CN209667325U - The fish humanoid robot that can be rided - Google Patents

Abstract

The utility model relates to water surface amusement facility fields, the fish humanoid robot that can specifically ride, it include: fish shell body, tail fin, driving mechanism, power supply unit, the fish humanoid robot provided by the utility model rided, provides the energy by power supply unit for driving mechanism, provides power by driving mechanism for tail fin, tail fin hunting frequency under different conditions, people can be allowed to experience a variety of water surface recreation experiences such as leisure, racing, venture；Meanwhile by the streamline shape of fish shell body 1, the concern of people is on the one hand attracted, on the other hand can also reduce the consumption of the energy, improved the working efficiency of fish humanoid robot.Therefore, the fish humanoid robot provided by the utility model rided solves prior art power ship or motor boat because of single experience mode, and is difficult to the technical issues of meeting the experience requirements of people.

Description

The fish humanoid robot that can be rided

Technical field

The utility model relates to water surface amusement facility field, the fish humanoid robot that can specifically ride.

Background technique

In water surface amusement facility field, with the nature of leisure water surface amusement equipment such as motor-driven ship or with motor boat etc. for representative Water surface motor device driven with propeller or impeller.Wherein, guests are more to be multiplied on motor-driven ship The experience of seat and guests can obtain racing in motor boat and experience.

As the improvement of people's living standards, either motor-driven ship or motor boat, all because of single experience mode And be difficult to meet the curiosity of people and adventurous spirit, people start to pursue noveler water surface recreation experience.Therefore, it is necessary to It is proposed that a kind of water surface amusement equipment for not using propeller or impeller, the water surface amusement equipment there should be new experience side Formula, to meet the requirement that people entertain the water surface.

Utility model content

For solve the prior art power ship experience or motor boat because of single experience mode, and be difficult to meet people Experience requirements the technical issues of, the utility model provide it is a kind of can riding fish humanoid robot.

The fish humanoid robot that can be rided, comprising:

Fish shell body, the fish shell body can float on the surface；

The tail portion of the fish shell body is arranged in tail fin, the tail fin, when the tail fin swings or swings up and down When, the fish shell body is positive mobile by the reaction force of the tail fin；

The inside of the fish shell body is arranged in driving mechanism, the driving mechanism, and the driving mechanism is for driving institute State tail fin；

The inside of the fish shell body is arranged in power supply unit, the power supply unit, and the output end of the power supply unit is logical Conducting wire is crossed to connect with the driving mechanism.

The fish humanoid robot provided by the utility model that can be rided is that driving mechanism 3 provides the energy by power supply unit 4, By driving mechanism 3 be tail fin 2 power is provided, tail fin 2 hunting frequency under different conditions, people can be allowed to experience not A variety of water surface recreation experiences such as spare time, racing, venture；Meanwhile by the streamline shape of fish shell body 1, people are on the one hand attracted Concern, on the other hand can also reduce the consumption of the energy, improve the working efficiency of fish humanoid robot.Therefore, this is practical new The fish humanoid robot rided that type provides solves prior art power ship or motor boat because of single experience mode, and It is difficult to the technical issues of meeting the experience requirements of people.

Detailed description of the invention

Fig. 1 is the schematic diagram of the fish shell body of the fish humanoid robot provided by the embodiment of the utility model that can be rided；

Fig. 2 is the structural schematic diagram of the fish humanoid robot provided by the embodiment of the utility model that can be rided；

Fig. 3 is the front view of the power supply unit of the fish humanoid robot provided by the embodiment of the utility model that can be rided；

Fig. 4 is the side view of the power supply unit of the fish humanoid robot provided by the embodiment of the utility model that can be rided；

Fig. 5 is the driving mechanism and tail fin driving mechanism of the fish humanoid robot provided by the embodiment of the utility model that can be rided Structural schematic diagram；

Fig. 6 is facing for the robot controller of the fish humanoid robot provided by the embodiment of the utility model that can be rided Figure；

Fig. 7 is the side view of the robot controller of the fish humanoid robot provided by the embodiment of the utility model that can be rided Figure.

Specific embodiment

Referring to Fig. 1, for solve the prior art power ship experience or motor boat because of single experience mode, and be difficult to The technical issues of meeting the experience requirements of people, the utility model provide a kind of fish humanoid robot that can be rided, comprising:

Fish shell body 1, fish shell body 1 can float on the surface.It should be understood that ' the fish type ' in fish shell body 1 is only It is only used for the shape of description fish humanoid robot, in addition to the fish that people have recognized, other seas such as cetacean or dolphin class Shape or the people of foreign mammal are it is envisioned that arrive, such as the shapes such as mermaid should all be included in fish type above-mentioned In the range of shell 1.Fish shell body 1 is other than it can cause the concern of people, also as having fairshaped shape and energy Enough so that the working efficiency that fish humanoid robot reduces resistance on the water surface, improves fish humanoid robot, reduces the energy of fish humanoid robot Source consumption.

The tail portion of fish shell body 1 is arranged in tail fin 2, tail fin 2, when tail fin 2 swings or swings up and down, fish shell Body 1 is positive mobile by the reaction force of tail fin 2.The concrete shape of the tail fin 2 of the utility model can refer to fish, whale 2 shape of tail fins such as class, dolphin class.When the tail fin 2 of the utility model is perpendicular to horizontal plane, tail fin 2 should be swung；When When the tail fin 2 of the utility model is parallel to the horizontal plane, tail fin 2 should be swung up and down.At this point, people's riding is in the utility model There is provided the fish humanoid robot rided above, in addition to can realize riding fish, cetacean, dolphin class swing, it is static and The mild experience advanced, can also increase the swing of tail fin 2, so that people realize the jump, latent of fish, cetacean, dolphin class Row, rotation or rolling etc..Therefore, the fish humanoid robot with tail fin 2 can provide a kind of new water surface entertainment way for people.

The inside of fish shell body 1 is arranged in driving mechanism 3, driving mechanism 3, and driving mechanism 3 is for driving tail fin 2.It should Understand, driving mechanism 3 should include motor.The inside of fish shell body 1 is arranged in driving mechanism 3, is on the one hand to keep away Exempt from driving mechanism 3 and caused unexpected or danger by the influence of water, is on the other hand the shape in order to keep fish shell body 1, from Curiosity without destroying people.

Power supply unit 4, power supply unit 4 are arranged in the inside of fish shell body 1, the output end of power supply unit 4 by conducting wire with Driving mechanism 3 connects.Power supply unit 4 can be used as power supply using battery 42 in the prior art or lithium ion battery 42 etc..

When the specifically used fish humanoid robot provided by the utility model rided, the area and number according to the water surface are needed Carry out the selection of entertainment way.For example, the hunting frequency of tail fin 2 is reduced, in the lesser water-surface areas of area so that people Riding obtains the novel experience of riding fish, cetacean or dolphin class when carrying out water surface amusement on fish humanoid robot；Alternatively, In Though area it is smaller with sufficient length the water surface when, the hunting frequency of tail fin 2 can be properly increased so that people ride When on fish humanoid robot, the experience of fish, cetacean or dolphin class racing can be obtained；Alternatively, in the biggish water surface of area, The hunting frequency of the tail fin 2 of fish humanoid robot can be increased to preset upper limiting frequency, to allow people's riding in fish type machine When on device people, a variety of waters surface movements such as jump can be made, moves under water, swerve, rolling, so as to obtain the similar limit dynamic by people The venture of work is experienced.The fish humanoid robot provided by the utility model rided is that driving mechanism 3 provides by power supply unit 4 The energy is that tail fin 2 provides power by driving mechanism 3, tail fin 2 hunting frequency under different conditions, can allow people's body Test a variety of water surface recreation experiences such as leisure, racing, venture；Meanwhile by the streamline shape of fish shell body 1, on the one hand attract The concern of people, on the other hand can also reduce the consumption of the energy, improve the working efficiency of fish humanoid robot.Therefore, originally The fish humanoid robot rided that utility model provides solves prior art power ship or motor boat because of single experience side Formula, and it is difficult to the technical issues of meeting the experience requirements of people.

Further, tail fin 2 includes the streamlined tail fin of integral type, and streamlined tail fin uses foamed plastics system semi-flexible At.Wherein, the lift resistance ratio of tail fin 2 can be improved in the streamlined tail fin of integral type, thus improve fish humanoid robot travelling when Mechanical efficiency.Tail fin 2 can also just have the multiple material system of the prior art other than using foamed plastics semi-flexible It makes.It should be understood that the use rigid material that should be prudent of tail fin 2, is on the one hand because of the tool when swinging of tail fin 2 Have very high kinetic energy, it is possible to injured because of unexpected other people.

When streamlined tail fin is parallel to the horizontal plane, streamlined tail fin drives fish shell body 1 in a manner of swinging up and down.When When streamlined tail fin is swung up, the top of tail fin 2 arranges water and obtains reaction force, so that fish humanoid robot is obtained to the water surface The kinetic energy of lower section；Conversely, the bottom of tail fin 2 arranges water and obtains reaction force when streamlined tail fin is swung up, so that fish type Robot obtains the kinetic energy above the water surface.Fish humanoid robot during swinging up and down, forms itself in water in tail fin 2 The effect moved up and down.If at this time increase tail fin 2 hunting frequency, fish humanoid robot can also because of kinetic energy increase and make The movement for moving under water or running off the water surface brings novel and venture experience.

Alternatively, streamlined tail fin drives fish shell in a manner of swinging when streamlined tail fin is perpendicular to horizontal plane Body 1.When streamlined tail fin is swung to the left and right, tail fin 2 is influenced by the reaction force of water, so that fish shell body 1 is in prescriptions worth thousand gold Occurs slight double swerve upwards, people can obtain the water surface experience for comparing leisure at this time.If increasing the pendulum of tail fin 2 at this time Dynamic frequency, the kinetic energy that tail fin 2 arranges water and obtains increase, and the speed of fish shell body 1 is accelerated, and people can obtain the body of racing It tests.

Further, driving mechanism 3 includes:

Main frame 31, main frame 31 are fabricated to caged using perforated panel, and the tail end of main frame 31 is opening.Wherein, main frame Frame 31 can be made of metal or alloy or composite material；Wherein meet material include but is not limited to nylon material or intensity compared with High plastic material；Preferred alloy material is aluminium alloy, not only has preferable intensity, additionally it is possible to relative to metals such as steels Material reduces weight and is easy production relative to composite material.Main frame 31 is made as caged, it is certain in addition to that can be formed Inner space except, additionally it is possible to the further weight for reducing main frame 31, the final overall weight for reducing fish humanoid robot. The mounting structure connecting with other component should be also arranged in addition to the space with receiving other component in the inside of main frame 31, Such as screw hole or through-hole etc..The tail portion of main frame 31 has opening, can be attached convenient for main transmission part 33 with tail fin 2. In addition to this, main frame 31 is due to that can form secondary support in the inside of fish shell body 1, preferably with certain rigidity Protect the shape of fish shell body 1.

The inside of main frame 31, the motor shaft energy of main drive motor 32 is arranged in main drive motor 32, main drive motor 32 Enough bidirectional rotations.It should be understood that main drive motor 32 should in order to simulate the movement of the tail fin 2 of fish, cetacean or dolphin class It being capable of periodically positive and negative rotation operation.Main drive motor 32 preferably selects waterproof machine, and main driving electricity on the one hand can be improved On the other hand the safety of machine 32 can also simplify the sealing structure of fish shell body 1 above-mentioned, thus in the design of fish shell body 1 Cost is reduced when with manufacture.

The input terminal of main transmission part 33, the motor shaft and main transmission part 33 of main drive motor 32 is coaxially connected, works as master When driving motor 32 rotates, the input terminal of main transmission part 33 drives the output end rotation of main transmission part 33, main transmission part 33 output end stretches out the tail end of main frame 31.Wherein, the effect of main transmission part 33 is that the power of main drive motor 32 is defeated Out on tail fin 2, tail fin 2 is swung.Main transmission part 33 preferably uses following several ways:

Geared parts, geared parts include driving gear and driven gear, the motor of driving gear and main drive motor 32 Axis is coaxially connected, and driven gear and the shaft of tail fin driving mechanism 5 are coaxially connected.The structures of geared parts is simple, manufacturing cost It is lower, and be easy to overhaul and safeguard.The driving gear and driven gear of geared parts can be adjusted according to actual needs, example Such as: if people simply want to obtain leisurely and carefree and fresh water surface experience by fish humanoid robot, driving gear can be set to Pinion gear, and gear wheel is set by driven gear, to the hunting frequency of tail fin 2 is limited in lower range.For another example: If people are unsatisfactory for obtaining leisurely and carefree and fresh water surface experience above-mentioned, driving gear can be set to gear wheel, and will be from Moving gear is set as pinion gear, to increase the frequency of its swing, so that people obtain the experience with sports and/or venture.

Belt member, belt member include first pulley, the second belt wheel and belt, first pulley and main drive motor 32 Motor shaft is coaxially connected, and the second belt wheel and the shaft of tail fin driving mechanism 5 are coaxially connected.Using belt member as main transmission portion Part 33, other than it can obtain the effect of aforesaid gears component, since belt is soft materials, belt and first pulley and the The noise generated between two belt wheels is far smaller than the impact noise between gear and gear.Therefore, selection belt member can also Obtain good muting function.

Crank connecting link, crank connecting link include first connecting rod and second connecting rod, the head end and main drive motor 32 of first connecting rod Motor shaft be coaxially flexibly connected, the tail end of first connecting rod is coaxially flexibly connected with the head end of second connecting rod, the tail of second connecting rod It holds coaxially connected with the shaft of tail fin driving mechanism 5.Wherein, when main drive motor 32 rotates, first connecting rod is driven to be revolved Turn, first connecting rod drives second connecting rod move toward swing type, so that second connecting rod drives tail fin 2 to be able to carry out swing.

The head end of tail fin driving mechanism 5, tail fin driving mechanism 5 is flexibly connected with the output end of main transmission part 33, tail fin The tail end of driving mechanism 5 is flexibly connected with tail fin 2, and when the rotation of the output end of main transmission part 33, tail fin driving mechanism 5 can Left and right bidirectional swinging or on a vertical plane upper and lower bidirectional swinging in the horizontal plane.Wherein, if the swaying direction of tail fin 2 To swing on horizontal plane, then the motor shaft of main drive motor 32 corresponding with tail fin 2 should be perpendicular to horizontal plane；Conversely, If the swaying direction of tail fin 2 is to swing up and down on a vertical plane, the motor of main drive motor 32 corresponding with tail fin 2 Axis should be parallel to the horizontal plane.

In addition to this it is possible to set tumbler gear for main transmission part 33 above-mentioned, wherein no matter main drive motor Which direction 32 motor shaft is arranged in, and tail fin 2 can be driven to be swung；And the biggish motor of length can be set It sets within main frame 31 above-mentioned.

It preferably, can also be in main frame above-mentioned in order to enable fish humanoid robot is able to maintain balance when keeping afloat Counterweight is set within 31 or counterweight is set in the other parts of fish shell body 1 above-mentioned.

Preferably, according to the travelling principle of fish, cetacean or dolphin class, the utility model is also additionally arranged a tail fin driving machine Structure 5 for being cooperated with main transmission part 33 above-mentioned, and generates the travelling for being more nearly fish, cetacean or dolphin class.

Tail fin driving mechanism 5 includes:

The output end of motor drive component, the head end and main transmission part 33 of motor drive component is coaxially connected, and motor drives Dynamic component includes tail joint motor 51, caudal peduncle 52 and tail joint 53, and tail fin 2 and the shaft in tail joint 53 removably coaxially connect It connects, the tail end of caudal peduncle 52 is connect with the shaft fixed part in tail joint 53, the head end of caudal peduncle 52 and the output end of tail joint motor 51 Be flexibly connected, when tail joint motor 51 output end rotation when, tail fin 2 can in the horizontal plane left and right bidirectional swinging or Bidirectional swinging above and below on vertical plane.Wherein, motor drive component is integrally provided between tail fin 2 and main transmission part 33, When motor drive component swings up and down relative to main transmission part 33, tail fin 2 carries out up and down relative to main rotatable parts While swing, tail fin 2 swings also relative to motor drive component, thus preferably simulate fish, cetacean or The travelling of dolphin class.The tail joint motor 51 of motor drive component is directly connect with caudal peduncle 52, the motor shaft of tail joint motor 51 Caudal peduncle 52 is driven to swing, caudal peduncle 52 drives tail fin 2 to be swung.Tail joint 53 is as the interconnecting piece between caudal peduncle 52 and tail fin 2 Part can play the role of dismantling tail fin 2, convenient for the maintenance or replacement of tail fin 2 or caudal peduncle 52.It should be understood that if electricity Machine driving assembly swings up and down relative to main transmission part 33, then the rotor shaft direction in tail joint 53 should be level side To, and tail fin 2 should be limited using the shaft in tail joint 53 as axle center by certain angle when rotated, be avoided because of tail fin 2 Using the shaft in tail joint 53 as axle center when rotated, should be deliver it is excessive and cause water for tail fin 2 reaction force reduce or The huge change in reaction force direction；Meanwhile if motor drive component swings up and down relative to main transmission part 33, and The rotor shaft direction in tail joint 53 is horizontally oriented, then tail fin 2 should be vertical direction relative to tail joint 53, is driven by motor Dynamic component drives caudal peduncle 52 and tail fin 2, obtains enough water to the reaction force of tail fin 2.Similarly, when motor drive component is opposite It swings in main transmission part 33, the rotor shaft direction in tail joint 53 should be vertically oriented, and tail fin 2 is relative to tail joint 53 should be horizontal direction, drive caudal peduncle 52 and tail fin 2 by motor drive component, obtain enough water to the anti-work of tail fin 2 Firmly.

Alternatively, tail fin driving mechanism 5 includes:

Spring driving assembly, spring driving assembly include caudal peduncle 52, tail joint 53 and spring part 54, tail fin 2 and tail joint 53 shaft is removably coaxially connected, and the tail end of caudal peduncle 52 is connect with the shaft fixed part in tail joint 53, the head end of caudal peduncle 52 Coaxially connected with the output end of main transmission part 33, the both ends of spring part 54 are fixedly connected with caudal peduncle 52 and tail fin 2 respectively, work as master When the output end rotation of transmission parts 33, so that tail fin 2 is being restricted by the reaction force of spring part 54 relative to caudal peduncle 52 Angle in rotation.Wherein, spring driving assembly is integrally provided between tail fin 2 and main transmission part 33, when spring driving group When part swings up and down relative to main transmission part 33, while tail fin 2 swings up and down relative to main rotatable parts, tail Fin 2 swings also relative to spring driving assembly, therefore preferably simulates the travelling of fish, cetacean or dolphin class. One end of spring part 54 is arranged on caudal peduncle 52, and the other end is arranged on tail fin 2；When tail fin 2 relative to main transmission part 33 to When upper swing, while reaction force of the tail fin 2 by water, the active force from spring part 54 is also received, so that The swing angle of tail fin 2 is in a relatively reasonable range.In addition to this, spring driving assembly is relative to motor above-mentioned Driving assembly, simple and reliable for structure and weight are smaller.

Preferably, motor drive component above-mentioned and spring driving assembly can also be combined, is used to better mould The travelling of quasi- fish, cetacean or dolphin class.Specifically tail fin driving mechanism 5 includes:

Rear frame 55, rear frame 55 include first rotating shaft, the second shaft and the fixed plate being parallel to each other, first rotating shaft The head end for the fixed plate being parallel to each other is set, and first rotating shaft is flexibly connected with main frame 31, and the setting of the second shaft is mutually flat The tail end of capable fixed plate；

Tail joint motor 51, tail joint motor 51 are arranged between the fixed plate being parallel to each other；

The input terminal of tail portion transmission parts, the motor shaft and tail portion transmission parts of tail joint motor 51 is coaxially connected, works as tail When joint motor 51 rotates, the output end of tail joint motor 51 drives the rotation of the second shaft；

Caudal peduncle 52, the head end of caudal peduncle 52 and the second shaft are removably coaxially connected；

Tail joint 53, tail fin 2 and the shaft in tail joint 53 are removably coaxially connected, the tail end of caudal peduncle 52 and tail joint 53 Shaft fixed part connection；

When main drive motor 32 and tail joint motor 51 rotate respectively, tail fin 2 carries out left and right pair relative to driving mechanism 3 To swing, tail fin 2 swings up and down relative to tail fin driving mechanism 5；

Alternatively, tail fin 2 is carried out relative to driving mechanism 3 when main drive motor 32 and tail joint motor 51 rotate respectively Bidirectional swinging, tail fin 2 carry out left and right bidirectional swinging relative to tail fin driving mechanism 5 up and down.

Wherein, when main drive motor 32 drives the swing of the entirety and the progress up and down direction of tail fin 2 of tail fin driving mechanism 5 When, tail joint motor 51 is driven through tail portion transmission parts and caudal peduncle 52 drives the swing of tail fin 2 in left and right directions；Similarly, when When main drive motor 32 drives the entirety of tail fin driving mechanism 5 and tail fin 2 to carry out the swing of left and right directions, tail joint motor 51 is driven It is dynamic that the swing of tail fin 2 in above-below direction is driven by tail portion transmission parts and caudal peduncle 52.Therefore, by aforementioned motor driving assembly with Spring driving assembly is combined together, and can preferably simulate the travelling of fish, cetacean or dolphin class.

Further, power supply unit 4 includes:

Sealing shell 41, conducting wire pass through the through-hole in sealing shell 41, sealing element are arranged between through-hole and conducting wire；

The inside of sealing shell 41 is arranged in battery 42, battery 42, and the output end of battery 42 is connect with conducting wire；

Watertight socket 43, the embedding sealing shell 41 that watertight socket 43 seals, the tail end of watertight socket 43 by conducting wire with The input terminal of battery 42 connects, and the head end of watertight socket 43 and the charge and discharge device of peripheral hardware connect；

The inside of sealing shell 41 is arranged in battery protecting plate 44, battery protecting plate 44, and the output end of battery 42 is by leading Line is connect with the input terminal of battery protecting plate 44, and the output end of battery protecting plate 44 is connect by conducting wire with driving mechanism 3.

Wherein, the whole sealing by sealing shell 41 of battery 42, the conducting wire difference on the charging end and output end of motor Outside is extended to by the through-hole of seal casinghousing, is sealed between through-hole and conducting wire by sealing element, to keep sealing shell 41 tightness.When watertight socket 43 is connect with external charge and discharge device, external charge and discharge device can be battery 42 Charge or discharge.It is sealing structure between watertight socket 43 and sealing shell 41, therefore can guarantees the sealing of sealing shell 41 Degree.Battery protecting plate 44 can play the function of protection battery 42 and circuit.When battery protecting plate 44 detects 42 electricity of battery Can disconnect the output end of battery 42 when measuring too low or when discovery circuit open circuit, and can and sound an alarm.

Further, fish shell body 1 includes:

Hard shell, hard shell include at least 2 sections, and the inside of hard shell is with floor, driving mechanism 3 and for Denso It sets 4 to be separately mounted on floor, can make up the shape of fish shell body 1 when all hard shells link together；

The inside of hard shell is arranged in buoyancy member, buoyancy member；

Seal member, when all hard shells link together, seal member be arranged in adjacent hard shell it Between.

Wherein, at least 2 sections are set by hard shell, is for the ease of all parts above-mentioned are mounted on hard shell Inside, and can be convenient for fish humanoid robot maintenance and maintenance work.It is all made of between adjacent two sections of hard shell close Envelope, to guarantee the leakproofness of fish shell body 1.Buoyancy member is the buoyancy source of fish humanoid robot, in order to avoid destroying fish type machine The inside of hard shell should be arranged in buoyancy member by the shape of device people.

The buoyancy member that can choose includes:

Buoyancy member includes foam components, and foam components are filled in hard shell according to the interior shape of hard shell Portion or foam components are fitted on the inner wall of hard shell.Foam components have the characteristics that quality is small, is easy to moulding, can be with Foam components are filled into the inside of full hard shell to obtain biggish buoyancy.Or foam components can be fitted in hard shell On the inside of body, while guaranteeing the buoyancy of fish humanoid robot, additionally it is possible to which relatively large inner space is provided.

And/or buoyancy member includes pneumatic element, the inside of hard shell is arranged in pneumatic element.Pneumatic element has Biggish buoyancy, and cost is relatively low for pneumatic element, convenient for manufacture and use.

Further, robot further include:

Robot controller, robot controller include be arranged in control panel inside fish shell body 1 and sensor, The operating-controlling mechanism of 1 shell of fish shell body is set；

The output end of control panel is connect with the input terminal of power supply unit 4；

The control action of robot is converted to electric signal by sensor, when electric signal meets preset condition, control panel Control signal corresponding with electric signal is exported to the input terminal of power supply unit 4.

Wherein, the control action of external operating-controlling mechanism is converted to electric signal by sensor, and electric signal transmission is extremely being controlled In making sheet；After control panel receives the electric signal, remaining preset condition is compared and issues corresponding control signal.When When the input terminal of aforementioned power supply unit 4 receives the control signal, power supply unit 4 adjusts its output end according to the control signal Output power.

Specifically, sensor includes:

First trigger mechanism of the first slant angle sensor, the first slant angle sensor and peripheral hardware connects, when the first triggering When mechanism becomes normotopia from zero-bit, control panel is defeated by corresponding first control signal according to the electric signal of the first slant angle sensor Out to power supply unit 4, power supply unit 4 by power output to main drive motor 32, triggers machine when first according to first control signal When structure becomes zero-bit or negative position from normotopia, control panel stops output first control signal；

First trigger mechanism includes:

Handle 61 is manipulated, manipulation handle 61 is flexible grip, and manipulation handle 61 becomes normotopia from zero-bit under external force, When external force disappears, manipulation handle 61 returns zero-bit；

Drawstring 62 is passed to, the head end for passing to drawstring 62 is connect with flexible grip, passes to tail end and the first inclination of drawstring 62 The rocker arm 63 of angle transducer connects, and only when manipulating handle 61 is normotopia, the first slant angle sensor is by passing to 62 energy of drawstring It enough pulls rocker arm 63 and exports electric signal.

Wherein, the first slant angle sensor and the first trigger mechanism cooperate, realize advance to fish humanoid robot and The control of stopping movement.When the signal of the first slant angle sensor is gradually increased, the function of the output end of power supply unit 4 above-mentioned Rate increases, conversely, when the signal of the first slant angle sensor is gradually reduced, the power of the output end of power supply unit 4 above-mentioned Reduce, and, when the signal of the first slant angle sensor is to inversely increase, the power of the output end of power supply unit 4 above-mentioned It is zero.Specific first trigger mechanism may is that rotating handles, oil door handle of the rotating handles similar to motorcycle；Alternatively, behaviour Make bar, which sets the handle of similar PS game machine；Or grip handle, by applying pressure to grip handle, so that holding The deformation of power handle, the grip handle restores after pressure disappears.In addition to this, manipulation handle 61 is in addition to can be flexible Hand may be arranged as rigid handle, when being set as rigid handle, need to coat buffer structure in the external of rigid handle.

Another, sensor includes:

Second trigger mechanism of direction sensor, direction sensor and peripheral hardware connects, when the second trigger mechanism is become by zero-bit When for normotopia or negative position, control panel exports corresponding second control signal to power supply unit according to the electric signal of direction sensor 4, power supply unit 4 according to second control signal by power output to tail fin driving mechanism 5, when the first trigger mechanism is by normotopia or negative When position becomes zero-bit, control panel stops output second control signal；

When the second trigger mechanism is steering wheel, direction sensor is the second slant angle sensor；

Alternatively, direction sensor is MEMS attitude transducer 64 or optical fiber top when the second trigger mechanism is fish shell body 1 Spiral shell instrument or horizontal inclinometer.

Wherein, direction sensor and the second trigger mechanism cooperate, and realize the control to the go to action of fish humanoid robot System.

When direction sensor uses the second slant angle sensor, the second trigger mechanism can using common steering wheel with It wants to cooperate.When steering wheel turns left, the electric signal forward direction of the second slant angle sensor increases, power supply unit 4 above-mentioned Output end power forward direction increase, conversely, the electric signal at the second inclination angle inversely increases, preceding when steering wheel turns right The power of the output end for the power supply unit 4 stated inversely increases；When the electric signal of the second slant angle sensor is zero, confession above-mentioned The power of the output end of electric installation 4 is zero.

Alternatively, when direction sensor is MEMS attitude transducer 64 or is fiber optic gyro sensors or is horizontal When inclinator, it regard fish shell body 1 as the second trigger mechanism.When people take fish humanoid robot, the center of gravity of people inclines to the left Tiltedly fish shell body 1 is caused to be tilted to the left, direction sensor monitors this inclined movement and is converted into electric signal.When When the electric signal that power supply unit 4 above-mentioned gets direction sensor increases along one of direction, power supply unit 4 above-mentioned According to the power of electric signal its outlet of adjustment period, similarly, when power supply unit 4 above-mentioned obtains the electric signal edge of direction sensor Another one direction increase when, power supply unit 4 above-mentioned adjusts the power of its output end according to the electric signal.When above-mentioned When the electric signal of the acquisition direction sensor of power supply unit 4 is zero, the power of the output end of power supply unit 4 above-mentioned is zero.

Other than robot controller above-mentioned, the utility model can also be using remote control device or automatic control dress It sets and is controlled.When using remote control device, the inside of fish humanoid robot should have signal receiving end, which uses Radio signal or infrared signal of transmitting terminal outside receiving etc. are capable of the signal of remote-wireless propagation.

In addition to the above, the component more above-mentioned with transmission agency uses metal or alloy material as far as possible It is made, such as: caudal peduncle 52 above-mentioned can be made of aluminum alloy materials.And the outside of fish type shell above-mentioned can be with Flexible material, such as rubber or silica gel etc. are set, to provide better comfort.

The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model, Equivalent structure transformation made by using the description of the utility model and the drawings is applied directly or indirectly in other phases The technical field of pass, is also included in the patent protection scope of the utility model.

Claims (12)

1. the fish humanoid robot that can be rided characterized by comprising

Fish shell body (1), the fish shell body (1) can float on the surface；

Tail fin (2), the tail fin (2) setting swing in the tail portion of the fish shell body (1), when the tail fin (2) or When swinging up and down, the fish shell body (1) is positive mobile by the reaction force of the tail fin (2)；

Driving mechanism (3), in the inside of the fish shell body (1), the driving mechanism (3) is used for driving mechanism (3) setting In the driving tail fin (2)；

Power supply unit (4), the power supply unit (4) are arranged in the inside of the fish shell body (1), the power supply unit (4) Output end is connect by conducting wire with the driving mechanism (3).

2. the fish humanoid robot according to claim 1 that can be rided, which is characterized in that the tail fin (2) includes integral type Streamlined tail fin, the streamlined tail fin is made of foamed plastics semi-flexible；

When the streamlined tail fin is parallel to the horizontal plane, the streamlined tail fin drives the fish type in a manner of swinging up and down Shell (1)；

Alternatively, the streamlined tail fin drives institute in a manner of swinging when the streamlined tail fin is perpendicular to horizontal plane State fish shell body (1).

3. it is according to claim 1 can riding fish humanoid robot, which is characterized in that the driving mechanism (3) includes:

Main frame (31), the main frame (31) are fabricated to caged using perforated panel, and the tail end of the main frame (31) is opening；

Main drive motor (32), main drive motor (32) setting is in the inside of the main frame (31), the main driving electricity The motor shaft of machine (32) being capable of bidirectional rotation；

The input terminal of main transmission part (33), the motor shaft and the main transmission part (33) of the main drive motor (32) is coaxial Connection, when the main drive motor (32) rotation, the input terminal of the main transmission part (33) drives the main transmission part (33) output end rotation, the output end of the main transmission part (33) stretch out the tail end of the main frame (31)；

Tail fin driving mechanism (5), the head end of the tail fin driving mechanism (5) and the output end activity of the main transmission part (33) Connection, the tail end of the tail fin driving mechanism (5) is flexibly connected with the tail fin (2), defeated when the main transmission part (33) Outlet rotate when, the tail fin driving mechanism (5) can in the horizontal plane left and right bidirectional swinging or on a vertical plane up and down Bidirectional swinging.

4. the fish humanoid robot according to claim 3 that can be rided, which is characterized in that main transmission part (33) packet It includes:

Geared parts, the geared parts include driving gear and driven gear, the driving gear and the main drive motor (32) motor shaft is coaxially connected, and the driven gear and the shaft of the tail fin driving mechanism (5) are coaxially connected；

Alternatively, belt member, the belt member includes first pulley, the second belt wheel and belt, the first pulley with it is described The motor shaft of main drive motor (32) is coaxially connected, and second belt wheel and the shaft of the tail fin driving mechanism (5) coaxially connect It connects；

Alternatively, crank connecting link, the crank connecting link includes first connecting rod and second connecting rod, the head end of the first connecting rod with it is described The motor shaft of main drive motor (32) is coaxially flexibly connected, and the tail end of the first connecting rod and the head end of the second connecting rod are coaxial It is flexibly connected, the tail end of the second connecting rod and the shaft of tail fin driving mechanism (5) are coaxially connected.

5. the fish humanoid robot according to claim 3 that can be rided, which is characterized in that tail fin driving mechanism (5) packet It includes:

Motor drive component, the head end of the motor drive component and the output end of the main transmission part (33) are coaxially connected, The motor drive component includes that tail joint motor (51), caudal peduncle (52) and tail joint (53), the tail fin (2) and the tail close The shaft for saving (53) is removably coaxially connected, and the shaft fixed part of the tail end of the caudal peduncle (52) and the tail joint (53) connects It connects, the head end of the caudal peduncle (52) is flexibly connected with the output end of the tail joint motor (51), when the tail joint motor (51) output end rotation when, the tail fin (2) can in the horizontal plane left and right bidirectional swinging or on a vertical plane up and down Bidirectional swinging；

Alternatively, spring driving assembly, the spring driving assembly includes caudal peduncle (52), tail joint (53) and spring part (54), institute It states tail fin (2) and the shaft of the tail joint (53) is removably coaxially connected, the tail end and the tail of the caudal peduncle (52) close The shaft fixed part connection of (53) is saved, the output end of the head end and the main transmission part (33) of the caudal peduncle (52) coaxially connects It connects, the both ends of the spring part (54) are fixedly connected with the caudal peduncle (52) and the tail fin (2) respectively, when the main transmission portion When the output end rotation of part (33), so that the tail fin (2) is by the reaction force of the spring part (54) relative to caudal peduncle (52) it is rotated in restricted angle.

6. the fish humanoid robot according to claim 3 that can be rided, which is characterized in that tail fin driving mechanism (5) packet It includes:

Rear frame (55), the rear frame (55) include first rotating shaft, the second shaft and the fixed plate being parallel to each other, described The head end of the fixed plate being parallel to each other is arranged in first rotating shaft, and the first rotating shaft and the main frame (31) activity are even It connects, the tail end of the fixed plate being parallel to each other is arranged in second shaft；

Tail joint motor (51), the tail joint motor (51) are arranged between the fixed plate being parallel to each other；

The input terminal of tail portion transmission parts, the motor shaft and the tail portion transmission parts of the tail joint motor (51) coaxially connects It connects, when the tail joint motor (51) rotation, the output end of the tail joint motor (51) drives the second shaft rotation；

Caudal peduncle (52), the head end of the caudal peduncle (52) and second shaft are removably coaxially connected；

The shaft in tail joint (53), the tail fin (2) and the tail joint (53) is removably coaxially connected, the caudal peduncle (52) Tail end connect with the shaft fixed part of the tail joint (53)；

When the main drive motor (32) and the tail joint motor (51) rotate respectively, the tail fin (2) is relative to described Driving mechanism (3) carries out left and right bidirectional swinging, and the tail fin (2) swings up and down relative to the tail fin driving mechanism (5)；

Alternatively, when the main drive motor (32) and the tail joint motor (51) rotate respectively, the tail fin (2) relative to The driving mechanism (3) carries out bidirectional swinging up and down, and the tail fin (2) carries out left relative to the tail fin driving mechanism (5) Right bidirectional swinging.

7. it is according to claim 1 can riding fish humanoid robot, which is characterized in that the power supply unit (4) includes:

Sealing shell (41), the conducting wire passes through the through-hole on the sealing shell (41), between the through-hole and the conducting wire Sealing element is set；

Battery (42), the battery (42) setting in the inside of the sealing shell (41), the output end of the battery (42) with The conducting wire connection；

Watertight socket (43), the insertion sealing shell (41) of watertight socket (43) sealing, the watertight socket (43) Tail end connect with the input terminal of the battery (42) by conducting wire, the charge and discharge of the head end and peripheral hardware of the watertight socket (43) Device connection；

Battery protecting plate (44), the battery protecting plate (44) are arranged in the inside of the sealing shell (41), the battery (42) output end is connect by conducting wire with the input terminal of the battery protecting plate (44), the output of the battery protecting plate (44) End is connect by conducting wire with the driving mechanism (3).

8. it is according to claim 1 can riding fish humanoid robot, which is characterized in that the fish shell body (1) includes:

Hard shell, the hard shell include at least 2 sections, and the inside of the hard shell has floor, the driving mechanism (3) it is separately mounted on the floor with the power supply unit (4), it is described when all hard shells link together It can make up the shape of the fish shell body (1)；

The inside of the hard shell is arranged in buoyancy member, the buoyancy member；

Seal member, described when all hard shells link together, the seal member is arranged in adjacent hard Between mass shell body.

9. the fish humanoid robot according to claim 8 that can be rided, which is characterized in that

The buoyancy member includes foam components, and the foam components are filled in described according to the interior shape of the hard shell Inside hard shell or the foam components are fitted on the inner wall of the hard shell；

And/or the buoyancy member includes pneumatic element, the inside of the hard shell is arranged in the pneumatic element.

10. the fish humanoid robot according to claim 3 that can be rided, which is characterized in that the robot further include:

Robot controller, the robot controller include setting in the internal control panel of the fish shell body (1) and Sensor, setting fish shell body (1) shell operating-controlling mechanism；

The output end of the control panel is connect with the input terminal of the power supply unit (4)；

The control action of the robot is converted to electric signal by the sensor, when the electric signal meets the default item When part, the control panel exports control signal corresponding with the electric signal to the input terminal of the power supply unit (4).

11. it is according to claim 10 can riding fish humanoid robot, which is characterized in that the sensor includes:

First trigger mechanism of the first slant angle sensor, first slant angle sensor and peripheral hardware connects, when described first When trigger mechanism becomes normotopia from zero-bit, the control panel is controlled according to the electric signal of the first slant angle sensor by corresponding first Signal processed is exported to the power supply unit (4), and the power supply unit (4) is according to the first control signal by power output to institute Main drive motor (32) are stated, when first trigger mechanism becomes zero-bit or negative position from normotopia, the control panel stops output The first control signal；

First trigger mechanism includes:

It manipulates handle (61), the manipulation handle (61) is flexible grip, and the manipulation handle (61) is under external force by zero Position becomes normotopia, and when the external force disappears, the manipulation handle (61) returns zero-bit；

It passes to drawstring (62), the head end for passing to drawstring (62) connect with the flexible grip, the drawstring (62) that passes to Tail end is connect with the rocker arm (63) of first slant angle sensor, only when the manipulation handle (61) is normotopia, described the One slant angle sensor passes to drawstring (62) described in can pull the rocker arm (63) to export the electric signal.

12. it is according to claim 10 can riding fish humanoid robot, which is characterized in that the sensor includes:

Second trigger mechanism of direction sensor, the direction sensor and peripheral hardware connects, when second trigger mechanism is by zero Position is when becoming normotopia or negative position, the control panel according to the electric signal of direction sensor by corresponding second control signal export to The power supply unit (4), the power supply unit (4) is according to the second control signal by power output to the tail fin driving machine Structure (5), when second trigger mechanism becomes zero-bit from normotopia or negative position, the control panel stops output second control Signal；

When second trigger mechanism is steering wheel, the direction sensor is the second slant angle sensor；

Alternatively, the direction sensor is MEMS attitude transducer (64) when second trigger mechanism is fish shell body (1) Or fibre optic gyroscope or horizontal inclinometer.