotation（Clockwise or counterclockwise）Power is exported to cunning Wheel 205.When front output shaft 401 rotates with movable pulley 205, the central glue post 2042 passed through due to camb cap 204 with The centre bore 2032 of cam 203 is assembled together, therefore camb cap 204 can only rotate, and due to the slide bar in pulley 205 2051 with the chute 2031 in cam 203 and slotted eye and the collective effect of stopper slot 2041 in camb cap 204, and such as Fig. 2-1 Shown, the shape of the chute 2031 of cam 203 is substantially in apple Xray films shape so that the slide bar 2051 in pulley 205 The hybrid motion of circumference and radial direction can only be made along chute 2031, shown in B is indicated in its movement locus such as Fig. 2-4 and Fig. 2-5；Or Chute is by separated time in the first of cam 203, and separated time is separated time in the one of the disc portion 2033 of cam in first, and its position is as schemed Shown in 2-4 C.So, the displacement of pulley 205 in turn again drive driver 4 make it is regular rock, driver 4 is regular Rock and with propeller 5 make it is regular rock, so as to change the thrust direction of propeller.Again due to the swing of propeller 5 Frequency and power can be realized by methods such as the de-regulation electric currents of controller 3, therefore can just be produced on propeller 5 controllable The thrust vectoring of system.

The position of pulley 205 is perceived by photoelectric sensor switch 411 by recognizing the crossing unthreaded hole 20521 of coding disk 2052. Positional information is passed to controller 3 and handled by photoelectric sensor switch 411, and controller 3 can be provided just according to the positional information of setting To or reverse current control the rotating of motor 409, control the start and stop of vectored thrust controller 2 with this. With reference to the positioning action of locating ring 202 and shell fragment 410, go to realize the positioning of pulley 205.

Refering to Fig. 6-1 to Fig. 6-5, shown in figure is another embodiment of vectored thrust controller 2, including outside cycloid Wheel 211, rubber ring 212, retainer ring 213, cycloid lubrication groove 214, cycloid wheel cap 215, runner 216 and unilateral bearing 217.Outside cycloid Wheel 211 has open inner chamber 2111, and rubber ring 212, retainer ring 213 and cycloid lubrication groove 214 insert the spacious of cycloid foreign steamer 211 successively In intraoral chamber 2111；Rubber ring 212 and retainer ring 213 are fixed on the bottom of open inner chamber 2111, and retainer ring 213 is located at rubber ring In 212；Cycloid wheel cap 215 is fixedly mounted on cycloid foreign steamer 211, and cycloid lubrication groove 214 can freely turn in open inner chamber 2111 It is dynamic.One lateral edges of cycloid lubrication groove 214 are provided with jack 2141.The side wall of the open inner chamber of cycloid foreign steamer is provided with cycloid internal tooth 2112, the lateral wall of cycloid lubrication groove is provided with cycloid external tooth 2142；Cycloid lubrication groove is located at the open inner chamber, the cycloid internal tooth 2112 are intermeshed with the cycloid external tooth 2142, and cycloid lubrication groove is dynamic in cycloid foreign steamer inner circle.Cycloid foreign steamerThe back of the bodySide is provided with One circular chute, cycloid lubrication grooveJustSide is provided with a cylinder sliding block, and tooth dislocation is jumped during for preventing that foreign steamer is engaged in cycloid.Turn The positive side of wheel 216 is provided with driven rod 2161, and the dorsal surface of runner 216 is provided with coding disk 2162, and coding disk 2162 is provided with along circle What is be distributed in week crosses unthreaded hole 21621, and correspondence coding disk 2162 is provided with photoelectric sensor switch 411；Driven rod 2161 runs through cycloid wheel cap 215 and it is inserted into the jack 2141 of cycloid lubrication groove 214.Unilateral bearing 217 is fixedly connected with runner 216, and unilateral bearing 217 is with before Output shaft 401 is connected.Unilateral bearing 217 drives rotation by front output shaft 401, so that runner 216 is rotated；Turn of runner 216 It is dynamic to make engagement rotation in the inner chamber of cycloid foreign steamer 211 with dynamic cycloid lubrication groove 214.Driven rod 2161 be a kind of radial translation with The hybrid motion state of circular motion.The stress of the visible vectored thrust controllers 2 of Fig. 6-5.The sheet of vectored thrust controller 2 Correlation between embodiment and driver 4 and photoelectric sensor switch 411 refers to another embodiment and driver 4 and photoelectricity Correlation between inductive switch 411.

Controller 3, controller 3 connects with motor 409, photoelectric sensor switch, battery 6, LED light 7, luminous component Connect.Controller 3 includes wet sensitive electronic component 301, pcb board 302, IC303 etc..Two wet sensitive electronic components 301 are arranged on pcb board On 302, when fish environment in water, path is formed between two wet sensitive electronic components 301 and water, so as to produce an electric signal Wake up the control circuit in controller 3.Wet sensitive electronic component 301 is as trigger switch, so can also be opened using other as infrared Close circuitry instead.Control electric routing battery 6 in controller 3 is powered.

Infrared receiving tube is installed in controller or Bluetooth signal receives remote signal, can be received outside body 1 The remote signal that emitter is sent.Control circuit can perform corresponding operation according to the signal received.

Change the electrical current direction of motor 409 by controller 3, realize the positive and reverse steering of the output shaft of driver 4 Change；By changing the electrical current size of motor 409, the size variation of the power output of driver 4 is realized.Motor 409 can also accessing pulse current, in width, amplitude, cycle and size of current that it can be by adjusting the pulse at least One parameter, goes to be changed, the motion of the driver 4 caused by these changes of electric current, can cause the pendulum of propeller 5 Dynamic, the fish tail in propeller 5 stirs water and produces thrust.

Battery 6 can be rechargeable battery, provided with the micro USB plug or other suitable being adapted to rechargeable battery on body 1 Charging plug, then correspond to charging plug and the closure 12 that is made of flexible material be set, make the charging port of toy in water exist Sealed in water.By opening closure 12, it can be inserted into charging port.Especially, the charging modes of controller 3 may be designed to nothing Line charging modes, or the charging system of controller 3 can be designed as charging by USB power source, can be with using carrying during charging The charger of micro USB charging head.Because many mobile phones all use this charger, avoid the need for providing special fill in water Electrical equipment, saves cost.

Principle of the present utility model：

The control for posture of swimming（Illustrate by taking the vectored thrust controller 2 shown in Fig. 2-1 as an example, when vectored thrust controller When being Fig. 6-1, its control for swimming posture refers to following pattern）：

When toy moves about forward in water, if water repellent device 502 and body 1 are angled, the thrust suffered by entirety Direction will have a certain degree with direction of advance, will result in whole toy and turn or dive or floating.Water repellent device 502 pulls out water The power size of current that can be accessed by motor 409 control, such fish can just realize fish direction of advance and speed Control.

When the embodiment of vectored thrust controller 2 is Fig. 2-1 to Fig. 2-7, its principle is as follows.

1st, keep straight on, dive is floated：When the center of slide bar 2051 of the pulley 205 in vectored thrust controller 2 goes to P1 points position When putting（Fig. 2-4）（Fig. 2-5）, water repellent device 502 is into horizontality, and the thrust direction of water repellent device 502 is horizontal thrust when a little（Fig. 2- 6）, direction of advance is straight trip（Fig. 2-7）；Bubbled through the water column when toy is static in water, when the speed of its straight trip is big to a timing, When potentiality are enough in overall push-in water under the auxiliary produced by elevator 11, toy is achieved that dive in water；If instead Slow down the forward speed of toy in water, when potentiality are insufficient in a water in toy push-in water under the auxiliary produced by elevator 11 When, toy just realizes floating in water（The F1 seen in Fig. 2-7）.

2nd, it is left-handed to float：When the center of slide bar 2051 of the pulley 205 in vectored thrust controller 2 goes to P2 point positions （Fig. 2-4）（Fig. 2-5）, water repellent device 502 also has a certain degree into 45 angle states and with preceding line direction, at this moment water repellent device 502 Thrust direction it is left-leaning downwards（Fig. 2-6）And also had a certain degree with preceding line direction, it can thus change the boat of toy in water To for upper right side, with reference to the buoyancy of toy in water, left-handed floating then can be achieved in toy in water（The F2 seen in Fig. 2-7）.Similarly may be used Know, the implementation that dextrorotation is floated（See Fig. 2-2 to Fig. 2-7）.

3rd, turn right：When the center of slide bar 2051 of the pulley 205 in vectored thrust controller 2 goes to P3 point positions（Figure 2-4）（Fig. 2-5）, water repellent device 502 also had a certain degree into 0 degree of horn shape state and with preceding line direction, and at this moment water repellent device 502 is pushed away Force direction is left front（Fig. 2-6）And also had a certain degree with preceding line direction, the course that can thus change toy in water is Toy then can be achieved to turn right in right front, water（The F3 seen in Fig. 2-7）.Similarly understand, the implementation of left-hand bend（See Fig. 2- 2 to Fig. 2-7）.

4th, dextrorotation dive：When the center of slide bar 2051 of the pulley 205 in vectored thrust controller 2 goes to P4 point positions （Fig. 2-4）（Fig. 2-5）, water repellent device 502 also has a certain degree into minus 45 degree of horn shape states, and with preceding line direction, at this moment water repellent device 502 thrust direction is left-leaning upwards（Fig. 2-6）, and also had a certain degree with preceding line direction, it can thus change toy in water Course be lower right, the down thrust that elevator 11 is produced, dextrorotation dive then can be achieved in toy in water（See in Fig. 2-7 F4）.Similarly understand, the implementation of left-handed dive（See Fig. 2-2 to Fig. 2-7）.

When the setting angle of elevator 11 is 0 degree about with the angle of horizontal plane, if toy moves about forward in water, Elevator 11 will not produce downward thrust, if in water toy towards front lower direction it is travelling when, thrust direction also towards front lower place, To drive in water toy to overcome buoyancy forward downward to travelling.When the setting angle of elevator 11 with respect to the horizontal plane has certain During negative angle, then toy has certain negative angle when forward in water.If in water the level of toy forward move about speed it is slower when, According to Bernoulli's theorem, elevator 11 can also produce downward thrust, but the down thrust now produced is also not enough to support completely Disappear the buoyancy of toy in water, therefore the body 1 that swims will not submerged completely；If the speed that the body 1 that swims moves about forward reaches One timing, according to Bernoulli's theorem, elevator 11 will produce bigger down thrust, and the down thrust now produced is sufficient The buoyancy of toy in water is enough offset, therefore, toy will submerged at leisure in water.

Reference picture 1-2, when drive circuit works, LED light 7 is shinny.In addition, when fish is charged, LED light 7 It is changed into stroboscopic.The light of these lamps is logical to enter light guide（The dorsal fin and/or abdomeinal fin and/or eyes of fish）, the side of dorsal fin or abdomeinal fin , so that light forms diffusing reflection at mill flower face, observed using mill flower processing so as to convenient side at edge and further groove It is charged state or working condition.

Loudspeaker 8 is installed, when fish emerges, sound can go out through housing and air borne in body 1.Sound It could be arranged to greet, music imitates sound of animal etc. so that fish becomes more lively.

Driver 4 is arranged in body 1 using the gimbal A412 of similar mechanical gyroscope structure, gimbal A412's Structure limits all prismatic pairs of driver 4, only has the revolute pair around certain point.Contain bionic fish tail, spiral shell in propeller 5 Line steel wire 503, oscillating bearing 501, propeller 5 are arranged in body 1 using the gimbal of similar mechanical gyroscope structure, and this ten thousand All prismatic pairs of propeller 5 are limited to the structure of frame, only there is the transhipment pair around certain point.

Advantage of the present utility model：

Biomimetic Fish has imitated the action during activity of nature Mesichthyes to the life, and user can pass through various control hand Section easily and efficiently achieves flat trip, dive, floating, left-hand bend, right-hand bend, left-hand screw dive, left-hand screw floating, right spiral shell Screw off latent, right-hand screw floating function.Also appearance color change, sound of fish etc. can be imitated.Vectored thrust controller 2 is ingenious in design, can The changeability and controllability of the thrust vectoring of water repellent device 502 are realized, so that bionical fish swimming gets up vivid.

The utility model is not limited to above-mentioned embodiment, if do not taken off to various changes or modification of the present utility model From spirit and scope of the present utility model, if these are changed and modification belongs to claim of the present utility model and equivalent technologies Within the scope of, then the utility model is also intended to comprising these changes and changed.

Claims (10)

1. toy in a kind of water with vectored thrust system, including can swim body, be installed in the propeller of body, it is described to push away Entering device can be relative to the body swing；Characterized in that, also including driver, the driver includes motor, by driving Dynamic motor drives the first output shaft of rotation；The free end of first output shaft is fixed with rocking arm；One is additionally provided with to may move Centering block, the rocking arm drives the centering block movement；The propeller is connected with the centering block and driven by the centering block and swung.

2. toy in the water according to claim 1 with vectored thrust system, it is characterised in that

Also include vectored thrust controller；The vectored thrust controller includes pulley, camb cap, cam and one-way clutch；

The positive side of the pulley is provided with slide bar；

The camb cap is provided with slotted eye and its dorsal surface is provided with stopper slot, and the slotted eye is located in the stopper slot；

The dorsal surface of the cam is provided with a non-circular chute of circle；

The driver also includes the second output shaft driven by motor；

The one-way clutch is fixedly connected with the pulley；The camb cap is rotatably arranged in the dorsal surface of the cam； The slide bar of the pulley sequentially passes through the stopper slot and the slotted eye and the chute for extending to the cam.

3. toy in the water according to claim 2 with vectored thrust system, it is characterised in that also including a controller, institute Controller is stated to be connected with the motor；The one side of the pulley is provided with coding disk, and the coding disk, which is provided with, circumferentially to be divided The unthreaded hole excessively of cloth；Correspondence coding disk is provided with photoelectric sensor switch；The photoelectric sensor switch is connected with the controller.

4. toy in the water according to claim 1 with vectored thrust system, it is characterised in that also including two elevators, The elevator is located at the both sides of the body；The elevator is with plane-parallel or with respect to the horizontal plane into negative angle.

5. toy in the water according to claim 2 with vectored thrust system, it is characterised in that the shape of the chute is substantially Pass through separated time in the first of the cam in apple Xray films shape or the chute.

6. toy in the water according to claim 1 with vectored thrust system, it is characterised in that the propeller includes joint Bearing and water repellent device；The oscillating bearing is connected with the centering block, and the water repellent device is fixedly connected with the oscillating bearing.

7. toy in the water according to claim 1 with vectored thrust system, it is characterised in that described also including controller Controller includes pcb board, IC, wet sensitive electronic component；The IC and wet sensitive electronic component are located at the pcb board.

8. toy in the water according to claim 1 with vectored thrust system, it is characterised in that also including vectored thrust control Device；The vectored thrust controller includes cycloid foreign steamer, cycloid lubrication groove, runner and unilateral bearing；Cycloid foreign steamer has in open Chamber, the side wall of the open inner chamber of the cycloid foreign steamer is provided with cycloid internal tooth, and the lateral wall of the cycloid lubrication groove is provided with cycloid external tooth； Cycloid lubrication groove is located at the open inner chamber, and the cycloid internal tooth is intermeshed with the cycloid external tooth；The dorsal surface of cycloid foreign steamer Provided with a circular chute, the positive side of cycloid lubrication groove is provided with a cylinder sliding block；The positive side of runner is provided with driven rod, and driven rod is passed through Wear cycloid wheel cap and be inserted into the jack of cycloid lubrication groove；Unilateral bearing is connected with runner, and unilateral bearing is connected with the first output shaft.

9. toy in the water according to claim 8 with vectored thrust system, it is characterised in that also including a controller, institute Controller is stated to be connected with the motor；The one side of the runner is provided with coding disk, and the coding disk, which is provided with, circumferentially to be divided The unthreaded hole excessively of cloth；Correspondence coding disk is provided with photoelectric sensor switch；The photoelectric sensor switch is connected with the controller.

10. a kind of Biomimetic Fish of the structure of toy in water including with vectored thrust system described in claim 4, its feature exists Fish figure shape is shaped as in, the body, the elevator is shaped as fin shape, the propeller is shaped as fish tail Shape.