CN208115069U - A kind of speed change that turns to comprising electric control gear is cruised change system - Google Patents

Abstract

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

Description

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

Technical field

The present invention relates to swimming devices and diving equipment industry, in particular to a kind of to turn to speed change comprising electric control gear Change system of cruising can both be swum at a high speed fastly for swimming exercise, underwater swimming, and can also be swum slowly, can also cruised with low speed Fine tuning is corrected direction and is flexibly turned in the process, cruises particularly suitable for water middle and long distance；Using the left and right mutually independent bitubular The combination of the thigh body of rod of the bionic caudal fin fixed link of shape and left and right mutually independent bitubular shape, passes through bitubular binding face Between the permanent magnet, magnetizer or the electromagnetic coil that are in pair and the positioning pin and dowel hole that are in pair, may be implemented Quickly, it easily positions each other, draw close fitting and separation, greatly facilitated swimmer between dress, swimming, walking Random switching, also increase indirectly swimmer encounter in water burst dangerous situation when reply option, substantially increase swimmer Self-aid ability for stringency when in danger.

Background technique

Contemporary society, swimming exercise and underwater swimming are more more and more universal, and various swimming devices, diving equipment emerge one after another, It is the main driving tool to advance that most of swimming device and diving equipment, which are all with flippers, common are double-legged double webs and Double-legged single web, the double webs of both feet are that the both feet of swimmer respectively wear a flippers, and swimmer is kicked alternately by both legs and generates advance Motive force, both feet list web are that the both feet of swimmer wear a flippers altogether, and swimmer, which synchronizes to fetch water by both legs, generates pushing away for advance Power.

The either double webs of both feet or the single web of both feet, have its most suitable single frequency of fetching water, swimmer is only with this Frequency of fetching water is fetched water, and optimal propulsive force could be obtained；When swimmer wishes to change trip speed, for example fetched water height with higher frequency Fast fast trip or with lower frequency fetch water low speed swim slowly when, the efficiency of propulsion can decline, especially when swimmer is with higher Frequency when fetching water, not only propulsive efficiency is not high, but also can generate feeling of fatigue quickly；Either the double webs of both feet or both feet are single Web, swimmer all cannot achieve flexibly turn to, directional trim amendment；In addition, either double-legged double webs or the single web of both feet, usually It is all to be through on swimmer's foot, because leg and foot be there are angle, the fetch water propulsive force direction of generation of flippers necessarily can not The direction advanced with swimmer is completely the same, thus also weakens propulsive efficiency.

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

Summary of the invention

Do not had for the double webs of main driving tool both feet, the single web of both feet of current existing swimming device and diving equipment The inadaptable natural motion fault of construction efficiently moved about in water of the human body that preferably solves, that is, be difficult to realize in the fast trip of high speed and Low speed, which is swum slowly under two states, can obtain the deficiencies of higher propulsive efficiency and cannot achieve flexibly turns to, directional trim is corrected Place, the present inventor examine the process for the mammal oscillating tail-fin that dolphin, cetacean etc. return to Ocean Living, grind Study carefully, and imitate with the mankind dolphin in water, the posture of cetacean oscillating tail-fin travelling compares, difference more between the two is right It is made a concrete analysis of in the reason of generate difference again, in conjunction with human motion structure feature, by scientifically and rationally using human body work It learns, provides a kind of speed change that turns to comprising electric control gear to cruise change system, include turning to for electric control gear by this Speed change is cruised change system, and swimmer by rotating left and right ankle respectively, i.e., can stretch foot according to trip speed in water The movement of back or hook adjusts separately a left side for bionical variable tail fin device using automatically controlled mode of transfer force or purely mechanic mode of transfer force The corner of tail fin, right tail fin, to realize that fin broadening degree, fin exhibition rea adjusting or realization flexibly turn to, directional trim is corrected, together When also adjustable knee elastic element elastic force, and then reach the fast trip of the high speed that can both fetch water with higher frequency, can also Which kind of to be swum slowly with lower frequency low speed of fetching water, no matter fetch water under frequency, swimmer can effectively improve useful work Specific gravity promotes the advance efficiency and trip speed of swimming and diving, during swimming, when needing to turn to or side to the maximum extent To when deviateing, by the left tail fin of asynchronous adjustment, the corner of right tail fin, realization flexibly turns in real time or directional trim amendment, The traveling potential of swimmer in water is given full play of, the purpose continuously cruised over long distances is finally reached；Swimmer passes through speed change It cruises, the feeling of fatigue generated when cruising over long distances can also be effectively reduced；In addition, should be patrolled comprising the speed change that turns to of electric control gear Direction and the swimmer's direction of travel for swimming the generation thrust of change system are completely the same, to overcome double-legged double webs or both feet Leg of single web due to caused by being worn on swimmer's foot and web there are angle so that web fetch water the propulsive force direction of generation cannot The completely the same defect in the direction that enough and swimmer advances, to further increase propulsive efficiency.

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

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

The present invention specifically uses following scheme：

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

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

The IC chip loading of the control circuit board of the control unit of the electric control gear, which has, is suitable for different operating conditions Under model program, the model program include but is not limited to most fastly trip fast mode program, most laborsaving model program, maximal efficiency Model program, self-studying mode program, manual adjustment mode program, each model program are transmitted according to pedal position sensor The amplitude for becoming the rotation of fin pedal, the strength, acceleration come, the i.e. amplitude of change fin pedal variation in angular displacement, speed, acceleration, lead to The analysis processing operation for crossing the model program, obtains most fast trip fast mode, most saves force mode, maximal efficiency mode, self study mould Corresponding output valve under formula, manual adjustment mode passes through variable tail fin linkage element driving by power supply, motor Bian Qi executing agency drives elastic force adjustment actuating mechanism corresponding actions simultaneously by balance force linkage element；Described is most fast Trip fast mode program, most laborsaving model program, the output valve of maximal efficiency model program and its calculation formula, are repaired empirical parameter Positive coefficient passes through corresponding hydrodynamics method according to the mechanics parameters of bionical variable tail fin device, balance force application apparatus And obtain and be conducted into the corresponding model program of the IC chip after simulated experiment amendment, it is described from Mode of learning program refers to the process of that among swimmer's swimming, the IC chip is often selected according to swimmer Amplitude, speed, acceleration signal value and the signal value changing rule for becoming fin pedal variation in angular displacement are optimized and are solidified, The model program for being adapted to the optimization of swimmer is obtained, by most swimming fast mode program, most laborsaving model program, maximum fastly Intelligently with speed while efficiency mode program, self-studying mode program can realize bionical variable tail fin device, balance force application apparatus It adjusts, and each relevant calculation formula, parameter, correction factor can be continued to optimize during system upgrade in the future or increased new Model program, the manual adjustment mode program refer to the process of swimmer swimming among, swimmer can pass through institute State the control unit of electric control gear control circuit board connection manual manipulation key or foot-propelled operational and controlled key button in real time manually or Foot-propelled increases or reduces the angle between left tail fin and right tail fin, or fine tuning amendment direction of travel, while adjusting knee in real time The default elastic deformation of portion's elastic element and elastic force, the manual manipulation key or foot-propelled operational and controlled key button include but is not limited to Electric shock switch, travel switch, toggle switch, the manual manipulation key usually can be disposed at the position that finger can touch, The foot-propelled operational and controlled key button, which can be typically mounted at, becomes the position that the toe of fin pedal can touch.

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

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

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

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

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

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

As a further improvement of the above technical scheme：

Each setting one lesser left side tail fin, right side tail fin, institute can be distinguished in two sides of the left tail fin, right tail fin It states between left tail fin and lesser left side tail fin, is hinged by the bionic caudal fin between right tail fin and lesser right side tail fin Structure is connected, the left side tail fin, right side tail fin two sides can also again distinguish one smaller small left tail fin of each setting, Small right tail fin also leads between the left side tail fin and smaller small left tail fin, between right side tail fin and smaller small right tail fin The bionic caudal fin articulated structure is crossed to be connected, and so on, left tail fin, lesser left side tail fin, smaller small left tail fin are logical Bionic caudal fin articulated structure between crossing is serially connected into the plural serial stage structure of two-stage or more, right tail fin, the lesser right side Bionic caudal fin articulated structure between side tail fin, smaller small right tail fin pass through also is serially connected into the multistage of two-stage or more Cascaded structure, left tail fin, lesser left side tail fin are equipped between smaller small left tail fin and apply elastic force between each other Bionic caudal fin return elastic element (701), right tail fin, lesser right side tail fin are also equipped between smaller small right tail fin Apply the bionic caudal fin return elastic element of elastic force each other, the bionic caudal fin return elastic element includes but is not limited to Spring, gas spring, rubber band, respective coefficient of elasticity k are constant or change with its deflection and change, the concrete kind of spring Type includes but is not limited to extension spring, compressed spring, torsional spring, disc spring, elastic slice, when each bionic caudal fin return elastic element is When torsional spring, directly it is sleeved on the articulated shaft of the bionic caudal fin articulated structure, it is bionical that the both ends of torsional spring are individually fixed in this Two adjacent tail fins that tail fin articulated structure is coupled；The change fin pedal in left side, the change fin pedal on right side pass through respectively respectively At least one independent variable tail fin linkage element pass through after the left tail fin in ipsilateral or heteropleural each centre, each intermediate right tail fin with The smallest left tail fin, the smallest right tail fin positioned at end are connected；Swimmer does and stretches by rotating left and right ankle respectively The movement of straight feet back or hook manipulates left tail fin, right tail fin around respective imitative by automatically controlled mode or purely mechanic mode respectively Raw tail fin articulated structure is made opposite or is rotate in same direction, and swimmer can realize left tail fin and right tail by rotating synchronously the ankle of both feet The synchronous of fin relatively rotates, i.e., swimmer may be implemented in increase, reduction fin broadening degree or the fin developable surface product during oscillating tail-fin Function, i.e. realization speed changing function, swimmer can realize the in the same direction of left tail fin and right tail fin by the ankle of asynchronous rotary both feet Rotation, i.e., swimmer may be implemented in the turning function or directional trim debugging functions during oscillating tail-fin.

Under normal conditions, it between left tail fin and bionic caudal fin fixed link, between right tail fin and bionic caudal fin fixed link, respectively sets A bionic caudal fin articulated structure is set, it, can also be by 2 bionic caudal fins when bionic caudal fin fixed link is single bar Articulated structure merges into 1, i.e., left tail fin, right tail fin are articulated with 1 point；The bionic caudal fin articulated structure includes that tail fin is hinged The hinged shaft end nut of bolt axle, tail fin；It can guarantee the same of rotation between left tail fin, right tail fin in such a way that the flank of tooth is mutually twisted Step property.

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

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

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

Between the bionic caudal fin fixed link and left tail fin, right tail fin or between left tail fin and right tail fin, it is equipped at that Apply the bionic caudal fin return elastic element of elastic force between this, to help left tail fin, right tail fin return upon actuation.

The bionic caudal fin return elastic element includes but is not limited to spring, gas spring, rubber band, respective elasticity system Number k is constant or changes with its deflection and change；The concrete type of spring include but is not limited to extension spring, compressed spring, Torsional spring, disc spring, elastic slice；The bionic caudal fin return elastic element of the spring-piece type can make of metal material, can also be with apparatus Flexible nonmetallic materials production.

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

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

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

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

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

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

The thigh body of rod has the trunk body of rod, the trunk body of rod and swimmer towards the connection of one end of swimmer's trunk Trunk it is mutually fixed or bind, the connecting mode of the trunk body of rod and the thigh body of rod is articulated manner, the trunk body of rod and the thigh body of rod Connection place be equipped with bending synchronous with swimmer's hip joint hip articulated structure, set between the trunk body of rod and the thigh body of rod The hip elastic element for the hip joint return for thering is at least one help to bend.

The knee elastic element, knee directive wheel, knee connection rope, knee spud pile, lever arm, lever arm are hinged The hinged shaft end nut of axis, lever arm collectively constitutes knee elastic energy storage component.

The knee elastic element is connected at least one balance force linkage element between change fin pedal passes through Connect, it is generally the case that knee elastic element with become fin pedal pass through between lever arm and balance exert a force linkage element phase Connection.

The hip elastic element, hip spud pile, hip directive wheel, hip connection rope collectively constitute the storage of hip elasticity It can component.

The hip elastic element is connected at least one balance force linkage element between change fin pedal passes through Connect, it is generally the case that hip elastic element with become fin pedal pass through between lever arm and balance exert a force linkage element phase Connection.

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

The knee elastic element, hip elastic element include but is not limited to spring, gas spring, rubber band, respective Coefficient of elasticity k is constant or changes with its deflection and change；The concrete type of the spring include but is not limited to extension spring, Compressed spring, torsional spring, leaf spring, disc spring, reed.

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

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

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

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

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

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

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

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

The speed change that turns to comprising electric control gear cruises and can wrap up one-piece swimsuit outside change system, the disjunctor swimming Clothing is whole by the both legs and both feet of the balance force application apparatus and swimmer down toward bionic caudal fin fixed link up to swimmer's neck Body wraps, the one-piece swimsuit package swimmer trunk, balance force application apparatus, swimmer both legs and both feet in, Lower section is to level off to fusiform single tubular construction, and to reduce travelling resistance, it is the trunk that is placed in that upper section, which wraps up two arm segments, Two lesser tubular constructions of two sides, the one-piece swimsuit are disposed with longitudinal pass through from swimmer's neck to bionic caudal fin fixed link At least one waterproof slide fastener worn, in order to wear and take off, be provided on the one-piece swimsuit at least one for connect pumping The gas nozzle or valve cock of air pump or pump bowl, for will be more in one-piece swimsuit after having worn one-piece swimsuit and having pulled on waterproof slide fastener Remaining air extraction, the part that the one-piece swimsuit end is in contact with bionic caudal fin fixed link are the ring of embedded elastic O-ring Shape structure offers the O-ring slot for accommodating the ring structure, one-piece swimsuit end in the bionic caudal fin fixed link accordingly Ring structure insertion bionic caudal fin fixed link on O-ring slot, sealing, waterproof can be played the role of, outside the one-piece swimsuit Surface is waterproof and multi-pore structure that is microcosmic adsorbable or accommodating the vaseline smeared, and one-piece swimsuit outer surface is sufficiently smeared Can effectively reduce running resistance when travelling after vaseline, the outer surface of the one-piece swimsuit at least one at post reflection plaster or It is coated with reflectorized material, to improve the passive safety that swimmer cruises at night.

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

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

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

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

The advantage of the invention is that：

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

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

3, the bionic caudal fin between left tail fin of the invention, lesser left side tail fin, smaller small left tail fin pass through Articulated structure, bionic caudal fin return elastic element are serially connected into the plural serial stage structure of two-stage or more, right tail fin, the lesser right side Side tail fin, smaller small right tail fin pass through between bionic caudal fin articulated structure, bionic caudal fin return elastic element also phase It is mutually connected into the plural serial stage structure of two-stage or more, the change fin pedal in left side, the change fin pedal on right side pass through respective independence respectively At least one variable tail fin linkage element pass through after the left tail fin in ipsilateral or heteropleural each centre, each intermediate right tail fin be located at The smallest left tail fin, the right tail fin of end are connected, and swimmer can realize each tail in left side by rotating synchronously the ankle of both feet Fin is synchronous with each tail fin on right side to be relatively rotated, i.e., swimmer may be implemented in the speed changing function during oscillating tail-fin, swimming Person can realize the asynchronous relative rotation of each tail fin in left side and each tail fin on right side by the ankle of asynchronous rotary both feet, that is, swim Person may be implemented in the turning function during oscillating tail-fin.

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

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

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

7, it is rigid backbone that it is internal that it can be used at least one among left tail fin of the invention and right tail fin the two, external The structure type of package flow linear flexible covering, the rigidity of structure of the rigid backbone can be made into ladder rigidity or progressive rate shape Formula, the direction advanced along swimmer is from front to back i.e. along the rigid of the direction rigid backbone of the longitudinal axis of bionic caudal fin fixed link Degree gradually decreases, or by left tail fin, right tail fin outside to the left the inside rigid backbone of tail fin, right tail fin the rigidity of structure gradually It reduces, it is similar with the tail fin skeleton structure of nature Mesichthyes, to promote the propulsive efficiency of swinging kick to the maximum extent；It is described Its external package Thin Elastic set of at least one or elastic film among left tail fin and right tail fin the two, to reduce left tail fin, the right side The surface irregularity of tail fin, bionic caudal fin fixed link, to reduce the resistance during travelling.

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

9, balance force application apparatus of the invention for the mankind be adaptation land walking or run and the natural motion that evolves Structure can not adapt to the main movement fault of construction moved about in water, i.e., when the mankind imitate dolphin, cetacean swings both legs travelling, no It can accomplish bi-directional symmetrical swinging kick truly, by the balance force application apparatus, in conjunction with human motion structure feature, science is closed Reason ground uses ergonomics, and bi-directional symmetrical swinging kick exerts a force to isoequilibrium, and it is latent to play the traveling of swimmer in water to the maximum extent Can, and then achieve the purpose that continuously to cruise over long distances.

10, the IC chip loading of the control circuit board of the control unit of electric control gear of the invention, which has, is suitable for not With the model program under operating condition, the model program includes but is not limited to most trip fast mode program, most laborsaving model program, most fastly Big efficiency mode program, self-studying mode program, manual adjustment mode program are, it can be achieved that left tail fin, the rotation of right tail fin and knee Automation, the intelligence of the manipulations such as portion's elastic element, hip elastic element initial elasticity deformation adjustment, to realize described bionical Variable tail fin device, balance force application apparatus intelligence with velocity modulation section, each model program of loading can also by the refreshing of program, The model program that upgrading realizes that the software modification of the model program of the electric control gear is perfect, makes for different application operating condition Software parameter adjustment develops and is suitable for the dedicated mode program software of different features, is analogous to automobile electric gasoline throttle and adds The function of fast device is superimposed.

11, the control circuit board of the control unit of electric control gear of the invention also may include by the IC chip Drive Bian Qi executing agency, the output signal of elastic force adjustment actuating mechanism is amplified to and is enough to drive Bian Qi executing agency, elastic force tune Save the power amplifier module of executing agency's movement.

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

13, when the wedge block of the wide belt two ends of each strap-on structure of the invention is put into wedge groove, wedge block and wedge shape Slot is attracted each other and is mutually guided, positions, automatically tighten wide belt under the action of magnetic force or electromagnetic force, convenient for dress and It takes off.

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

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

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

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

18, it is of the invention comprising electric control gear turn to speed change cruise change system under normal conditions can be along the vertical of human body Axis arrangement, it is described turn to speed change cruise change system generate thrust direction and swimmer's direction of travel it is completely the same, from And it overcomes leg due to being worn on swimmer's foot caused by of double-legged double web or the single web of both feet and web there are angle webs in turn It fetches water the completely the same defect in direction that the propulsive force direction of generation can not advance with swimmer.

19, structure of the invention is light and handy, reliable operation, and corresponding manufacture craft is simple, low in cost, convenient for large-scale production With universal use.

Detailed description of the invention

Fig. 1 is of the invention comprising electric control gear and bionic caudal fin fixed link is that the speed change that turns to of bitubular shape is cruised dress The composed structure schematic diagram of standby system.

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

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

Fig. 4 is bionic caudal fin fixed link shown after the fixed link longitudinal axis facade cutting of the invention along bionic caudal fin and puts down The thigh body of rod of weighing apparatus force application apparatus, knee elastic energy storage component, balances cuing open for the combinations such as force linkage element at knee articulated structure Face structural schematic diagram.

Fig. 5 is the combination of the knee elastic element additional equilibrium force elastic force adjustment structure of balance force application apparatus of the invention Structural schematic diagram.

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

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

Wherein belong to having for bionical variable tail fin device：2, left tail fin；3, right tail fin；4, bionic caudal fin articulated structure； 401, tail fin link bolt axis；402, the hinged shaft end nut of tail fin；5, ankle articulated structure；501, ankle articulated shaft；502, ankle The hinged shaft end nut in portion；7, bionical variable tail fin elastic force adjustment structure；701, bionic caudal fin return elastic element；702, it can be changed tail Fin force adjustment screw rod；703, it can be changed tail fin and rotate freely connector；704, it can be changed tail fin force adjustment locking nut；8, shank strap-on structure； 801, bionic caudal fin fixed link bundlees ontology；802, shank wide belt；803, shank wedge block；804, shank wedge groove；9, it imitates Raw variable tail fin linkage element.

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

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

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

Specific embodiment

Specific embodiments of the present invention will be further explained with reference to the accompanying drawing：

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

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

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

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

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

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

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

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

As shown in figure 4, bionic caudal fin shown after 1 longitudinal axis facade cutting of the invention along bionic caudal fin fixed link is fixed Bar 1 and the thigh body of rod 11, knee articulated structure 12, knee elastic energy storage component 13, balance force linkage for balancing force application apparatus The combined cross-section structure such as element 10.

Wherein, knee articulated structure 12 includes knee articulated shaft 1201, the hinged shaft end nut 1202 of knee；The storage of knee elasticity Can component 13 include knee elastic element 1301, knee directive wheel 1302, knee connection rope 1303, knee spud pile 1304, The hinged shaft end nut 1307 of lever arm 1305, lever arm articulated shaft 1306, lever arm.

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

The elastic force tune as shown in figure 5, the additional balance of knee elastic element 1301 of balance force application apparatus of the invention exerts a force The composite structure of section structure 14.

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

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

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

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

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

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

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

Thigh body of rod strap-on structure 15 includes that the thigh body of rod bundlees ontology 1501, thigh wide belt 1502, thigh wedge block 1503, thigh wedge groove 1504.

Specific embodiments of the present invention are as follows：

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

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

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

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

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

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

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

Claims (10)

1. a kind of speed change that turns to comprising electric control gear is cruised change system, the electric control gear includes becoming fin pedal (6), stepping on Board position sensor, control unit, motor, Bian Qi executing agency and elastic force adjustment actuating mechanism, it is described accordingly to turn to Speed change cruise change system further include at least one bionic caudal fin fixed link (1) and bionical variable tail fin device, in addition to this, It further include balance force application apparatus, it is characterised in that：The bionic caudal fin fixed link (1) be parallel to swimmer's shank arrangement and with trip At least one shank of swimmer is mutually fixed or binds, and the bionic caudal fin fixed link (1) couples towards one end of swimmer foot There is bionical variable tail fin device, the bionical variable tail fin device includes left tail fin (2) and the right side of at least one of at least one Tail fin (3), the left tail fin (2), right tail fin (3) are placed in below left and right two outside of bionic caudal fin fixed link (1) middle and lower sections It is i.e. below two outsides of the left and right ankle of swimmer or on the outside of the two of bionic caudal fin fixed link (1) end and imitative by one respectively Raw tail fin articulated structure (4) are connected with bionic caudal fin fixed link (1), and the left tail fin (2) broadens plus the fin of right tail fin (3) Degree is variable or fin opens up variable area, and left and right two outside of bionic caudal fin fixed link (1) middle and lower sections is the left and right ankle of swimmer Two outsides are respectively filled with the change fin pedal (6) of the electric control gear, bionic caudal fin fixed link (1) and the connection for becoming fin pedal (6) Connect place be equipped with bending synchronous with swimmer's ankle-joint ankle articulated structure (5), the Bian Qi executing agency of the electric control gear and Between the left tail fin (2) of bionical variable tail fin device, right tail fin (3) or the change fin pedal (6) of the electric control gear with it is bionical Pass through at least one bionical variable tail fin independent between the left tail fin (2) of variable tail fin device, right tail fin (3) respectively Linkage element (9) is connected, and the bionic caudal fin fixed link (1) has balance force dress towards the connection of one end of swimmer's thigh It sets, the balance force application apparatus includes the thigh body of rod (11) of at least one, the knee articulated structure (12) of at least one, described The thigh body of rod (11) is parallel to swimmer's thigh arrangement, and mutually fixes or bind, the thigh body of rod at least one thigh of swimmer (11) it is connected towards one end of swimmer's shank and bionic caudal fin fixed link (1), the bionic caudal fin fixed link (1) and thigh The connecting mode of the body of rod (11) is articulated manner, and the bionic caudal fin fixed link (1) and the connection place of the thigh body of rod (11) are equipped with The knee articulated structure (12) of at least one of bending synchronous with swimmer's knee joint, the bionic caudal fin fixed link (1) and big The knee elastic element (1301) of at least one for helping the knee joint return bent, the knee are equipped between the leg body of rod (11) Between elastic element (1301) and the elastic force adjustment actuating mechanism of electric control gear or the knee elastic element (1301) and electricity It controls balance force linkage element (10) of at least one between passing through between the change fin pedal (6) of device to be connected, pass through Variable tail fin linkage element (9) and balance force linkage element (10) by the electric control gear, bionical variable tail fin device, is put down Weighing apparatus force application apparatus is connected as one formula structure, and the spatial form of the bionic caudal fin fixed link (1) includes but is not limited to rod, cylinder Shape, the control unit of the electric control gear include control circuit board, power supply, and the control circuit board includes printed wire Plate, resistance, capacitor, IC chip, the power supply include but is not limited to rechargeable battery pack, non-rechargeable battery Group, the Bian Qi executing agency include but is not limited to be converted to the rotary motion of motor to manipulate left tail fin (2), right tail respectively Fin (3) makees lead-screw drive mechanism, crank block machine opposite or rotate in same direction around respective bionic caudal fin articulated structure (4) Structure, gear and rack teeth mechanism, cam mechanism, multi-connecting-rod mechanism, lever mechanism, electromagnetic force force transmission mechanism, magnetic force force transmission mechanism, it is described Elastic force adjustment actuating mechanism includes but is not limited to be converted to the rotary motion of motor to adjust knee elastic element elastic force Lead-screw drive mechanism, slider-crank mechanism, gear and rack teeth mechanism, cam mechanism, multi-connecting-rod mechanism, lever mechanism, electromagnetic force Force transmission mechanism, magnetic force force transmission mechanism, the electric control gear are arranged in bionic caudal fin fixed link (1), left tail fin (2), right tail fin (3), among the thigh body of rod (11).

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

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

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

5. a kind of speed change that turns to comprising electric control gear according to claim 2 is cruised change system, it is characterised in that： The thigh body of rod (11) has the trunk body of rod, the body of the trunk body of rod and swimmer towards the connection of one end of swimmer's trunk Dry mutually to fix or bind, the connecting mode of the trunk body of rod and the thigh body of rod (11) is articulated manner, the trunk body of rod and the thigh body of rod (11) connection place is equipped with the hip articulated structure of bending synchronous with swimmer's hip joint, the trunk body of rod and the thigh body of rod (11) the hip elastic element of at least one for helping the hip joint return bent is equipped between.

6. a kind of speed change that turns to comprising electric control gear according to claim 5 is cruised change system, it is characterised in that： The bionic caudal fin fixed link (1) is mutually fixed or is bound by shank strap-on structure (8) and the shank of swimmer, shank binding knot The specific structure of structure (8) is that at least a pair is equipped on the bionic caudal fin fixed link (1) for bundling, fixing the left and right sides It shank and takes root in the shank wide belt (802) or the wide bandage of shank of bionic caudal fin fixed link (1), the shank wide belt (802) belt fastener or strap snap is Magnetic hasp structure, and the Magnetic hasp structure is that a pair is placed in shank wide belt (802) two ends and the shank wedge block (803) and shank wedge groove (804) that are mutually matched, before the shank wedge block (803) Big after small, shank wedge groove (804) is pre-large post-small, and the shank wedge block (803) and shank wedge groove (804) alternative one are Kicker magnet or electromagnet, another one are magnetizer, can also be kicker magnet or electromagnet, when the shank wedge block (803) or small When leg wedge groove (804) is electromagnet, the speed change that turns to comprising electric control gear cruises change system equipped with corresponding confession The folding control device of power supply and control shank strap-on structure folding, the folding control device connection have corresponding folding Manual manipulation key, the thigh body of rod (11) are mutually fixed by thigh strap-on structure (15) and at least one thigh of swimmer Or binding, the specific structure of thigh strap-on structure (15) are, are used to bundle equipped at least a pair on the thigh body of rod (11), It fixes left and right sides thigh and takes root in the thigh wide belt (1502) or thigh breadth bandage of the thigh body of rod (11), the thigh breadth The belt fastener or strap snap of belt (1502) are Magnetic hasp structure, and the Magnetic hasp structure is that a pair is placed in thigh breadth Belt (1502) two ends and the thigh wedge block (1503) and thigh wedge groove (1504) being mutually matched, the thigh wedge block (1503) pre-small post-large, thigh wedge groove (1504) is pre-large post-small, the thigh wedge block (1503) and thigh wedge groove (1504) alternative one is kicker magnet or electromagnet, and another one is magnetizer, can also be kicker magnet or electromagnet, when the thigh When wedge block (1503) or thigh wedge groove (1504) are electromagnet, the speed change that turns to comprising electric control gear is cruised equipment System is equipped with corresponding power supply and controls the folding control device of thigh strap-on structure folding, the folding control device connection Be connected to corresponding folding manual manipulation key, the trunk body of rod by trunk strap-on structure and swimmer's trunk mutually fixation or Binding, the specific structure of trunk strap-on structure is, be equipped on the trunk body of rod at least one for bundle, fix trunk and It takes root in the wide bandage of trunk wide belt or trunk of the trunk body of rod, the belt fastener or strap snap of the trunk wide belt are magnetism Hasp structure, the Magnetic hasp structure be a pair be placed in trunk wide belt two ends and the trunk wedge block that is mutually matched and Trunk wedge groove, the trunk wedge block is pre-small post-large, and trunk wedge groove is pre-large post-small, the trunk wedge block and trunk wedge shape Slot alternative one is kicker magnet or electromagnet, and another one is magnetizer, can also be kicker magnet or electromagnet, when the trunk wedge shape When block or trunk wedge groove are electromagnet, the speed change that turns to comprising electric control gear cruises change system equipped with corresponding confession The folding control device of power supply and control trunk strap-on structure folding, the folding control device connection have corresponding folding Manual manipulation key.

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

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

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

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