CN210939291U - Artificial fish robot - Google Patents

Abstract

The utility model discloses an emulation fish robot, include: a head unit, a body unit and a tail unit, the head unit comprising: a head housing and an eye assembly; the eye assembly includes: the device comprises two eyeballs, two annular supports, two first steering engines, a second steering engine and an eye rotating shaft; the head unit further includes: a mouth assembly, the mouth assembly comprising: the fixed frame, the lower lip piece, the third steering wheel and the mouth rotating shaft. The fish-simulating robot can simulate the eye action, the mouth action, the body action and the tail action of fish at the same time, and can also make the fish-simulating robot move and fluctuate up and down, so that the presented effect is more vivid.

Description

Artificial fish robot

Technical Field

The utility model relates to an emulation robot technical field especially relates to an emulation fish robot.

Background

In recent years, with the development of industries such as movies, televisions, and moving pictures, more and more robots for simulating animals are put into use in these fields based on shooting needs, and the demands for robots simulating animals are also increasing. For example, for a simulated fish robot, the prior art is relatively simple to simulate fish, making the achievable actions of fish limited.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides an emulation fish robot to solve the limited technical problem of the achievable action of the emulation fish robot of prior art.

The embodiment of the utility model provides an emulation fish robot, include: a head unit, a body unit and a tail unit, the head unit comprising: a head housing and an eye assembly; the eye assembly includes: the device comprises two eyeballs, two annular supports, two first steering engines, a second steering engine and an eye rotating shaft; eyeball holes are symmetrically formed in two opposite side walls of the head shell, each annular support is installed at each eyeball hole, each eyeball body is rotatably arranged in each annular support, the front part of each eyeball body faces the outside of the head shell, and a first bulge and a second bulge are arranged on the surface of the rear part of each eyeball body; the two first steering engines are fixed on the inner surface of the head shell between the two eyeball bodies, a disc at one end of a first disc connecting rod is sleeved on the output end of each first steering engine, the other end of each first disc connecting rod is connected with one end shaft of each first connecting rod, and the other end of each first connecting rod is sleeved on the first bulge of each eyeball body; the second steering wheel is fixed on the internal surface of head shell, the cover is equipped with the disc of the one end of second disc connecting rod on the output of second steering wheel, the other end of second disc connecting rod and the one end hub connection of second connecting rod, the other end of second connecting rod and the one end hub connection of first rocking arm, the eye pivot is located eyeball body's below, the both ends of eye pivot with the internal surface of the both sides wall of head shell rotationally connects, the cover is equipped with in the eye pivot the one end of the other end of first rocking arm and two second rocking arms, each the other end of second rocking arm and the one end hub connection of each third connecting rod, each the other pot head of third connecting rod is established each eyeball body the second is protruding.

Further, the head unit further includes: a mouth assembly, the mouth assembly comprising: the fixed frame, the lower lip piece, the third steering engine and the mouth rotating shaft; the front end of the head shell is provided with a lip opening, the upper end of the fixing frame is fixedly connected with the inner surface of the head shell above the lip opening, the lower end of the fixing frame is fixedly connected with the inner surface of the head shell below the lip opening, and the lower lip piece is positioned at the lip opening; the third steering engine is fixed on the fixed frame, two ends of the mouth part rotating shaft are rotatably connected with two side walls of the head part shell, and two ends of the lower lip piece are sleeved on two ends of the mouth part rotating shaft; the output end of the third steering engine is sleeved with a disc at one end of a third disc connecting rod, the other end of the third disc connecting rod is connected with one end shaft of a fourth connecting rod, the other end of the fourth connecting rod is connected with one end shaft of a third rocker arm, and the other end shaft of the third rocker arm is sleeved on the mouth rotating shaft.

Further, the fish simulation robot further comprises: the lower end of the telescopic supporting rod is arranged on the movable supporting base; the body unit comprises: the body support, the body external skeleton, the support plate and the support frame; the support plate the support frame with the health support all is located in the outside skeleton of health, the support frame is fixed on the upper surface of support plate, the upper end of scalable bracing piece is passed the outside skeleton of health with the lower surface of support plate is connected.

Further, the body support comprises: a first front half body support, a second front half body support, a middle body support, a first back half body support, a second back half body support and a third back half body support which are connected in sequence; the front end of the first front half body support is fixedly connected with the inner surface of the rear part of the head shell, the rear end of the first front half body support is connected with the front end shaft of the second front half body support, the rear end of the second front half body support is connected with the front end shaft of the middle body support, the rear end of the middle body support is connected with the front end shaft of the first rear half body support, the rear end of the first rear half body support is connected with the front end shaft of the second rear half body support, and the rear end of the second rear half body support is connected with the front end shaft of the third rear half body support; the first front body half brace being lower in position than the second front body half brace, the second back body half brace being lower in position than the first back body half brace, the third back body half brace being lower in position than the second back body half brace; the body external skeleton comprises: the first body external framework, the second body external framework, the third body external framework, the fourth body external framework and the fifth body external framework are arranged at intervals in sequence; the inner surface of the upper side of the first body external framework is fixedly connected with the front end of the second front half body support; the inner surface of the upper side of the second body external skeleton is fixedly connected with the rear end of the middle body support; the inner surface of the upper side of the third body external skeleton is fixedly connected with the rear end of the first rear half body bracket; the inner surface of the upper side of the fourth body external skeleton is fixedly connected with the rear end of the second rear half body support; the inner surface of the upper side of the fifth body external skeleton is fixedly connected with the rear end of the third rear half body support.

Further, the body unit further comprises: the steering engine comprises a socket joint piece and a fourth steering engine, wherein the socket joint piece is provided with a first through hole and a second through hole, the central axes of the first through hole and the second through hole are vertical to each other, and the plane where the central axis of the first through hole is located and the plane where the central axis of the second through hole is located are parallel to each other; the first through hole of the sleeving piece is fixedly sleeved on a first rotating shaft, two ends of the first rotating shaft are respectively and rotatably connected with the front side wall and the rear side wall of the supporting frame, the second through hole of the sleeving piece is sleeved on a second rotating shaft, the second rotating shaft can rotate in the second through hole, and two ends of the second rotating shaft are fixedly connected with two side walls of the middle body support; the fourth steering wheel is fixedly arranged on the upper surface of the support plate, a disc at one end of a fourth disc connecting rod is sleeved on the output end of the fourth steering wheel, the other end of the fourth disc connecting rod is connected with one end shaft of a fifth connecting rod, and the other end of the fifth connecting rod is connected with one side wall shaft of the middle body support.

Further, the body unit further comprises: the fifth steering engine is fixedly arranged on the surface of the front end of the carrier plate, a disc at one end of a fifth disc connecting rod is sleeved on the output end of the fifth steering engine, the other end of the fifth disc connecting rod is connected with one end shaft of a sixth connecting rod, and the other end of the sixth connecting rod is connected with the lower shaft of the front end of the second front half body support.

Further, the body unit further comprises: the sixth steering wheel is fixedly arranged on the other side wall of the middle body support, a disc at one end of a sixth disc connecting rod is sleeved on the output end of the sixth steering wheel, the other end of the sixth disc connecting rod is connected with one end shaft of a seventh connecting rod and one end shaft of an eighth connecting rod respectively, the other end of the seventh connecting rod is connected with the rear end shaft of the first front half body support, and the other end of the eighth connecting rod is connected with the rear end shaft of the second front half body support.

Further, the body unit further comprises: the other end of the seventh disc connecting rod is connected with one end shaft of a ninth connecting rod and one end shaft of a tenth connecting rod respectively, the other end of the ninth connecting rod is connected with the front end shaft of the second rear half body support, the other end of the tenth connecting rod is connected with the lower shaft of the front end of the third rear half body support, the lower part of the front end of the third rear half body support is connected with one end shaft of an eleventh connecting rod, and the other end of the eleventh connecting rod is connected with the rear end shaft of the third rear half body support.

Furthermore, two fin mounting frames are symmetrically arranged on the inner surface of the lower side of the second body external skeleton, the two fin mounting frames are respectively close to two side walls of the second body external skeleton, each fin mounting frame is provided with a plurality of mounting grooves, and third through holes are formed in two opposite side walls of each mounting groove; the body unit further comprises: the two groups of fin frameworks, the two fin rotating shafts and the eighth steering engine; each group of fin frameworks comprises a plurality of L-shaped frameworks, fourth through holes are formed in corners of the L-shaped frameworks, the corners of each L-shaped framework are located in each mounting groove, each fin rotating shaft penetrates through the third through holes of the mounting grooves and the fourth through holes of the L-shaped frameworks, one end of each L-shaped framework is located in the body external framework, the other end of each L-shaped framework extends out of the body external framework, and the other ends of the L-shaped frameworks are connected together through at least one connecting rope; the eighth steering wheel sets up on the internal surface of the downside of the outside skeleton of second health, the cover is equipped with the carousel on the output of eighth steering wheel, the relative both sides wall extension of carousel has first protruding connecting rod and second protruding connecting rod, the one end hub connection of first protruding connecting rod and two twelfth connecting rods, two the other end of twelfth connecting rod is connected respectively and is closest to two the two of one end of fin pivot L type skeleton, the one end hub connection of second protruding connecting rod and two thirteenth connecting rods, two the other end of thirteenth connecting rod is connected respectively and is closest to two the two of the other end of fin pivot L type skeleton.

Further, the tail unit includes: the fish tail support, the fish tail fixing frame and the ninth steering engine; the one end of fishtail support is fixed to be set up on the rear surface of fishtail mount, the front end of fishtail mount with the rear end hub connection of third latter half health support, ninth steering wheel sets up on the internal surface of the outside skeleton of health, the cover is equipped with the disc of the one end of eighth disc connecting rod on the output of ninth steering wheel, the other end of eighth disc connecting rod is connected with a tip shaft of fourteenth connecting rod, the other end of fourteenth connecting rod with the front end hub connection of fishtail mount.

The utility model discloses emulation fish robot can simulate the eye action, the mouth action, the health action and the afterbody action of fish simultaneously, can also make emulation fish robot remove and fluctuate from top to bottom, makes the effect that presents more lifelike.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a first perspective view of a fish-simulating robot according to an embodiment of the present invention;

FIG. 2 is a second perspective view of the fish-simulating robot according to the embodiment of the present invention;

fig. 3 is a perspective view of a head unit, a body unit and a tail unit of the fish-simulating robot according to the embodiment of the present invention;

fig. 4 is a perspective view of a body unit and a tail unit of the fish simulation robot according to the embodiment of the present invention;

fig. 5 is a perspective view of a head unit of the fish-simulating robot according to the embodiment of the present invention;

fig. 6 is a rear view of a partial structure of a head unit of the artificial fish robot according to the embodiment of the present invention;

fig. 7 is a perspective view of a socket of the fish-imitating robot according to the embodiment of the present invention;

fig. 8 is a first perspective view of a partial structure of a fin of the fish-simulating robot according to the embodiment of the present invention;

fig. 9 is a second perspective view of a partial structure of a fin of the fish-simulating robot according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The embodiment of the utility model discloses emulation fish robot. This emulation fish robot specifically includes: a head unit, a body unit and a tail unit. It should be understood that the skin of the simulated fish robot is wrapped outside the head unit, body unit and tail unit.

As shown in fig. 1 to 9, the head unit includes: a head housing 1 and an eye assembly.

The eye assembly includes: two eyeball bodies 2, two annular supports 3, two first steering engines 4, a second steering engine 5 and an eye rotating shaft 6.

Eyeball holes are symmetrically formed in two opposite side walls of the head shell 1. Each annular frame 3 is mounted at each eye. Each eyeball body 2 is rotatably arranged in each annular bracket 3. The eyeball body 2 can rotate around the center of the eyeball body. The front of the eyeball 2 faces the outside of the head housing 1. The surface of the rear part of the eyeball body 2 is provided with a first protrusion 7 and a second protrusion 8. Preferably, the first and second protrusions 7, 8 are located close to the centre plane of the eyeball 2 in order to stabilise the rotation of the eyeball 2. The first protrusion 7 is located above the second protrusion 8.

Two first steering engines 4 are fixed on the inner surface of the head housing 1 between the two eyeballs 2. Specifically, the first steering gears 4 may be fixed by respective steering gear support frames. The output end of each first steering engine 4 is sleeved with a disc at one end of a first disc connecting rod 9. The other end of the first disc link 9 is connected to one end shaft of a first link 10. It should be understood that, in the embodiment of the present invention, the disc connecting rod is a disc at one end and a straight rod at the other end. The other end of the first connecting rod 10 is sleeved on the first bulge 7. Thus, each link 10 is connected to the eyeball 2 from one side of the corresponding eyeball 2.

The second steering gear 5 is fixed on the inner surface of the head housing 2. Specifically, the second steering gear 5 can be fixed on the inner surface of the head shell 2 above the eye part rotating shaft 6 through a steering gear support frame. The output end of the second steering engine 5 is sleeved with a disc at one end of a second disc connecting rod 11. The other end of the second disc link 11 is connected to one end shaft of the second link 12. The other end of the second link 12 is connected to one end shaft of the first rocker arm 13. The eye rotating shaft 6 is positioned below the eyeball body 2. Both ends of the eye rotary shaft 6 are rotatably connected to the inner surfaces of both side walls of the head housing 1. Specifically, the inner surfaces of the two side walls of the head housing 1 may be respectively provided with an eye rotation shaft bracket, and the two ends of the eye rotation shaft 6 are rotatably connected with the two eye rotation shaft brackets. The eye part rotating shaft 6 is sleeved with the other end of the first rocker arm 13 and one end of the two second rocker arms 14. The other end of each second rocker arm 14 is connected to one end shaft of each third link 15. The other end of each third link 15 is fitted over the second protrusion 8 of each eyeball body 2. The two third connecting rods 15 are respectively close to two ends of the eye part rotating shaft 6.

Through the structural design, the left-right and up-down rotating actions of the eyes of the simulated fish robot can be realized. Specifically, the left-right eye rotation process is as follows: the first steering gear 4 is started, the first steering gear 4 drives the first disc connecting rod 9 to rotate, the first disc connecting rod 9 drives the first connecting rod 10 to move left and right relative to the eyeball body 2, and the first connecting rod 10 applies force to the first bulge 7, so that the corresponding eyeball body 2 is driven to rotate left and right. Specifically, the up-and-down rotation of the eyes is performed as follows: the second steering engine 5 is started, the second steering engine 5 drives the second disc connecting rod 11 to rotate, the second disc connecting rod 11 drives the second connecting rod 12 to rotate, the second connecting rod 12 drives the first rocker arm 13 to rotate, the first rocker arm 13 drives the eye rotating shaft 6 to rotate, the eye rotating shaft 6 drives the two second rocker arms 14 to rotate, the two second rocker arms 14 drive the two third connecting rods 15 to rotate respectively, the two third connecting rods 15 apply force to the second protrusions 8 of the two eyeball bodies 2 respectively, and therefore the two eyeball bodies 2 are driven to rotate up and down.

In a preferred embodiment of the present invention, the head unit further includes: a mouth assembly. Specifically, the mouth assembly includes: a fixed frame 16, a lower lip piece 17, a third steering engine 18 and a mouth rotating shaft 19.

The front end of the head shell 1 is provided with a lip opening. The upper end of the fixing frame 16 is fixedly connected with the inner surface of the head housing 1 above the lip opening. It should be understood that the upper portion of the lip opening of the head housing 1 may be shaped to the upper lip. The lower end of the fixing frame 16 is fixedly connected with the inner surface of the head housing 1 below the lip opening. Therefore, the fixing frame 16 as a whole has a zigzag structure like ">". The lower lip piece 17 is located at the lip opening.

A third steering engine 18 is fixed to the fixed frame 16. Both ends of the mouth rotating shaft 19 are rotatably connected to both side walls of the head housing 1. Specifically, a mouth rotation shaft support may be respectively disposed on the inner surfaces of the two side walls of the head housing 1, and both ends of the mouth rotation shaft 19 are rotatably connected to the two mouth rotation shaft supports. The two ends of the lower lip piece 17 are sleeved on the two ends of the mouth rotating shaft 19.

The output end of the third steering engine 18 is sleeved with a disc at one end of a third disc connecting rod 20. The other end of the third disc link 20 is connected to one end shaft of the fourth link 21. The other end of the fourth link 21 is connected to one end shaft of the third rocker arm 22. The other end of the third swing arm 22 is fitted over the mouth spindle 19.

Through the structural design, the mouth opening and closing action of the simulated fish robot can be realized. Specifically, the mouth opening and closing process is as follows: the third steering engine 18 is started, the third steering engine 18 drives the third disc connecting rod 20 to rotate, the third disc connecting rod 20 drives the fourth connecting rod 21 to rotate, the fourth connecting rod 21 drives the third rocker arm 22 to rotate, the third rocker arm 22 drives the mouth rotating shaft 19 to rotate, and the mouth rotating shaft 19 drives the lower lip piece 17 to rotate around the mouth rotating shaft 19, so that the mouth opening and closing action is realized.

In a preferred embodiment of the present invention, the body unit comprises: a body support, a body outer skeleton, a carrier plate 23 and a support frame 24. The carrier plate 23, the support frame 24 and the body support are all located within the outer skeleton of the body. The support bracket 24 is fixed on the upper surface of the carrier plate 23. Specifically, the support bracket 24 is a channel-shaped structure having a front side wall and a rear side wall.

This emulation fish robot still includes: a telescopic support rod 25 and a movable support base 26. The lower end of the telescopic support rod 25 is disposed on the movable support base 26. The upper end of the retractable support rod 25 passes through the external skeleton of the body and is connected with the lower surface of the support plate 23 to support the support plate 23. Specifically, the retractable support rod 25 may be an electric cylinder, but may also be of other retractable structures. The up-and-down movement of the simulation fish robot can be realized through the extension and retraction of the telescopic support rod 25. The moveable support base 26 may be in the form of an automated guided vehicle, although other forms are possible, whereby movement of the simulated fish robot is simulated by movement of the moveable support base 26.

Wherein, the body support includes: a first front half body support 27, a second front half body support 28, a middle body support 29, a first back half body support 30, a second back half body support 31 and a third back half body support 32 which are connected in sequence.

The front end of the first front body half cradle 27 is fixedly attached to the inner surface of the rear portion of the head housing 1. The rear end of the first anterior body half support 27 is pivotally connected to the front end of the second anterior body half support 28. The rear end of the second anterior body support half 28 is pivotally connected to the front end of the middle body support 29. The rear end of the middle body support 29 is pivotally connected to the front end of the first rear body support 30. The rear end of the first rear body support 30 is pivotally connected to the front end of the second rear body support 31. The rear end of the second rear body support 31 is pivotally connected to the front end of the third rear body support 32. Further, the first anterior half body scaffold 27 is positioned lower than the second anterior half body scaffold 28. The second back body half bracket 31 is positioned lower than the first back body half bracket 30. The third back body half bracket 32 is positioned lower than the second back body half bracket 31. Preferably, the first back body support 30, the second back body support 31 and the third back body support 32 are each shaped to slope downwardly from front to back. It should be understood that the connecting shafts for the interconnection between the respective body supports are extended in the upper and lower side directions of the artificial fish robot.

Specifically, the external skeleton of the body comprises: a first body external skeleton 33, a second body external skeleton 34, a third body external skeleton 35, a fourth body external skeleton 36 and a fifth body external skeleton 37 which are arranged in this order at intervals in a ring shape. Specifically, the retractable support bar 25 may extend into the body external skeleton from between the first body external skeleton 33 and the second body external skeleton 34.

The inner surface of the upper side of the first body external skeleton 33 is fixedly connected with the front end of the second front half body support 28. The inner surface of the upper side of the second body external skeleton 34 is fixedly connected with the rear end of the middle body support 29. The inner surface of the upper side of the third body external skeleton 35 is fixedly connected with the rear end of the first rear half body support 30. The inner surface of the upper side of the fourth body external skeleton 36 is fixedly connected with the rear end of the second rear half body support 31. The inner surface of the upper side of the fifth body external skeleton 37 is fixedly connected with the rear end of the third rear half body frame 32. Preferably, upper fins are extended from the outer surfaces of the upper sides of the first, second, third and fourth body external skeletons 33, 34, 35 and 36.

In a preferred embodiment of the present invention, the body unit further comprises: a socket 38 and a fourth steering engine 39. The socket 38 has a first through hole and a second through hole. The central axes of the first through hole and the second through hole are vertical to each other, and the plane where the central axis of the first through hole is located and the plane where the central axis of the second through hole is located are parallel to each other. The central axis refers to a center line extending in the axial direction of the through hole.

The first through hole of the sleeve 38 is fixedly sleeved on the first rotating shaft. Both ends of the first rotating shaft are rotatably connected with the front side wall and the rear side wall of the supporting frame 24, respectively. The second through hole of the sleeve member 38 is sleeved on the second rotating shaft, and the second rotating shaft can rotate in the second through hole. Both ends of the second rotating shaft are fixedly connected with both side walls of the middle body support 29;

the fourth steering gear 39 is fixedly arranged on the upper surface of the carrier plate 23. The output end of the fourth steering engine 39 is sleeved with a disc at one end of a fourth disc connecting rod 40. The other end of the fourth disc link 40 is connected to one end shaft of the fifth link 41. The other end of the fifth link 41 is pivotally connected to a side wall of the middle body support 29.

Through the structural design, the left-leaning or right-leaning motion of the body of the simulated fish robot can be simulated. Specifically, the action process of the body leaning to the left or right is as follows: and when the fourth steering engine 39 is started, the fourth steering engine 39 drives the fourth disc connecting rod 40 to rotate, the fourth disc connecting rod 40 drives the fifth connecting rod 41 to move, and the fifth connecting rod 41 drives the middle body support 29 to rotate around the first rotating shaft, so that the left-leaning or right-leaning movement of the body is realized.

In a preferred embodiment of the present invention, the body unit further comprises: a fifth steering engine 42. A fifth steering engine 42 is fixedly arranged on the surface of the front end of the carrier plate 23. The output end of the fifth steering engine 42 is sleeved with a disc at one end of a fifth disc connecting rod 43. The other end of the fifth disc link 43 is connected to one end shaft of the sixth link 44. The other end of the sixth link 44 is pivotally connected to the lower shaft of the forward end of the second forward body support half 28.

Through the structural design, the forward or backward tilting action of the body of the simulated fish robot can be realized. Specifically, the forward or backward leaning process of the body is as follows: and when the fifth steering engine 42 is started, the fifth steering engine 42 drives the fifth disc connecting rod 43 to rotate, the fifth disc connecting rod 43 drives the sixth connecting rod 44 to move, the sixth connecting rod 44 applies force to the second front half body support 28, the second front half body support 28 applies force to the middle body support 29, the middle body support 29 rotates around the second rotating shaft, and therefore the forward tilting or backward tilting of the body is achieved.

In a preferred embodiment of the present invention, the body unit further comprises: and a sixth steering engine 45. And a sixth steering engine 45 is fixedly arranged on the other side wall of the middle body bracket 29. The output end of the sixth steering engine 45 is sleeved with a disc at one end of a sixth disc connecting rod 46. The other end of the sixth disc link 46 is connected to one end shafts of a seventh link 47 and an eighth link 48, respectively. The other end of the seventh link 47 is pivotally connected to the rear end of the first front body half bracket 27. The other end of the eighth link 48 is pivotally connected to the rear end of the second anterior body support half 28.

Through the structural design, the left-right shaking motion of the front half body of the simulated fish robot can be realized. Specifically, the action process of the left-right shaking of the front half part of the body is as follows: and the sixth steering engine 45 is started, the sixth steering engine 45 drives the sixth disc connecting rod 46 to rotate, the sixth disc connecting rod 46 drives the seventh connecting rod 47 and the eighth connecting rod 48 to move, the seventh connecting rod 47 drives the first front half body support 27 to rotate around the connecting shaft of the first front half body support 27 and the second front half body support 28, and the eighth connecting rod 48 moves to drive the second front half body support 28 to rotate around the connecting shaft of the second front half body support 28 and the body middle support 28, so that the left-right shaking motion of the front half body is realized.

In a preferred embodiment of the present invention, the body unit further comprises: and a seventh steering engine 49. A seventh steering engine 49 is fixedly arranged on the other side wall of the middle body support 29. The output end of the seventh steering engine 49 is sleeved with a disc at one end of a seventh disc connecting rod 50. The other end of the seventh disc link 50 is connected to one end shafts of a ninth link 51 and a tenth link 52, respectively. The other end of the ninth link 51 is pivotally connected to the front end of the second rear body bracket 31. The other end of the tenth link 52 is connected to the lower shaft of the front end of the third rear body bracket 32. The lower part of the front end of the third rear body support 32 is connected to one end shaft of the eleventh link 53. The other end of the eleventh link 53 is pivotally connected to the rear end of the third rear body bracket 32.

Through the structural design, the left and right shaking movement of the body of the back half part of the simulated fish robot can be realized. Specifically, the motion process of the second half-body left-right shaking is as follows: the seventh steering engine 49 is started, the seventh steering engine 49 drives the seventh disc connecting rod 50 to rotate, the seventh disc connecting rod 50 drives the ninth connecting rod 51 and the tenth connecting rod 52 to move, the ninth connecting rod 51 drives the second rear half body support 31 to rotate around the connecting shaft of the second rear half body support 30, the tenth connecting rod 52 drives the third rear half body support 32 to rotate around the connecting shaft of the second rear half body support 31, meanwhile, the eleventh connecting rod 53 further assists in driving the third rear half body support 32 to rotate around the connecting shaft of the second rear half body support 31 due to the rotating acting force of the third rear half body support 32, and the rotation of the third rear half body support 32 is limited to a certain extent, so that the rotation is prevented from being too large, and the left-right shaking action of the rear half body is realized.

In a preferred embodiment of the present invention, two fin mounts 54 are symmetrically disposed on the inner surface of the underside of the second body external skeleton 34. Two fin mounts 54 are located adjacent to respective sidewalls of the second body external skeleton 34. Each fin mounting bracket 54 has a plurality of mounting slots. And third through holes are formed in two opposite side walls of the mounting groove.

The body unit further comprises: two groups of fin frameworks, two fin rotating shafts 55 and an eighth steering engine 56.

Each set of fin skeletons includes a plurality of L-shaped skeletons 57. And a fourth through hole is formed at the corner of the L-shaped framework 57. The corner of each L-shaped frame 57 is located in each mounting groove. Preferably, the number of the L-shaped skeletons 57 on each side is four, and the number of the installation grooves on each side is also four. The third through-holes of the mounting grooves of each side are aligned with the fourth through-holes of the L-shaped bobbins 57 of each side. Each fin rotating shaft 55 passes through the third through holes of the plurality of mounting grooves on each side and the fourth through hole of the L-shaped frame 57, and one end of the plurality of L-shaped frames 57 on each side is located in the body external frame. The other ends of the plurality of L-shaped skeletons 57 at each side protrude out of the body external skeleton. The other ends of the plurality of L-shaped frames 57 on each side are connected together by at least one connecting rope. Specifically, at least one fifth through hole 58 may be disposed at the other end of each L-shaped frame 57. Each connecting rope passes through the fifth through hole 58 at the corresponding position of the L-shaped framework 57 at the same side, thereby connecting the L-shaped frameworks 57 together.

An eighth steering gear 56 is provided on the inner surface of the underside of the second body external skeleton 34. The output end of the eighth steering engine 56 is sleeved with a turntable 59. A first projecting link 60 and a second projecting link 61 extend from opposite side walls of the turntable 59. The first projecting link 60 is connected to one end shafts of two twelfth links 62. The other ends of the two twelfth links 62 are connected to the L-shaped frames 57 closest to the ends of the two fin shafts 55, respectively. The second projecting link 61 is connected to one end shafts of two thirteenth links 63. The other ends of the two thirteenth connecting rods 63 are connected to the L-shaped skeletons 57 closest to the other ends of the two fin rotating shafts 55, respectively.

Through the structural design, the up-and-down swinging motion of the fin of the artificial fish robot can be realized. Specifically, the motion process of the upward and downward swinging of the fin is as follows: the eighth steering engine 56 is started, the eighth steering engine 56 drives the rotary table 59 to rotate, the rotary table 59 drives the first protruding connecting rod 60 and the second protruding connecting rod 61 to rotate, the first protruding connecting rod 60 drives the two twelfth connecting rods 62 to rotate, the second protruding connecting rod 61 drives the two thirteenth connecting rods 63 to rotate, the twelfth connecting rod 62 and the thirteenth connecting rod 63 respectively drive the L-shaped framework 57 connected with the twelfth connecting rod to rotate around the fin rotating shaft 55, the L-shaped framework 57 connected with the twelfth connecting rod 62 and the thirteenth connecting rod 63 applies force to the connecting rope, the connecting rope drives the L-shaped framework 57 connected with the connecting rope to rotate around the fin rotating shaft 55, and therefore the upward and downward swinging movement of the fin is achieved.

In a preferred embodiment of the present invention, the tail unit includes: a fishtail bracket 64, a fishtail fixing frame 65 and a ninth steering engine 66.

One end of the fishtail bracket 64 is fixedly arranged on the rear surface of the fishtail mount 65. The front end of the fish tail fixing frame 65 is connected with the rear end shaft of the third rear half body bracket 32. It should be understood that the interconnecting connecting shafts extend in the upper and lower direction of the artificial fish robot. A ninth steering engine 66 is provided on the inner surface of the body outer skeleton. Specifically, the ninth steering gear 66 may be provided on the inner surface of the third body external skeleton 35 or the fourth body external skeleton 36. The output end of the ninth steering engine 66 is sleeved with a disc at one end of an eighth disc connecting rod 67. The other end of the eighth disc link 67 is connected to one end shaft of the fourteenth link 68. The other end of the fourteenth connecting rod 68 is connected to the front end shaft of the fishtail mount 65.

Through the structural design, the fish tail left-right swinging motion of the simulation fish robot can be realized. Specifically, the motion process of the fishtail swinging left and right is as follows: and when the ninth steering engine 66 is started, the ninth steering engine 66 drives the eighth disc connecting rod 67 to rotate, the eighth disc connecting rod 67 drives the fourteenth connecting rod 68 to move, and the fourteenth connecting rod 68 drives the fishtail fixing frame 65 to rotate around the connecting shaft between the fishtail fixing frame 65 and the third rear half body support 32, so that the fishtail swings left and right.

In a preferred embodiment of the present invention, the fish-simulating robot may further include: and a controller. The controller is electrically connected with the first steering engine 4, the second steering engine 5, the third steering engine 18, the fourth steering engine 39, the fifth steering engine 42, the sixth steering engine 45, the seventh steering engine 49, the eighth steering engine 56 and the ninth steering engine 66, automatically controls the steering engines, and can coordinate and control all actions of the simulated fish robot.

To sum up, the utility model discloses emulation fish robot can simulate the eye action, the mouth action, the health action and the afterbody action of fish simultaneously, can also make emulation fish robot remove and fluctuate from top to bottom, and the effect that makes the presentation is more lifelike.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. An artificial fish robot comprising: a head unit, a body unit and a tail unit, wherein the head unit comprises: a head housing and an eye assembly;

the eye assembly includes: the device comprises two eyeballs, two annular supports, two first steering engines, a second steering engine and an eye rotating shaft;

eyeball holes are symmetrically formed in two opposite side walls of the head shell, each annular support is installed at each eyeball hole, each eyeball body is rotatably arranged in each annular support, the front part of each eyeball body faces the outside of the head shell, and a first bulge and a second bulge are arranged on the surface of the rear part of each eyeball body;

the two first steering engines are fixed on the inner surface of the head shell between the two eyeball bodies, a disc at one end of a first disc connecting rod is sleeved on the output end of each first steering engine, the other end of each first disc connecting rod is connected with one end shaft of each first connecting rod, and the other end of each first connecting rod is sleeved on the first bulge of each eyeball body;

the second steering wheel is fixed on the internal surface of head shell, the cover is equipped with the disc of the one end of second disc connecting rod on the output of second steering wheel, the other end of second disc connecting rod and the one end hub connection of second connecting rod, the other end of second connecting rod and the one end hub connection of first rocking arm, the eye pivot is located eyeball body's below, the both ends of eye pivot with the internal surface of the both sides wall of head shell rotationally connects, the cover is equipped with in the eye pivot the one end of the other end of first rocking arm and two second rocking arms, each the other end of second rocking arm and the one end hub connection of each third connecting rod, each the other pot head of third connecting rod is established each eyeball body the second is protruding.

2. The simulated fish robot of claim 1, wherein said head unit further comprises: a mouth assembly, the mouth assembly comprising: the fixed frame, the lower lip piece, the third steering engine and the mouth rotating shaft;

the front end of the head shell is provided with a lip opening, the upper end of the fixing frame is fixedly connected with the inner surface of the head shell above the lip opening, the lower end of the fixing frame is fixedly connected with the inner surface of the head shell below the lip opening, and the lower lip piece is positioned at the lip opening;

the third steering engine is fixed on the fixed frame, two ends of the mouth part rotating shaft are rotatably connected with two side walls of the head part shell, and two ends of the lower lip piece are sleeved on two ends of the mouth part rotating shaft;

the output end of the third steering engine is sleeved with a disc at one end of a third disc connecting rod, the other end of the third disc connecting rod is connected with one end shaft of a fourth connecting rod, the other end of the fourth connecting rod is connected with one end shaft of a third rocker arm, and the other end shaft of the third rocker arm is sleeved on the mouth rotating shaft.

3. The fish robot of claim 1, further comprising: the lower end of the telescopic supporting rod is arranged on the movable supporting base;

the body unit comprises: the body support, the body external skeleton, the support plate and the support frame; the support plate the support frame with the health support all is located in the outside skeleton of health, the support frame is fixed on the upper surface of support plate, the upper end of scalable bracing piece is passed the outside skeleton of health with the lower surface of support plate is connected.

4. The fish robot of claim 3,

the body support comprises: a first front half body support, a second front half body support, a middle body support, a first back half body support, a second back half body support and a third back half body support which are connected in sequence; the front end of the first front half body support is fixedly connected with the inner surface of the rear part of the head shell, the rear end of the first front half body support is connected with the front end shaft of the second front half body support, the rear end of the second front half body support is connected with the front end shaft of the middle body support, the rear end of the middle body support is connected with the front end shaft of the first rear half body support, the rear end of the first rear half body support is connected with the front end shaft of the second rear half body support, and the rear end of the second rear half body support is connected with the front end shaft of the third rear half body support; the first front body half brace being lower in position than the second front body half brace, the second back body half brace being lower in position than the first back body half brace, the third back body half brace being lower in position than the second back body half brace;

the body external skeleton comprises: the first body external framework, the second body external framework, the third body external framework, the fourth body external framework and the fifth body external framework are arranged at intervals in sequence; the inner surface of the upper side of the first body external framework is fixedly connected with the front end of the second front half body support; the inner surface of the upper side of the second body external skeleton is fixedly connected with the rear end of the middle body support; the inner surface of the upper side of the third body external skeleton is fixedly connected with the rear end of the first rear half body bracket; the inner surface of the upper side of the fourth body external skeleton is fixedly connected with the rear end of the second rear half body support; the inner surface of the upper side of the fifth body external skeleton is fixedly connected with the rear end of the third rear half body support.

5. The simulated fish robot of claim 4, wherein said body unit further comprises: the steering engine comprises a socket joint piece and a fourth steering engine, wherein the socket joint piece is provided with a first through hole and a second through hole, the central axes of the first through hole and the second through hole are vertical to each other, and the plane where the central axis of the first through hole is located and the plane where the central axis of the second through hole is located are parallel to each other;

the first through hole of the sleeving piece is fixedly sleeved on a first rotating shaft, two ends of the first rotating shaft are respectively and rotatably connected with the front side wall and the rear side wall of the supporting frame, the second through hole of the sleeving piece is sleeved on a second rotating shaft, the second rotating shaft can rotate in the second through hole, and two ends of the second rotating shaft are fixedly connected with two side walls of the middle body support;

the fourth steering wheel is fixedly arranged on the upper surface of the support plate, a disc at one end of a fourth disc connecting rod is sleeved on the output end of the fourth steering wheel, the other end of the fourth disc connecting rod is connected with one end shaft of a fifth connecting rod, and the other end of the fifth connecting rod is connected with one side wall shaft of the middle body support.

6. The simulated fish robot of claim 4, wherein said body unit further comprises: the fifth steering engine is fixedly arranged on the surface of the front end of the carrier plate, a disc at one end of a fifth disc connecting rod is sleeved on the output end of the fifth steering engine, the other end of the fifth disc connecting rod is connected with one end shaft of a sixth connecting rod, and the other end of the sixth connecting rod is connected with the lower shaft of the front end of the second front half body support.

7. The simulated fish robot of claim 4, wherein said body unit further comprises: the sixth steering wheel is fixedly arranged on the other side wall of the middle body support, a disc at one end of a sixth disc connecting rod is sleeved on the output end of the sixth steering wheel, the other end of the sixth disc connecting rod is connected with one end shaft of a seventh connecting rod and one end shaft of an eighth connecting rod respectively, the other end of the seventh connecting rod is connected with the rear end shaft of the first front half body support, and the other end of the eighth connecting rod is connected with the rear end shaft of the second front half body support.

8. The simulated fish robot of claim 4, wherein said body unit further comprises: the other end of the seventh disc connecting rod is connected with one end shaft of a ninth connecting rod and one end shaft of a tenth connecting rod respectively, the other end of the ninth connecting rod is connected with the front end shaft of the second rear half body support, the other end of the tenth connecting rod is connected with the lower shaft of the front end of the third rear half body support, the lower part of the front end of the third rear half body support is connected with one end shaft of an eleventh connecting rod, and the other end of the eleventh connecting rod is connected with the rear end shaft of the third rear half body support.

9. The fish robot of claim 4, wherein two fin mounting brackets are symmetrically disposed on the inner surface of the lower side of the second body external skeleton, the two fin mounting brackets are respectively adjacent to two side walls of the second body external skeleton, each fin mounting bracket has a plurality of mounting grooves, and third through holes are disposed on two opposite side walls of the mounting grooves;

the body unit further comprises: the two groups of fin frameworks, the two fin rotating shafts and the eighth steering engine;

each group of fin frameworks comprises a plurality of L-shaped frameworks, fourth through holes are formed in corners of the L-shaped frameworks, the corners of each L-shaped framework are located in each mounting groove, each fin rotating shaft penetrates through the third through holes of the mounting grooves and the fourth through holes of the L-shaped frameworks, one end of each L-shaped framework is located in the body external framework, the other end of each L-shaped framework extends out of the body external framework, and the other ends of the L-shaped frameworks are connected together through at least one connecting rope;

the eighth steering wheel sets up on the internal surface of the downside of the outside skeleton of second health, the cover is equipped with the carousel on the output of eighth steering wheel, the relative both sides wall extension of carousel has first protruding connecting rod and second protruding connecting rod, the one end hub connection of first protruding connecting rod and two twelfth connecting rods, two the other end of twelfth connecting rod is connected respectively and is closest to two the two of one end of fin pivot L type skeleton, the one end hub connection of second protruding connecting rod and two thirteenth connecting rods, two the other end of thirteenth connecting rod is connected respectively and is closest to two the two of the other end of fin pivot L type skeleton.

10. The fish robot of claim 4, wherein the tail unit comprises: the fish tail support, the fish tail fixing frame and the ninth steering engine;

the one end of fishtail support is fixed to be set up on the rear surface of fishtail mount, the front end of fishtail mount with the rear end hub connection of third latter half health support, ninth steering wheel sets up on the internal surface of the outside skeleton of health, the cover is equipped with the disc of the one end of eighth disc connecting rod on the output of ninth steering wheel, the other end of eighth disc connecting rod is connected with a tip shaft of fourteenth connecting rod, the other end of fourteenth connecting rod with the front end hub connection of fishtail mount.

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