CN210310839U

CN210310839U - Pectoral fin structure of bionic robot fish

Info

Publication number: CN210310839U
Application number: CN201921003862.4U
Authority: CN
Inventors: 李淑娟; 王世伟; 盛储剑; 王传安; 伍龙
Original assignee: Huainan Normal University
Current assignee: Huainan Normal University
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2020-04-14
Anticipated expiration: 2029-06-28

Abstract

The utility model discloses a bionical machine fish pectoral fin structure, including the fin with can realize respectively rocking the wing, the actuating mechanism of flapping wing and side position gliding wing, it is nested with the embedded form of bearing sleeve each other by degree actuating mechanism separately, it is embedded in flapping wing mechanism to rock wing actuating mechanism, it is embedded in side position gliding wing mechanism to flap wing mechanism simultaneously, the three realizes power transmission through three nested sleeve each other, it is compacter to make pectoral fin mechanism, pectoral fin part width has been reduced, bionical machine fish is more convenient when carrying out appearance streamlined design shape. Meanwhile, the embedded mechanism realizes source power transmission through belt transmission by the steering engine, simplifies the transmission mechanism and reduces the weight of the mechanism. Three different driving mechanisms can be independently driven and can be mutually coupled to realize a more complex motion mode, so that the bionic robot fish can move freely and stably, the practicability is high, and the bionic robot fish is worthy of popularization.

Description

Pectoral fin structure of bionic robot fish

Technical Field

The utility model belongs to the technical field of bionic robot under water, concretely relates to bionic robot fish pectoral fin structure.

Background

With the increasing of the detection and development of marine resources by people, corresponding underwater machinery is applied, and the complexity and the variability of underwater environment cause that a plurality of machines cannot realize free detection well.

The prior art mainly comprises two main driving forms: the tail fin driving mode and the pectoral fin driving mode can well improve the maneuvering performance of the bionic robot fish, enrich the movement modes of the bionic robot fish, disclose more single-degree-of-freedom pectoral fin driving robot fish and two-degree-of-freedom pectoral fin driving robot fish, and realize underwater direct-swimming, turning, ascending and diving actions. The three-degree-of-freedom pectoral fin driven robotic fish can not only realize all swimming motions of the two-degree-of-freedom pectoral fin driven robotic fish, but also endow the robotic fish with more motion modes, but the three-degree-of-freedom motion robotic fish disclosed at present has few achievements, a complex structure and few achievable robotic fish motion modes.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a bionic machine fish pectoral fin structure to solve the not enough of prior art.

The technical scheme of the utility model is that:

a pectoral fin structure of a bionic robot fish comprises a fin, a first driving device, a second driving device, a third driving device and a compound motion executing mechanism;

the compound motion executing mechanism comprises a first shaft, a sleeve, an outer sleeve, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear, a second shaft, a third shaft, a sleeve supporting frame and a fourth shaft, wherein one end of the first shaft is connected with a first driving device, the other end of the first shaft is sleeved with the third bevel gear, the first shaft is sleeved with a first ball bearing, the first ball bearing is sleeved and fixed with the sleeve, one end of the sleeve, far away from the third bevel gear, is connected with the third driving device, the other end of the sleeve is sleeved and fixed with the first bevel gear, the sleeve is sleeved and fixed with a second ball bearing, the second ball bearing is sleeved and fixed with the outer sleeve, one end of the outer sleeve, far away from the third bevel gear, is connected with the second driving device, a pair of connecting arms are symmetrically fixed on the end surface of, the central shaft of the second shaft is parallel to the central shaft of the third shaft, the central shafts of the second shaft and the third shaft are respectively vertical to the central shaft of the outer sleeve, a second bevel gear is fixedly sleeved on the third shaft through a fourth ball bearing, the second bevel gear is meshed with the first bevel gear, the third shaft is fixed with a sleeve support frame, the fourth shaft is sleeved in the sleeve support frame, the central shaft of the fourth shaft is parallel to the central shaft of the first shaft, one end, back to the third shaft, of the fourth shaft is fixedly connected with a fin, the other end of the fourth shaft extends out of the sleeve support frame and is fixedly sleeved with a sixth bevel gear, the sixth bevel gear is respectively meshed with a fourth bevel gear and a fifth bevel gear, the fourth bevel gear and the fifth bevel gear are respectively fixedly sleeved on the third shaft through a third ball bearing, the fourth bevel gear is positioned at the tail end, away from;

the first driving device, the second driving device and the third driving device respectively provide power for the compound motion executing mechanism, and then the power is transmitted to the fins through the compound motion executing mechanism, so that multiple motion modes of the fins are realized.

Preferably, the driving device I comprises a first support, a first steering engine fixing frame, a first transmission part, a first transmission belt and a second transmission part, the first support is fixed with a bottom plate of a ship body, the first steering engine is arranged above the first support, the first steering engine is fixed with the first support through the first steering engine fixing frame, the first transmission part is fixedly sleeved on an output shaft of the first steering engine, the first transmission part is in transmission connection with the second transmission part through the first transmission belt, and the second transmission part is fixedly sleeved on the shaft.

Preferably, the driving device II comprises a driving part III, a driving belt II, a driving part IV, a steering engine fixing frame II, a steering engine II, a support II and a bottom plate I, the bottom plate I is fixed with a bottom plate of the ship body, the support II is fixed above the bottom plate I, the steering engine II is arranged above the support II, the steering engine II is fixed with the support II through the steering engine fixing frame II, the driving part IV is fixedly sleeved on an output shaft of the steering engine II, the driving part IV is in transmission connection with the driving part III through the driving belt II, and the driving part III is fixed with the outer sleeve in a sleeved mode.

Preferably, the driving device III comprises a driving part V, a driving belt III, a driving part VI, a steering engine fixing frame III, a steering engine III and a bottom plate II, the bottom plate II is fixed with the bottom plate of the ship body, a steering engine III is arranged above the bottom plate II, the steering engine III is fixed with the bottom plate II through the steering engine fixing frame III, the driving part V is fixedly sleeved on an output shaft of the steering engine III, the driving part V is in transmission connection with the driving part VI through the driving belt III, and the driving part VI is fixedly sleeved with one end of the sleeve.

Preferably, the first transmission member, the second transmission member, the third transmission member, the fourth transmission member, the fifth transmission member and the sixth transmission member are one of pulleys or gears, and the first transmission belt, the second transmission belt and the third transmission belt are one of a flat belt, a V-belt or a synchronous toothed belt.

Preferably, the outer sleeve is connected with a first support frame through a fifth ball bearing, the first shaft is connected with a second support frame through a sixth ball bearing, and the second support frame and the first support frame are respectively fixed with a bottom plate of the ship body.

Compared with the prior art, the utility model provides a pair of bionical machine fish pectoral fin structure can realize the motion of three degrees of freedom, and its structure is including the actuating mechanism that can realize rocking wing, flap and side position gliding wing respectively, and nested each other with the embedded form of bearing sleeve by degree actuating mechanism separately, and rocking wing actuating mechanism is embedded in flap mechanism, and flap mechanism is embedded in side position gliding wing mechanism simultaneously. The three sleeves are nested with each other to realize power transmission, so that the pectoral fin mechanism is more compact, the width of the pectoral fin part is reduced, and the bionic robot fish is more convenient when in appearance streamline design. Meanwhile, the embedded mechanism has the advantages that the source power transmission is realized by the steering engine through belt transmission, the mechanism is simplified, and the weight of the mechanism is reduced. Three different driving mechanisms can be independently driven and can be mutually coupled to realize a more complex motion mode, so that the bionic robot fish can move freely and stably, and meanwhile, more application sensors and other mechanisms such as a gravity center adjusting mechanism, a mechanical arm mechanism, a complex single-joint tail fin mechanism, a high energy storage power supply and the like can be conveniently carried, therefore, the bionic robot fish is high in practicability and worthy of popularization.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of the installation position of the pectoral fin structure of the present invention;

fig. 3 is a schematic structural diagram of a driving device of the present invention;

fig. 4 is a schematic view of a three-structure driving device of the present invention;

FIG. 5 is a schematic structural view of a second driving device of the present invention;

fig. 6 is a schematic structural view of the compound motion actuator of the present invention;

fig. 7 is a schematic structural view of the first support frame of the present invention;

fig. 8 is a schematic structural view of the second support frame of the present invention.

Detailed Description

The utility model provides a bionic robot fish pectoral fin structure, which is described by combining the structural schematic diagrams of figures 1 to 8.

As shown in fig. 1, a pectoral fin structure of a bionic robot fish comprises a fish fin, a first driving device 1, a second driving device 3, a third driving device 4 and a compound motion executing mechanism 2;

the compound motion executing mechanism 2 comprises a first shaft 201, a sleeve 202, an outer sleeve 203, a first bevel gear 204, a second bevel gear 209, a third bevel gear 205, a fourth bevel gear 212, a fifth bevel gear 207, a sixth bevel gear 208, a second shaft 206, a third shaft 213, a sleeve support frame 211 and a fourth shaft 210, wherein one end of the first shaft 201 is connected with a first driving device 1, the other end of the first shaft 201 is sleeved and fixed with the third bevel gear 205, the first shaft 201 is sleeved and fixed with a first ball bearing, the first ball bearing is sleeved and fixed with the sleeve 202, one end of the sleeve 202, far away from the third bevel gear 205, is connected with a third driving device 4, the other end of the sleeve 202 is sleeved and fixed with the first bevel gear 204, the sleeve 202 is sleeved and fixed with a second ball bearing, the second ball bearing is sleeved and fixed with the outer sleeve 203, one end of the outer sleeve 203, far away from the third bevel gear 205, is connected with a second, a second shaft 206 and a third shaft 213 are respectively fixed at one end of the connecting arm, which is far away from the outer sleeve 203, the central axis of the second shaft 206 is parallel to the central axis of the third shaft 213, the central axes of the second shaft 206 and the third shaft 213 are respectively vertical to the central axis of the outer sleeve 203, a second bevel gear 209 is fixed on the third shaft 213 through a ball bearing in a sleeved manner, the second bevel gear 209 is meshed with a first bevel gear 204, the third shaft 213 is fixed with a sleeve support frame 211, a fourth shaft 210 is sleeved in the sleeve support frame 211, the central axis of the fourth shaft 210 is parallel to the central axis of the first shaft 201, one end of the fourth shaft 210, which is far away from the third shaft 213, is fixedly connected with a fish fin, a sixth bevel gear 208 is fixed at the other end of the fourth shaft 210 after extending out of the sleeve support frame 211 in a sleeved manner, the sixth bevel gear 208 is respectively meshed with a fourth bevel gear 212 and a, the bevel gear four 212 is positioned at the tail end of the shaft two 206, which is far away from the connecting arm, and the bevel gear four 212 and the bevel gear five 207 are respectively meshed with the bevel gear three 205;

the first driving device 1, the second driving device 3 and the third driving device 4 respectively provide power for the compound motion executing mechanism 2, and then the power is transmitted to the fins through the compound motion executing mechanism 2, so that multiple motion modes of the fins are realized.

Further, the driving device I1 comprises a first support seat 101, a first steering engine 102, a first steering engine fixing frame 103, a first transmission piece 104, a first transmission belt 105 and a second transmission piece 106, the first support seat 101 is fixed with a bottom plate of a ship body, the first steering engine 102 is arranged above the first support seat 101, the first steering engine 102 is fixed with the first support seat 101 through the first steering engine fixing frame 103, the first transmission piece 104 is fixedly sleeved on an output shaft of the first steering engine 102, the first transmission piece 104 is in transmission connection with the second transmission piece 106 through the first transmission belt 105, and the second transmission piece 106 is fixedly sleeved with the first shaft 201.

Further, the second driving device 3 comprises a third transmission piece 301, a second transmission belt 302, a fourth transmission piece 305, a second steering engine fixing frame 303, a second steering engine 304, a second support 306 and a first bottom plate 307, the first bottom plate 307 is fixed with the bottom plate of the ship body, the second support 306 is fixed above the first bottom plate 307, the second steering engine 304 is arranged above the second support 306, the second steering engine 304 is fixed with the second support 306 through the second steering engine fixing frame 303, the fourth transmission piece 305 is fixedly sleeved on an output shaft of the second steering engine 304, the fourth transmission piece 305 is in transmission connection with the third transmission piece 301 through the second transmission belt 302, and the third transmission piece 301 is fixedly sleeved with the third transmission piece 203.

Further, the driving device III 4 comprises a driving piece V405, a driving belt III 402, a driving piece VI 401, a steering engine fixing frame III 403, a steering engine III 404 and a bottom plate II 406, the bottom plate II 406 is fixed with the bottom plate of the ship body, the steering engine III 404 is arranged above the bottom plate II 406 and fixed with the bottom plate II 406 through the steering engine fixing frame III 403, the driving piece V405 is fixedly sleeved on an output shaft of the steering engine III 404, the driving piece V405 is in transmission connection with the driving piece VI 401 through the driving belt III 402, and the driving piece VI 401 is fixedly sleeved with one end of the sleeve 202.

Further, the first transmission member 104, the second transmission member 106, the third transmission member 301, the fourth transmission member 305, the fifth transmission member 405 and the sixth transmission member 401 are one of pulleys or gears, and the first transmission belt 105, the second transmission belt 302 and the third transmission belt 402 are one of a flat belt, a V-belt or a timing belt.

Further, the outer sleeve 203 is connected with a first support frame 5 through a fifth ball bearing, the first shaft 201 is connected with a second support frame 6 through a sixth ball bearing, and the second support frame 6 and the first support frame 5 are respectively fixed with a bottom plate of the ship body.

Example 1

The utility model relates to a bionic robot fish pectoral fin structure, the overall system structure is as shown in figure 1, mainly includes drive arrangement 1, drive arrangement three 4, drive arrangement two 3, compound motion actuating mechanism 2, support frame one 5, support frame two 6.

The motion of the fin mainly comprises a first driving device 1, a third driving device 4 and a second driving device 3 which provide power, and then various motions are transmitted to the fin through a sleeve shaft and a bevel gear of the compound motion executing mechanism 2 through a fin connecting rod or a fin connecting shaft four to complete the swing, flapping and side position sliding wings of the fin.

The installation position of the structure of the whole pectoral fin is shown in fig. 2, and the specific transmission mode and the internal connection part of the pectoral fin are explained as follows:

as shown in fig. 3, the driving device i 1 mainly includes a first support 101, a first steering engine 102, a first steering engine fixing frame 103, a first transmission member 104, a first transmission belt 105, and a second transmission member 106. The first support 101 is connected with the bottom plate through a bolt, and the first steering engine 102 is fixed with the first support 101 through a first steering engine fixing frame 103 through a bolt and is connected with the bottom plate.

The power of the driving device I1 is generated by the steering engine I102, the motion is transmitted to the transmission piece I104 through the output shaft of the steering engine I102, the transmission piece I104 is meshed with the transmission belt I105, the motion is transmitted to the transmission piece II 106, and therefore the motion is transmitted to the composite motion executing mechanism 2.

As shown in fig. 4, the driving device iii 4 mainly includes a transmission member v 405, a transmission belt v 402, a transmission member v 401, a steering engine fixing frame v 403, a steering engine v 404, and a bottom plate v 406. The second bottom plate 406, the third steering engine 404 and the third steering engine fixing frame 403 are installed together and fixed with the bottom plate through bolts. The power of the driving device III 4 is generated by the steering engine III 404, the motion is transmitted to the transmission piece V405 through the output shaft of the steering engine III 404, the transmission piece V405 is meshed with the transmission belt III 402, the motion is transmitted to the transmission piece six 401, and therefore the motion is transmitted to the composite motion executing mechanism 2.

As shown in fig. 5, the driving device ii 3 mainly includes a transmission member iii 301, a transmission belt ii 302, a transmission member iv 305, a steering engine fixing frame ii 303, a steering engine ii 304, a support seat ii 306, and a bottom plate i 307. The first bottom plate 307 and the second support base 306 are installed together and fixedly connected with the bottom plate through bolts, the second steering engine 304 is installed on the second support base 306 and then fixedly connected with the bottom plate through bolts by the second steering engine fixing frame 303. The power of the second driving device 3 is generated by the second steering engine 304, the motion is transmitted to the fourth transmission piece 305 through the output shaft of the second steering engine 304, the fourth transmission piece 305 is meshed with the second transmission belt 302, the motion is transmitted to the third transmission piece 301, and therefore the motion is transmitted to the composite motion executing mechanism 2.

As shown in fig. 6, the compound motion actuator 2 mainly includes a first shaft 201, a sleeve 202, an outer sleeve 203, a first bevel gear 204, a second bevel gear 209, a third bevel gear 205, a fourth bevel gear 212, a fifth bevel gear 207, a sixth bevel gear 208, a second shaft 206, a third shaft 213, a sleeve support bracket 211, and a fourth shaft 210. The two ends of the first shaft 201 are connected with the sleeve 202 through the first ball bearing, the two ends of the sleeve 202 are connected with the outer sleeve 203 through the second ball bearing, and power transmission is achieved through the first ball bearing, the second ball bearing and the outer sleeve in a sleeved mode, so that movement is not interfered with each other; the first shaft 201 and the third bevel gear 205 are in interference fit, the third bevel gear 205 is respectively meshed with the fourth bevel gear 212 and the fifth bevel gear 207, the fourth bevel gear 212 and the fifth bevel gear 207 are further meshed with the sixth bevel gear 208, the fourth bevel gear 212 and the fifth bevel gear 207 are connected to the second shaft 206 through a ball bearing III for fixation, the sixth bevel gear 208 is in interference fit with the fourth shaft 210 and is sleeved on the sleeve supporting frame 211, and the fourth shaft 210 and the fins are connected and fixed through bolts or screws; the sleeve 202 is in interference fit with the first bevel gear 204, the first bevel gear 204 is meshed with the second bevel gear 209, and the second bevel gear 209 is fixedly connected with the third shaft 213 through a ball bearing IV and is also connected to the lower part of the sleeve support frame 211; the outer sleeve 203 is integrated with the second shaft 206 and the third shaft 213, so that the second bevel gear 209, the fourth bevel gear 212 and the fifth bevel gear 207 which are arranged on the second shaft 206 and the third shaft 213 move together when the outer sleeve 203 moves.

The first driving device 1 generates power to transmit rotary motion to the first shaft 201, the first shaft transmits the motion to the third bevel gear 205, the third bevel gear 205 transmits the motion to the fourth bevel gear 212, the fifth bevel gear 207 and the sixth bevel gear 208, and finally the fourth shaft 210 rotates together with the fin and the sixth bevel gear 208, so that the rotation of the fin is realized;

the driving device III 4 generates power to transmit rotary motion to the sleeve 202, the sleeve 202 and the bevel gear I204 rotate together, the rotary motion is transmitted to the bevel gear II 209, the sleeve supporting frame 211 and the bevel gear II 209 are connected together, the sleeve supporting frame 211 can swing to drive the shaft IV 210 and the fins to swing together, at the moment, the bevel gear III 205, the bevel gear IV 212, the bevel gear V207 and the bevel gear VI 208 are not moved, but if the fins swing only by the rotation of the sleeve, the fins can also rotate at a certain angle while swinging, and the shaft I is also required to rotate in the opposite direction to be matched, so that the fins can swing in a non-rotating manner;

the driving device II 3 transmits power to the outer sleeve 203, and the bevel gears II 209, the bevel gears IV 212 and the bevel gears V207 are arranged on the shaft II 206 and the shaft III 213 of the outer sleeve 203, so that the bevel gears II 209, the bevel gears IV 212 and the bevel gears V207 rotate together, the bevel gears I204 and the bevel gears III 205 are fixed, the sleeve support frame 211, the shaft IV 210 and the fins connected to the bevel gears II 209 deflect together to reach a desired position, and then the position is adjusted and corrected through the swinging part of the fins, so that the desired position is achieved through mutual matching.

The three steering engines respectively provide power for the driving device I1, the driving device III 4 and the driving device II 3, the driving device I1, the driving device III 4 and the driving device II 3 respectively realize different motions, the three basic motion mechanisms are mutually matched, the power is transmitted to each gear through belt transmission, and through mutual meshing of the gears, the swinging and rotation of the fin in multiple modes under three degrees of freedom are realized.

A first support frame 5 and a second support frame 6 are respectively used for fixing the compound motion actuating mechanism 2 with the bottom plate, fig. 7 shows the first support frame 5, fig. 8 shows the second support frame 6, and a fourth ball bearing is arranged in a mounting hole 501 of the first support frame 5 in fig. 7 and connected with the outer sleeve 203 in fig. 6; the mounting hole 601 of the second support frame 6 in fig. 8 is internally provided with a ball bearing five which is connected with the first shaft 201 in fig. 6; threaded holes are formed in the lower portions of the first support frame 5 and the second support frame 6, connecting bolts are arranged in the threaded holes, and the whole positions of the support frames are fixed through the bolt connecting bottom plate.

The utility model provides a pair of bionical machine fish pectoral fin structure, including the actuating mechanism that can realize rocking wing, flap and side position gliding wing respectively, nested with the embedded form of bearing sleeve each other by degree actuating mechanism separately, it is embedded in flap mechanism to rock wing actuating mechanism, and flap mechanism is embedded in side position gliding wing mechanism simultaneously. The three sleeves are nested with each other to realize power transmission, so that the pectoral fin mechanism is more compact, the width of the pectoral fin part is reduced, and the bionic robot fish is more convenient when in appearance streamline design. Meanwhile, the embedded mechanism has the advantages that the source power transmission is realized by the steering engine through belt transmission, the mechanism is simplified, and the weight of the mechanism is reduced. Three different driving mechanisms can be independently driven and can be mutually coupled to realize a more complex motion mode, so that the bionic robot fish can move freely and stably, and meanwhile, more application sensors and other mechanisms such as a gravity center adjusting mechanism, a mechanical arm mechanism, a complex single-joint tail fin mechanism, a high energy storage power supply and the like can be conveniently carried, therefore, the bionic robot fish is high in practicability and worthy of popularization.

The above disclosure is only for the preferred embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be considered by those skilled in the art shall fall within the protection scope of the present invention.

Claims

1. A pectoral fin structure of a bionic robot fish is characterized by comprising a fin, a first driving device (1), a second driving device (3), a third driving device (4) and a compound motion executing mechanism (2);

the compound motion executing mechanism (2) comprises a first shaft (201), a sleeve (202), an outer sleeve (203), a first bevel gear (204), a second bevel gear (209), a third bevel gear (205), a fourth bevel gear (212), a fifth bevel gear (207), a sixth bevel gear (208), a second shaft (206), a third shaft (213), a sleeve supporting frame (211) and a fourth shaft (210), wherein one end of the first shaft (201) is connected with a first driving device (1), the other end of the first shaft (201) is sleeved and fixed with the third bevel gear (205), the first shaft (201) is sleeved with a first ball bearing, the first ball bearing is sleeved and fixed with the sleeve (202), one end of the sleeve (202), which is far away from the third bevel gear (205), is connected with a third driving device (4), the other end of the sleeve (202) is sleeved and fixed with the first bevel gear (204), and the sleeve (202) is sleeved with a second ball bearing, the ball bearing II is fixedly sleeved with the outer sleeve (203), one end, far away from the bevel gear III (205), of the outer sleeve (203) is connected with the driving device II (3), a pair of connecting arms are symmetrically fixed on the end face of the outer sleeve (203) far away from the driving device II (3), one end, far away from the outer sleeve (203), of each connecting arm is respectively fixedly provided with a shaft II (206) and a shaft III (213), the central axis of the shaft II (206) is parallel to the central axis of the shaft III (213), the central axes of the shaft II (206) and the shaft III (213) are respectively vertical to the central axis of the outer sleeve (203), the shaft III (213) is fixedly sleeved with a bevel gear II (209) through the ball bearing II, the bevel gear II (209) is meshed with the bevel gear I (204), the shaft III (213) is fixed with the sleeve supporting frame (211), the sleeve supporting frame (211) is internally sleeved with a shaft IV, the central axis of the shaft four (210) is parallel to the central axis of the shaft one (201), one end of the shaft four (210) back to the shaft three (213) is fixedly connected with a fish fin, the other end of the shaft four (210) extends out of the sleeve supporting frame (211) and is fixedly sleeved with a bevel gear six (208), the bevel gear six (208) is respectively meshed with a bevel gear four (212) and a bevel gear five (207), the bevel gear four (212) and the bevel gear five (207) are respectively sleeved and fixed with the shaft two (206) through a ball bearing three, the bevel gear four (212) is positioned at the tail end of a connecting arm of the shaft two (206) which deviates from the shaft two, and the bevel gear four (212) and the bevel gear five (207) are respectively meshed with the bevel gear three (205;

the first driving device (1), the second driving device (3) and the third driving device (4) respectively provide power for the compound motion executing mechanism (2), and then the power is transmitted to the fins through the compound motion executing mechanism (2), so that multiple motion modes of the fins are realized.

2. The bionic robotic fish pectoral fin structure as claimed in claim 1, wherein the first driving device (1) comprises a first support (101), a first steering engine (102), a first steering engine fixing frame (103), a first transmission member (104), a first transmission belt (105) and a second transmission member (106), the first support (101) is fixed with a bottom plate of a ship body, the first steering engine (102) is arranged above the first support (101), the first steering engine (102) is fixed with the first support (101) through the first steering engine fixing frame (103), the first transmission member (104) is fixed on an output shaft of the first steering engine (102) in a sleeved mode, the first transmission member (104) is connected with the second transmission member (106) in a transmission mode through the first transmission belt (105), and the second transmission member (106) is fixed with the first shaft (201) in a sleeved mode.

3. The pectoral fin structure of the bionic robot fish of claim 1, wherein the second driving device (3) comprises a third transmission member (301), a second transmission belt (302), a fourth transmission member (305), a second steering engine fixing frame (303), a second steering engine (304), a second support (306) and a first bottom plate (307), the first bottom plate (307) is fixed with the bottom plate of the ship body, a second support (306) is fixed above the first bottom plate (307), a second steering engine (304) is arranged above the second support seat (306), the second steering engine (304) is fixed with the second support seat (306) through a second steering engine fixing frame (303), a fixed transmission member IV (305) is sleeved on an output shaft of the steering engine II (304), the transmission piece IV (305) is in transmission connection with the transmission piece III (301) through a transmission belt II (302), and the transmission piece III (301) is fixedly sleeved with the outer sleeve (203).

4. The bionic robotic fish pectoral fin structure of claim 1, wherein the driving device III (4) comprises a driving member V (405), a driving belt III (402), a driving member VI (401), a steering engine fixing frame III (403), a steering engine III (404) and a bottom plate II (406), the bottom plate II (406) is fixed with the bottom plate of the ship body, the steering engine III (404) is arranged above the bottom plate II (406), the steering engine III (404) is fixed with the bottom plate II (406) through the steering engine fixing frame III (403), the driving member V (405) is fixedly sleeved on an output shaft of the steering engine III (404), the driving member V (405) is in transmission connection with the driving member VI (401) through the driving belt III (402), and the driving member VI (401) is fixedly sleeved with one end of the sleeve (202).

5. The pectoral fin structure of the bionic robot fish of claim 1, wherein the outer sleeve (203) is connected with a first support frame (5) through a fifth ball bearing, the first shaft (201) is connected with a second support frame (6) through a sixth ball bearing, and the second support frame (6) and the first support frame (5) are respectively fixed with a bottom plate of a ship body.