WO2018006613A1 - Bionic robot fish - Google Patents

Abstract

Disclosed is a bionic robot fish, comprising a fish head (1), a fish body (3), a floating and diving mechanism (6) and a control system (7). The fish head (1) comprises an upper jaw (11), a lower jaw (12), an opening and closing mechanism (13) driving the lower jaw (12) to perform opening and closing actions relative to the upper jaw (11), fish eyes (19) arranged on the upper jaw (11) and an eye part driving mechanism (2) used for driving the rotation of the fish eyes (19). The fish body (3) comprises a body skeleton (30), a tail skeleton (40) and fish fins (5) arranged on the body skeleton (30). The fish fins (5) comprise a fin support (51) connected to the body skeleton (30) and a fin skeleton (50) connected to the fin support (51). A fish body swinging device (33) used for driving the body skeleton (30) and the tail skeleton (40) to swing, a fin swinging device (52) used for driving the fin skeleton (50) to swing and a fin rotating device (53) used for driving the fin skeleton (50) to rotate are arranged in the body skeleton (30). The floating and diving mechanism (6) is used for driving the fish head (1) and the fish body (3) to float and dive. The control system (7) is used for controlling the actions of the eye part driving mechanism (2), the fish body swinging device (33), the fin swinging device (52), the fin rotating device (53) and the floating and diving mechanism (6). The bionic robot fish is simple in structure and low in cost, and has a vivid bionic effect.

Description

Bionic robot fish Technical field

The invention belongs to the technical field of bionic robots, and in particular relates to a bionic robot fish.

Background technique

Before the 1990s, the study of fish bionics focused on the theoretical aspects. With the deepening of fish propulsion mechanism research, new developments in robotics, bionics, electronic technology, materials science and control technology, simulation of fish swimming The new underwater robot of the dynamic mechanism - the bionic robot fish has received extensive attention at home and abroad. According to the proposed "jet propulsion theory" of the fish tail propulsion, the American Institute of Hemp ropes developed a 1.2-meter-long bionic tuna and a 0.8-meter-long bionic barracuda. The Marine Science Center of Tohoku University has developed a wave-propelled machine squid using shape memory alloys and linkages. The University of New Mexico uses the polymer electrolyte ion exchange membrane IEM, which is plated on the metal foil of the bionic fish fin, and the artificial muscle movement is realized by the applied electric field, which produces a swimming method similar to squid. The University of Essex in the UK has designed robotic fish with three-dimensional movement capabilities. The University of Tokyo in Japan has developed a two-joint-propelled machine dolphin. Kato et al. studied the control of the fin propulsion mechanism and developed a robotic prototype. Nagoya University in Japan has developed a shape memory alloy driven micro body wave underwater propeller and a piezoelectric ceramic driven double fin fish type micro robot. In China, Harbin Engineering and Engineering University carried out research work on the bionic machine Zhang Yu. The Institute of Robotics of Beijing University of Aeronautics and Astronautics has developed machine squid, machine dolphins and SPC series bionic robot fish with flat and wide axe hydrodynamic appearance. The Shenyang Institute of Automation, Chinese Academy of Sciences developed a two-joint bionic robot fish model. The Department of Mechanics and Engineering Science of Peking University has developed a prototype of a bionic dolphin. The Beijing Institute of Automation of the Chinese Academy of Sciences has developed micro-sized robotic fish and multi-sensor bionic robot fish.

However, at present, domestic and foreign bionic machines have complex structures and high manufacturing costs.

Summary of the invention

It is an object of the present invention to provide a bionic robot fish for solving the above technical problems.

Embodiments of the present invention provide a bionic robot fish, including a fish head and a fish body connected to a fish head, the fish head including an upper jaw and a lower jaw, and a fish eye disposed on the upper jaw, the fish body including a trunk skeleton and a tail skeleton a fin mounted on a torso skeleton, the fin comprising a fin bracket coupled to the torso skeleton and a fin skeleton coupled to the fin bracket, the bionic robot fish further comprising a connection to the upper jaw and the lower jaw and for driving the lower jaw a sliding mechanism for making a stretching motion with respect to the upper jaw, an eye driving mechanism for driving the fish eye to rotate in the fish head, and a fish body swinging device provided in the trunk skeleton for driving the trunk skeleton and the tail skeleton swinging a fin swinging device for driving the fin skeleton swing, a fin rotating device for driving the fin skeleton rotation, a floating lower dive mechanism for driving the fish head and the fish body to float, and a control tensioning mechanism and an eye Part drive mechanism, fish body swing device, fin swing device, fin rotation device, and control system for the operation of the floating lower dive mechanism.

Further, the tensioning mechanism includes a tensioning motor, a first gear and a second gear, the tensioning motor is fixed to the upper jaw, the first gear is coupled to the rotating shaft of the tensioning motor, and the second gear is meshed with the first gear, and The second gear is fixed to the lower jaw and connected to the upper jaw.

Further, the eye drive mechanism comprises an eye drive motor, a crank rocker mechanism and a parallelogram mechanism, and the eye drive motor is connected to the parallelogram mechanism by a crank rocker mechanism, and the parallelogram mechanism is connected with the fish eye.

Further, the crank rocker mechanism includes an eye portion that is sleeved on a rotating shaft portion of the eye driving motor The turntable is hingedly fixed to the eye crank on the face of the eye turntable, and the other end of the eye crank extends outward from the eye turntable and is hingedly connected with the parallelogram mechanism.

Further, the parallelogram mechanism includes a first link hingedly connected to the eye crank in the crank rocker mechanism, a second link hingedly connected to both end ends of the first link, and the fish The eyes are respectively fitted with a fisheye tray on the fisheye mounting hole of the upper jaw, and two vertical rods for connecting the fisheye tray and the second link, respectively.

Further, the torso skeleton comprises a plurality of torso joints hinged to each other to form a torso skeleton, the tail skeleton comprising a plurality of tail joints hinged to each other to form a fish tail, a tail joint at the front end and a trunk joint at the rear end Connecting, the fish body is provided with at least two fish body swinging devices, each fish body swinging device comprises a fish body swinging motor, a reel and a drawstring wound on the reel, wherein the reel is sleeved On the rotating shaft portion of the fish body swinging motor, both ends of the pulling rope project outward from the reel, and the fish body swinging device is divided into a trunk swinging device and a tail swinging device, and a fish body swinging motor of the trunk swinging device Installed in the trunk joint of the trunk skeleton, the two ends of the drawstring extend forward or backward along the arrangement direction of the plurality of trunk joints, and sequentially wear a plurality of trunk joints and then fix the trunk joints at the foremost or the last end. The fish body swinging motor of the tail swinging device is installed in the trunk joint at the last end, and both ends of the drawstring extend backwards along the arrangement direction of the plurality of tail joints at the same time. After arthrodesis located at the rearmost end of the tail passes through a plurality of joints and tails.

Further, the fin swinging device includes a fin swinging motor, a fin turntable, and a fin crank, wherein the fin swinging motor is disposed in the fin motor case and the rotating shaft portion of the fin swinging motor passes through the fin a motor box, the fin turntable is sleeved on a rotating shaft portion of the fin swinging motor, and two ends of the fin crank are respectively pivotally connected with the fin turntable and the fin bracket, and the fin bracket and the fin motor box pivot Transfer connection.

Further, the fin rotating device includes a fin rotating motor and a connecting rod, the fin rotating motor is fixedly connected with the fin bracket, the connecting rod is fixedly connected with the fin frame, and the connecting rod is connected with the rotating shaft portion of the fin rotating motor.

Further, the fish body further includes an elastic member and a plurality of tabs, and the tab is provided with a through hole, the plurality of tabs are distributed on the trunk joint and the tail joint, the elastic member is pierced through the through hole and the elastic member is respectively The trunk skeleton and the tail skeleton are fixed.

Further, the floating lower dive mechanism includes a first storage drain tank for controlling the floating and dive of the fish head, a second storage drain tank for controlling floating and dive on the fish body, and the first storage drain tank and the first a gas storage tank connected to the second storage drain tank, and a gas pump for controlling gas exchange between the gas storage tank and the second storage drain tank and the first storage drain tank, the first storage drain tank being installed in front of the fish body The second storage drain tank is installed in the middle of the fish body.

Further, the floating lower dive mechanism further includes a first electromagnetic valve, a second electromagnetic valve and a third electromagnetic valve, wherein the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve respectively comprise two first air guiding ports respectively a second air guiding port, a third air guiding port connected to the first air guiding port and the second air guiding port, a first valve switch for controlling the first air guiding port and the third air guiding port, and a second air guiding port and the third guiding a second valve switch that is connected to the air guiding port, the first air guiding port and the second air guiding port of the first electromagnetic valve are respectively connected with the first storage drain tank and the second storage drain tank, and the first air guiding port of the second electromagnetic valve and the first The second air guiding port corresponds to the third electromagnetic valve The second air guiding port is connected to the first air guiding port, and the gas storage tank is connected between the first air guiding port of the second electromagnetic valve and the second air guiding port of the third electromagnetic valve, and the third air guiding port of the first electromagnetic valve is connected at the Between the second air guiding port of the second electromagnetic valve and the first air guiding port of the third electromagnetic valve, the third air guiding port of the third electromagnetic valve is connected to the third air guiding port of the second air guiding valve through the air pump.

Further, the first storage drain tank includes a first tank body and a first air bag disposed in the first tank body, wherein the first tank body is provided with a first water receiving port and passes through the first water receiving port In communication with the outside water, the first air guiding port of the first solenoid valve is connected to the first air bag of the first water storage tank.

Further, the second storage drain tank includes a second tank body and a second air bag disposed in the second tank body, wherein the second tank body is provided with a first water receiving port, and the second electromagnetic valve is second The air guiding port is connected to the first air bag of the second storage drain tank.

Further, the control system includes a microprocessor and a wireless signal receiver connected to the microprocessor, the wireless signal receiver is configured to receive an external wireless remote control signal and transmit the signal to the microprocessor, and the microprocessor is configured to determine the wireless remote control The motion mode represented by the signal, and controlling the driving mechanism of the stretching mechanism, the eye driving mechanism, the fish body swinging device, the fin swinging device, the fin rotating device, and the floating lower dive mechanism to perform corresponding operations.

Due to the application of the above technical solutions, the present invention has the following beneficial effects:

The bionic robot fish of the invention has a simple structure, low cost and realistic bionic effect.

DRAWINGS

1 is a schematic perspective view showing the structure of a bionic robot fish according to a preferred embodiment of the present invention.

2 is a schematic view showing the planar structure of FIG. 1.

Figure 3 is an exploded perspective view of the fish head of Figure 1.

Figure 4 is a cross-sectional view of the fish head of Figure 1.

Fig. 5 is a partially exploded perspective view of the fish body of Fig. 1, specifically showing a schematic view of the front of the fish torso and the fish neck.

Fig. 6 is a partially exploded perspective view of the fish body of Fig. 1, specifically showing a schematic view of the rear portion of the fish torso and the fish tail.

Figure 7 is a schematic view of the fish body swinging device of Figure 1.

8-10 are schematic views of the trunk skeleton swing of the fish body swinging device of FIG. 1 driving the fish body.

Figure 11 is a schematic illustration of the fin of Figure 1.

Figure 12 is a schematic illustration of the flexible joint of Figure 11.

Figure 13 is a schematic view of the motor box of Figure 11.

Figure 14 is a schematic view of the floating lowering mechanism of the bionic robot fish of the present invention.

Figure 15 is a schematic illustration of a control system for a bionic robot fish of the present invention.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The bionic robot fish provided by the preferred embodiment of the present invention can realistically simulate the head floating and dive of the fish, and can also realistically simulate the fish mouth opening.

Referring to FIG. 1 , FIG. 2 , FIG. 14 and FIG. 15 , the bionic robot fish of the present invention comprises a fish head 1 , a fish body 3 , a floating lower dive mechanism 6 and a control system 7 . Firstly, in order to facilitate the description of the machine bionic robot fish, the teaching coordinate system is first established, and the X, Y, and Z directions are defined as the first direction, the second direction, and the third direction, respectively, and the first direction is the horizontal direction and is the fish front. The direction, the second direction is a horizontal direction which is perpendicular to the first direction, the third direction is a vertical direction, and the fish rises and dive in the third direction.

Specifically, referring to FIG. 3 and FIG. 4, in the present embodiment, the fish head 1 includes an upper jaw 11, a lower jaw 12 and a tensioning mechanism 13, and the upper jaw 11 is connected to the lower jaw 12 by a tensioning mechanism 13, and the tensioning mechanism 13 It is used to drive the lower jaw 12 to perform a stretching motion with respect to the upper jaw 11 to present the opening and closing of the mouth portion of the bionic robot fish. In the present embodiment, the tensioning mechanism 13 is disposed at one end of the upper jaw 11 and the lower jaw 12 near the fish body 3 to facilitate opening and closing of the mouth portion of the bionic robot fish.

In the present embodiment, the tensioning mechanism 13 includes a tensioning motor 14, a first gear 15 and a second gear 16, and the tensioning motor 14 is fixed to the upper jaw 11, and the first gear 15 is connected to the rotating shaft of the tensioning motor 14. The second gear 16 meshes with the first gear 15, and the second gear 16 is fixed to the lower jaw 12 and hinged to the upper jaw 11. Thus, when the tensioning mechanism 13 is in operation, the tensioning motor 14 drives the second gear 16 to rotate around the hinge point of the second gear 16 and the upper jaw 11 through the first gear 15, so that the second gear 16 drives the lower jaw 12 to perform the second The gear 16 rotates with the hinge point of the upper jaw 11, thereby achieving the stretching movement of the lower jaw 12 relative to the upper jaw 11. It should be noted that the first gear 15 is a circular gear, and the second gear 16 is a sector gear.

Specifically, when the tensioning motor 14 rotates the first gear 15 clockwise, the second gear 16 rotates counterclockwise under the transmission of the first gear 15, and the second gear 16 drives the lower jaw 12 to make 11 pieces with respect to the upper jaw. The open motion; conversely, the second gear 16 drives the lower jaw 12 to move relative to the upper jaw 11. Further, the second gear 16 is located behind the first gear 15 so as to realistically simulate the mouth of the fish. It should be noted that the second gear 16 is located behind the first gear 15 and is opposite. In the first gear 15, the second gear 16 is closer to the fish body. Preferably, the diameter of the second gear 16 is larger than the diameter of the first gear 15 in order to control the degree of convergence of the fish mouth. In the present embodiment, the pivot 171 is hinged to the center of the second gear 16, and the center of the second gear 16 is closer to the fish body 3 with respect to the tooth portion of the second gear 16 to ensure realistic simulation of the fish's mouth. Realizing the rapid opening of the fish mouth while the Zhanghe Hehe.

In the present embodiment, the tensioning mechanism 13 further includes a fixing frame 17 disposed between the upper jaw 11 and the lower jaw 12 and fixed to the upper jaw 11, and the fixing frame 17 includes a longitudinally disposed portion. The first fixing plate 170 extends in the horizontal direction, the first fixing plate 170 extends along the first direction, the stretching motor 14 is disposed on the fixing frame 17, and the rotating shaft of the stretching motor 14 vertically passes through the first fixing plate 170. It is connected to the first gear 15. The first fixing plate 170 is provided with a pivot 171, and the second gear 16 is pivotally connected to the first fixing plate 170 via the pivot 171, so that the second gear 16 is fixed to the lower jaw 12 and hinged with the upper jaw 11, thereby ensuring While the upper jaw 11 is hinged to the lower jaw 12 by the tensioning mechanism 13, the tensioning mechanism 13 can also drive the lower jaw 12 and the upper jaw 11 to perform a stretching motion.

In this embodiment, the fixing frame 17 further includes a second fixing plate 172 disposed laterally. The first fixing plate 170 is perpendicularly connected to the second fixing plate 172, and the second fixing plate 172 is fixed to the upper jaw 11 by a fixing member such as a screw. And the main body of the tensioning motor 14 is fixed on the second fixing plate 172, that is, the stretching motor 14 is fixed to the upper jaw 11 through the second fixing plate 172. Providing the second fixing plate 172 can ensure that the fixing frame 17 can be fastened to the upper jaw 11 by a fixing member such as a screw to enhance the structural strength of the bionic robot fish.

In this embodiment, the fixing frame 17 further includes a third fixing plate 173 disposed in the longitudinal direction. The third fixing plate 173 is perpendicularly connected to the second fixing plate 172 and the first fixing plate 170, and the inner side surface of the third fixing plate 173 is disposed. There is a retaining tab 174 coupled to the pivot 171 to protect the second gear 16 from disengagement from the pivot 171.

In this embodiment, the tensioning mechanism 13 further includes a fixing plate 18, the fixing plate 18 is fixed to the lower jaw 12, and the fixing plate 18 is fixed to the second gear 16, that is, the second gear 16 passes through the fixing plate. 18 is fixed to the lower jaw 12. Wherein, the fixing plate 18 and the second gear 16 can be connected and fixed by means of rivets, spot welding and brazing. Further, the fixing plate 18 is tongue-shaped to ensure realistic simulation of the head of the fish. Further, the fixing plate 18 is hinged with the pivot 171 to enhance the structural strength of the bionic robot fish while facilitating the stretching movement of the lower jaw 12 relative to the upper jaw 11.

In the present embodiment, the first fixing plate 170 is further provided with a limiting shaft 175, and the limiting shaft 175 is located below or below the second gear 16 and the pivot 171, so that when the lower jaw 12 is rotated downward, the limiting shaft 175 Abutting the fixing plate 18, the maximum rotation amplitude of the lower jaw 12 is defined, that is, the maximum opening degree of the fish mouth is defined. In the present embodiment, the limiting shaft 175 is located behind the second gear 16 and the pivot 171.

With reference to FIG. 3 and FIG. 4, in the embodiment, two fisheye mounting holes 110 are symmetrically opened on the upper jaw 11, and a fisheye 19 is respectively disposed on each of the fisheye mounting holes 110. In order to present the ornamental effect of the fisheye rotation in the bionic robot fish simulation fish, the fish head of the present embodiment further includes a fish eye mounting hole 110 disposed between the upper jaw 11 and the lower jaw 12 for driving the fisheye 19 in the upper jaw 11. The eye drive mechanism 2 that rotates. In the present embodiment, the eye drive mechanism 2 can drive the fisheye 19 to rotate synchronously in the fisheye mounting hole 110 of the upper jaw 11.

Specifically, the eye drive mechanism 2 includes an eye drive motor 21, a crank rocker mechanism 22 and a parallelogram mechanism 23, and the eye drive motor 21 is mounted on the upper jaw 11, specifically, the eye drive motor 21 is mounted. On the second fixing plate 172, in other words, the eye driving motor 21 is fitted to the upper jaw 11 via the second fixing plate 172. The eye drive motor 21 is coupled to the parallelogram mechanism 23 by a crank rocker mechanism 22, and the parallelogram mechanism 23 is coupled to the fisheye 19, and the eye drive motor 21 drives the parallelogram mechanism 23 to rotate the fisheye 19 by the crank rocker mechanism 22 to drive the fisheye 19 The rotation is performed in the fisheye mounting hole 110 of the upper jaw 11.

The crank rocker mechanism 22 includes an eye turntable 220 that is sleeved on the rotating shaft portion of the eye drive motor 21 and is hingedly fixed to the eye crank 221 on the face of the eye turntable 220, wherein the eye portion is The other end of the crank 221 extends outward from the eye turntable 220 and is hingedly coupled to the parallelogram mechanism 23 to drive the parallelogram mechanism 23 for rotation. That is, when the eye drive motor 21 is in operation, the parallelogram mechanism 23 can be driven to rotate by the crank rocker mechanism 22.

The parallelogram mechanism 23 includes a first link 230 hingedly connected to the eye crank 221 of the crank rocker mechanism 22, and a second link 231 hingedly connected to both end ends of the first link 230 and The fisheyes 19 are respectively fitted to two fisheye trays 232 on the fisheye mounting holes 110 in the upper jaw 11, and two vertical bars 233 for connecting the fisheye tray 232 and the second link 231, respectively. The first link 230 and the second link 231 are both horizontally disposed, and the length direction of the first link 230 extends parallel to the line connecting the two fish eyes 19, and the second link 231 is perpendicular to the first link 230. . Further, one end of the vertical rod 233 is fixed on one end of the second link 231 away from the first link 230, and the other end is fixed on the fisheye tray 232 in a vertical manner, so that the fisheye tray 232 is Use with the second connection The rod 231 is rotated relative to the first link 230 to drive the fish eye 19 corresponding to the fisheye tray 232 for rotation. In the present embodiment, the fisheye 19 and the fisheye tray 232 are fixedly connected by a connecting pin 26. Specifically, the fisheye 19 is provided with a first pin hole 190, and the fisheye tray 232 is opened. A second pin hole 235 is defined in the upper portion, and the two ends of the connecting pin 26 are respectively inserted into the first pin hole 190 of the fish eye 19 and the second pin hole 235 of the fisheye tray 232 and fixedly connected. It can be understood that the bionic robot fish of the present invention drives the crank rocker mechanism 22 through the eye drive mechanism 2 to rotate with the parallelogram mechanism 23 to drive the fish eye 19 to rotate, which has a realistic fisheye bionic effect and a simple structure.

Referring to FIG. 1 , FIG. 2 , FIG. 5 and FIG. 6 , in the present embodiment, the fish body 3 includes a trunk skeleton 30 and a tail skeleton 40 connected to the trunk skeleton 30 .

The torso skeleton 30 includes a plurality of torso joints 31 that are hinged together to form a torso skeleton 30. The trunk joint 31 has a U shape, and includes a first portion 310 which is disposed in a sheet shape and is laterally disposed, a second portion 311 which is located below the first portion 310 and has a sheet shape, and two ends and a first portion 310 and a second portion 311, respectively. A vertically connected connection portion 312. Wherein the two first portions 310 of the two adjacent torso joints 31 are stacked one on another and hinged by a vertically disposed pin shaft, and the two second portions 311 of the adjacent two trunk joints 31 are stacked one on top of the other and pass through The pin shafts are vertically hinged.

Specifically, in the present embodiment, the connecting portion 312 is provided with a mouth 313 at an end adjacent to the first portion 310, and the first portion 310 of one of the trunk joints 31 of the adjacent two trunk joints 31 is inserted into the other torso In the mouth 313 on the connecting portion 312 of the joint 31 and the two first portions 310 abut against each other and are hinged by a vertically disposed pin shaft, the two second portions 311 of the two adjacent trunk joints 31 are vertically distributed and mutually The joint is hinged by a vertically disposed pin shaft, thus achieving an articulated connection between the two trunk joints 31, and the two trunk joints 31 are swung left and right with the pin shaft between them as a rotation axis.

In the present embodiment, the fish body 3 further includes a fish neck skeleton 32 that is fixed to the fish head 1 and hinged to the foremost joint joint 31 of the trunk skeleton 30. Specifically, the fish neck skeleton 32 has a U shape, and includes a first mounting plate 320 disposed laterally, a second mounting plate 321 located below the first mounting plate 320, and two ends respectively corresponding to the first mounting plate 320 and the second mounting plate 321 The fixing piece 322 is vertically connected. Specifically, in the present embodiment, the fixing piece 322 is fixedly coupled to the fish head 1. In the present embodiment, the fixing piece 322 is fixedly coupled to the third fixing plate 173 by, for example, a screw, a pin, or the like, so that the fish body 3 is coupled to the fish head 1. Among them, fish The neck skeleton 32 is used to install a storage drain tank that controls the rise and the dive of the fish head as detailed below.

In the present embodiment, the free ends of the first mounting plate 320 and the second mounting plate 321 respectively extend out of a hinge piece 323, and the hinge piece 323 of the first mounting plate 320 is inserted into the opening 313 of the trunk joint 31 at the front end. And abutting against the first portion 310 and being hinged by the vertically disposed pin shaft, the hinge piece 323 on the second mounting plate 321 abuts against the second portion 311 and is hinged by the pin shaft, thereby realizing the trunk joint 31 and the fish neck The pivotal connection between the skeletons 32, the torso skeleton 30 is pivoted left and right with respect to the fish neck skeleton 32 with the pin axis between them.

In the present embodiment, the tail skeleton 40 is pivotally coupled to the torso skeleton 30, and includes a plurality of tail joints 41 that are hingedly coupled to each other to form a fishtail portion. The tail joint 41 includes a first connecting piece 410 disposed laterally at the first connection. The second connecting piece 412 below the piece 410 and the third connecting piece 413 which are respectively connected to the first connecting piece 410 and the second connecting piece 412 at both ends. The third connecting piece 413 is provided with a through opening 414 at an end adjacent to the first connecting piece 410. The first connecting piece 410 of one of the tail joints 41 of the adjacent two tail joints 41 is inserted into the opening 414 of the third connecting piece 413 of the other tail joint 41 and the two first connecting pieces 410 abut and pass The vertically disposed pin shaft is hinged, and the two second connecting pieces 412 of the two adjacent tail joints 41 are vertically distributed and in contact with each other and hinged by a vertically disposed pin shaft, thus realizing the connection between the two tail joints 41 The hinge joints are connected, and the two tail joints 41 are pivoted left and right with the pin shaft between them.

The foremost tail joint 41 in the tail skeleton 40 is hinged to the trunk joint 31 of the trunk skeleton 30. It can be understood that the tail joint 41 of the tail skeleton 40 is basically the same as the trunk joint 31 of the trunk skeleton 30, except that the tail of the fish is different in size from the trunk portion, so the size of the tail joint 41 is realistically simulated in order to simulate the shape of the fish. The trunk joint 31 has a small size. Further, the tail joint 41 hinged to the trunk joint 31 is a transition joint, and the second connecting piece 412 as the tail joint 41 of the transition joint is obliquely extended downward to form an oblique connecting piece 415 and A transverse connecting piece 416 extending from the free end of the oblique connecting piece 415 and hinged to the bottom end of the second portion 311 of the trunk joint 31 to achieve two skeleton size differences when the tail frame 40 is coupled to the trunk frame 30 The change between them, and then realistically imitate the shape of the fish.

Please refer to FIG. 1 , FIG. 2 and FIG. 7 . In the embodiment, the fish body 3 further includes a fish body swinging device. 33. The fish body swinging device 33 is divided into a tail swinging device for driving the swing of the tail frame 40 and a trunk swinging device for driving the trunk skeleton 30 to swing. Each of the fish body swinging devices 33 includes a fish body swinging motor 34, a reel 35, and a pull cord 36 wound around the reel 35, wherein the reel 35 is sleeved on a rotating shaft portion of the fish body swinging motor 34, Both ends of the pull cord 36 project outward from the reel 35. The fish body swing motor 34 of the trunk swinging device is mounted in the trunk joint 31 of the trunk frame 30 and is specifically located between the first portion 310 and the second portion 311, and the drawstring corresponding to the fish body swing motor 34 that drives the trunk frame 30 to swing Both ends of 36 extend forward or backward along the arrangement direction of the plurality of trunk joints 31, and sequentially pass through the plurality of trunk joints 31 and are fixed to the trunk joints 31 located at the foremost end or the last end. Thus, when the fish body swing motor 34 is in operation, the fish body swing motor 34 drives the reel 35 to rotate, and pulls the pull cord 36 wound around the reel 35 to cause corresponding winding and relaxing movements at both ends. Further, the fish body swing motor 34 drives the trunk frame 30 to swing left and right, thereby mimicking the movement of the fish trunk.

In the present embodiment, the trunk frame 30 is provided with an electric control box 301 for loading the control system 7, and the electric control box 301 divides the trunk skeleton 30 into a front trunk skeleton and a rear trunk skeleton, and the front trunk skeleton is located at the rear end. The free ends of the first portion 310 and the second portion 311 of the trunk joint 31 are directed toward the electric control box 301 and are fixedly connected to the electric control box 301, for example, by screws, and the first portion 310 of the trunk joint 31 of the rear trunk skeleton at the front end is The free end of the second portion 311 is disposed toward the electric control box 301 and is fixedly coupled to the electric control box 301, for example, by screws. The number of the trunk swinging devices is two, and the fish body swinging motor 34 of the trunk swinging device is respectively disposed in the trunk joint 31 of the front trunk skeleton and the rear trunk skeleton to drive the front trunk skeleton and the rear trunk skeleton to More vividly simulates the movement of the fish's trunk. It should be noted that the pull cord 36 corresponding to the fish body swing motor 34 disposed on the front trunk frame has both ends extending forward along the arrangement direction of the plurality of trunk joints 31 and sequentially threading a plurality of trunk joints. 31 is fixed to the trunk joint 31 located at the foremost end; the pull cord 36 corresponding to the fish body swing motor 34 disposed on the rear trunk skeleton has both ends extending rearward along the arrangement direction of the plurality of trunk joints 31 and The plurality of trunk joints 31 are sequentially passed through and fixed to the trunk joints 31 located at the rear end.

As shown in FIGS. 8 to 10, when the fish body swing motor 34 that drives the front trunk skeleton swing is wound, the reel 35 is wound while being wound with the reel 35 corresponding to the fish body swing motor 34. When winding, only the drawstring 36 on the side of the reel 35 is wound around the reel 35, so that the drawstring 36 on the side is taken up. For example, when the fish body swing motor 34 drives the reel 35 to rotate clockwise, the pull cord 36 on the right side of the reel 35 is taken up on the reel 35, and the drawstring 36 on the right side of the reel 35 becomes shorter. The front trunk skeleton swings to the right, and the front trunk skeleton swings to the left. The swinging principle of the rear trunk skeleton is the same as above, and will not be described herein. The swing of the front torso skeleton and the rear trunk skeleton can make the bionic robot fish turn and the bionic effect is realistic.

In the present embodiment, the top of the connecting portion 312 is symmetrically opened with two through holes 313 for the passage of the drawstring 36 corresponding to the fish body swing motor 34 that drives the trunk skeleton to oscillate. When the drawstring 36 corresponding to the fish body swing motor 34 that drives the trunk skeleton swing is tensioned, a force can be applied to the trunk joint 31 through the corresponding through hole 313 to cause the trunk joint 31 to swing. In this embodiment, the connecting portion 312 includes a first connecting plate body having a triangular shape and a second connecting plate body extending perpendicularly from a bottom end of the first connecting plate body. The connecting portion 312 can be disposed to utilize the space reasonably, and the component is avoided. Interference between each other and the overall weight of the fish body. Further, in the embodiment, the opening 313 is opened on the first connecting plate body.

The fish body swinging motor 34 in the tail swinging device is mounted in the trunk joint 31 at the last end of the trunk frame 30, specifically between the first portion 310 and the second portion 311 of the trunk joint 31 of the trunk skeleton 30 at the rearmost end. Both ends of the pull cord 36 corresponding to the fish body swing motor 34 that drives the tail skeleton 40 are simultaneously extended rearward along the arrangement direction of the plurality of tail joints 41, and a plurality of tail joints 41 and the last tail joint are sequentially disposed. 41 fixed. The trunk joint 31 at the rearmost end of the trunk skeleton 30 refers to the joint of the trunk skeleton 30 that is connected to the tail skeleton 40. When the fish body swing motor 34 of the tail swinging device is in operation, the fish body swing motor 34 that drives the tail frame 40 swings to rotate the corresponding reel 35 of the fish body swing motor 34, and pulls the winding around the reel 35. The drawstring 36 has its corresponding ends wound and relaxed, and the fish body swing motor 34 drives the tail frame 40 to swing left and right, thereby mimicking the movement of the fish tail.

In the present embodiment, the third connecting piece 413 of the tail joint 41 is provided with two symmetrical holes 416 at the top, so that the pulling rope 36 corresponding to the fish body swinging motor 34 that drives the tail frame 40 is traversed. The wire hole 416 on the third connecting piece 413 of the tail joint 41 is fixed to the tail joint 41 at the rear end.

In the present embodiment, the fish body 3 further includes a strip-shaped elastic member 37 and a plurality of fins 38. The tab 38 is provided with a through hole 380. The tabs 38 are distributed over each of the trunk joints 31 and the tail joints 41, specifically at the top of the trunk joints 31 and the tail joints 41, more specifically the first tabs of the first portion 310 and the tail joints 41 of the backbone joint 31. The top of the 410. The elastic member 37 is passed through the through hole 380 and both ends of the elastic member 37 are fixed to the fish body 3, so that the fish body 3 is strong in flexibility when the fish body 3 is swung. In the present embodiment, the elastic member 37 is, for example, an elastic steel cord.

Further, one of the plurality of tabs 38 is distributed over the fish neck bobbin 32, specifically on top of the fish neck bobbin 32, and more particularly on top of the first mounting plate 320 of the fish neck bobbin 32. The elastic member 37 penetrates the through hole 380 in the tab 38 of the fish neck skeleton 32 to enhance the flexibility between the trunk skeleton 30 and the fish neck skeleton 32 as the trunk skeleton 30 rotates relative to the fish neck skeleton 32. In the present embodiment, since the electric control box 301 divides the trunk skeleton 30 into the front trunk skeleton and the rear trunk skeleton, the number of the elastic members 37 is two, and one elastic member 37 passes through the front trunk skeleton and the fish neck. a through hole 380 in the tab 38 on the skeleton 32, the two ends of the elastic member 37 are respectively connected to the front trunk skeleton and the fish neck skeleton 32; the other elastic member 37 passes through the rear trunk skeleton and the tab on the tail skeleton 40 The through hole 380 in the 38, the two ends of the elastic member 37 are fixed to the rear trunk frame and the tail frame 40, respectively.

Referring to FIG. 1 and FIG. 11 to FIG. 13, in the present embodiment, the fish body 3 is further provided with fins 5, and the fins 5 are disposed in pairs and symmetrically disposed on both sides of the trunk skeleton 30.

The fin 5 includes a fin fin skeleton 50 and a fin bracket 51 connected to the fin fin skeleton 50, and the fin bracket 51 is coupled to the fish body 3. The fin frame 50 includes a skeleton substrate 501 and a plurality of mutually articulated flexible joints 502 on the skeleton substrate 501. The length extension direction of the skeleton substrate 501 is perpendicular to the length extension direction of the fish body 3, and the flexible joint 502 The length extends in a direction parallel to the length of the fish body 3 extending.

One end of each flexible joint 502 is fixed to the skeleton substrate 501 and disposed along the length extension of the fish body 3. Each of the flexible joints 502 includes a plurality of sheet-like sub-joints 503, and two adjacent sub-joints 503 are connected by a connecting shaft 505. The connecting shaft 505 is sleeved with a torsion spring 504, and the two ends of each torsion spring 504 are respectively Abutting the two sub-joints 503 to maintain the flexibility of the fin fin skeleton 50 when the fin fin skeleton 50 is swung, without causing a large deformation of the fin fin skeleton 50 due to a change in water pressure, and After the fin skeleton 50 is deformed, it is restored by the torsion spring 504.

In the present embodiment, the fin 5 further includes a fin swinging device 52 and a fin motor casing 58. The fin swinging device 52 includes a fin swing motor 520, a fin turntable 521, and a fin crank 522. The fin swing motor 520 is disposed in the fin motor case 58 and the shaft portion of the fin swing motor 520 passes through the fin motor case 58. The fin turntable 521 is sleeved on the rotating shaft portion of the fin swinging motor 520. The two ends of the fin crank 522 are pivotally connected to the fin turntable 521 and the fin bracket 51 respectively, and the middle position of the fin bracket 51 The front end face of the fin motor case 58 is pivotally connected by the connecting shaft 581. It is to be noted that the front end face of the fin motor case 58 refers to the face of the fin motor case 58 facing the fish head 1. It can be understood that the fin turntable 521, the fin crank 522 and the fin bracket 51 constitute a four-link linkage structure, so that the fin swing motor 520 can be driven by the fin turntable 521 and the fin crank 522 during operation. The fin holder 51 performs an up and down swing operation. In the present embodiment, the fin motor casing 58 is disposed in the trunk joint 31 of the trunk frame 30, and the specific fin motor casing 58 is disposed between the first portion 310 and the second portion 311 of the trunk joint 31, and specifically passes through, for example, A fixing member such as a screw is fixed to the second portion 311. It can be understood that the fin holder 51 is connected to the trunk skeleton 30 of the fish body 3 through the fin motor casing 58.

In the present embodiment, two fin swinging motors 520 of the same pair of fins 5 are mounted in the same fin motor box 58, and the fin motor box 58 is fixed to the first portion of the torso skeleton 30 predetermined torso joint 31. 310 is between the second portion 311. The front portion of the fin motor casing 58 is provided with a cover plate 59, and the pivots to which the fin cranks 522 are coupled are disposed on the fin motor casing 58. The cover 59 of the fin motor case 58 is provided with a through hole 591 through which the shaft portion 581 of the two fin swing motor 520 is inserted, and the shaft 581 is provided on the cover plate 59.

In the present embodiment, the fin 5 further includes a fin rotating device 53 for driving the swing of the fin frame 50. The fin rotating device 53 includes a fin rotating motor 531, a coupling 532, and a connecting rod 533. The axis of the rotating shaft of the fin rotating motor 531 is perpendicular to the extending direction of the length of the fish body 3, and the fin rotating motor 531 and the fin bracket The fixed-connecting fin rotating motor 531 is connected to the connecting rod 533 via the coupling 532, the connecting rod 533 is fixedly coupled to the skeleton substrate 501, and the fin rotating motor 531 of the fin rotating device 53 rotates to drive the connecting rod 533, and the connecting rod 533 Rotation then drives the fin frame 50 to rotate.

It can be understood that the fin 5 can be divided into a front fin and a rear fin. The structure of the front fin is as described above, and the rear fin can only swing up and down without swinging back and forth, in other words, The rear fish The fin does not include the fin turning device 53. It can be understood that when the fin 5 does not include the fin rotating device 53, the fin bracket 51 and the fin frame 50 of the fin 5 can be fixed together by, for example, a fixing member such as a screw or welding. More specifically, the fin motor box 58 of the front fin is fixed in the trunk joint 31 of the front trunk skeleton connected to the electric control box 301, and the fin motor box 58 of the rear fin is fixed to the rear trunk skeleton. Within the torso joint 31.

It should be noted that the forward and backward swinging of the fin 5 can be inclined forward or backward at a certain angle in the horizontal direction, for example, between 15° and 30°, during the ascending and dive of the fish, so that the fish is subjected to ascending and dive. The reverse force of the water will be smaller, which is good for fish to rise and dive.

In this embodiment, the bionic robot fish further includes a floating lower dive mechanism 6 for realizing the floating and dive of the bionic robot fish, and the floating dive mechanism 6 includes a first storage for controlling the floating and dive of the fish head 1. The drain tank 61, the air tank 62 connected to the first drain tank 61, and the air pump 63 for controlling gas exchange between the air tank 62 and the first drain tank 61. When the fish head 1 is required to float upward, the air pump 63 discharges the gas in the gas storage tank 62 into the first storage drain tank 61, thereby discharging the water in the first storage drain tank 61, so that the weight of the fish head 1 becomes lighter. The fish head 1 is floated upward; otherwise, the fish head 1 is sunk. Specifically, the gas pump 63 can turn the gas in the gas storage tank 62 into the first storage drain tank 61 clockwise, and the gas pump 63 can rotate the gas in the first storage drain tank 61 into the gas tank 62 counterclockwise. In this embodiment, the electrical control box 301 is provided with a partition dividing the electric control box 301 into two accommodating chambers, one of which is mounted with the control system 7, and the other of which is provided with the floating snorkeling mechanism 6 In the air pump 62, and the air pump 62 is fixed on the partition plate, it should be noted that, in the present embodiment, the partition plate divides the electric control box 301 into two accommodating chambers which are disposed at upper and lower intervals. The air tank 62 is disposed in the trunk joint 31 of the trunk frame 30. Specifically, in the present embodiment, the number of the gas storage tanks 62 may be two, for example, two gas storage tanks 62 are disposed in the trunk joints 31 of the front trunk skeleton, specifically in the trunk joints connected to the fish neck skeleton 32. In the trunk joint 31 connected to the electric control box 301 in the inner trunk frame 31 and the front trunk skeleton, the air reservoir 62 provided in the trunk joint 31 connected to the electric control box 301 is located above the fin motor casing 58 to achieve reasonable The space is utilized, and sufficient gas can be supplied to the first storage drain tank 61 and the second storage drain tank 65 to suck the gas in the two storage drain tanks, thereby achieving the floating and sinking of the fish head 1 and the fish body 3.

Specifically, the first storage drain tank 61 is mounted on the first mounting plate 320 of the fish neck skeleton 32 and the second installation Between the mounting plates 321 , an opening 324 is defined in the first mounting plate 320 for the passage of the air nozzle on the first storage drain tank 61 to facilitate connection of the air nozzle to the gas storage tank 62 through the air guiding tube, thereby facilitating the bionic machine. The gas path in the fish is arranged. The second mounting plate 321 is provided with an elastic member 325. The bottom of the first storage drain tank 61 abuts the elastic member 325, so as to facilitate the installation of the first storage drain tank 61 and the first storage and drainage by the elastic restoring force of the elastic member 325. The can 61 is loose. In the present embodiment, the elastic member 325 is, for example, an elastic arched piece to facilitate mounting of the first storage drain tank 61. In the present embodiment, the gas storage tank 62 is disposed, for example, in the fish neck skeleton 32. In other embodiments, the first storage drain tank 61 may be directly disposed in the fish head 1.

In the present embodiment, the first water storage tank 61 includes a first tank body 610 and a first air bag 612 disposed in the first tank body 610, wherein the first tank body 610 is provided with a first water receiving port. And communicating with the outside water through the first water inlet. It can be understood that when the fish head 1 needs to float or dive, the air pump 63 discharges the gas in the air tank 62 into the first air bag 612, and the first air bag 612 expands to discharge the water in the first tank 610. Outside, the weight of the first storage drain tank 61 is reduced, thereby reducing the weight of the fish head 1 so that the fish head 1 floats; otherwise, the weight of the fish head 1 is increased to cause the fish head to sink. After dive on the fish head 1 to receive the dive.

In the present embodiment, the floating lower dive mechanism 6 further includes a second storage drain tank 65 for controlling the floating and dive of the fish body 3, and the air pump 63 is connected to the second storage drain tank 65, and the gas storage tank 62 is controlled. Gas exchange is performed between the two storage drain tanks 65. When the fish body 3 is required to float upward, the air pump 63 discharges the gas in the gas storage tank 62 into the second storage drain tank 65, thereby discharging the water in the second storage drain tank 65, so that the weight of the fish body 3 becomes lighter. The fish body 3 floats up; on the contrary, the fish body 3 sinks.

In this embodiment, the second water storage tank 65 includes a second tank body 650 and a second air tank 652 disposed in the second tank body 650, wherein the second tank body 650 is provided with a second water receiving port. And communicating with the outside water through the second water inlet. It can be understood that when the fish body 3 needs to be floated or dive, the air pump 63 discharges the gas in the air tank 62 into the second air bag 652, and the second air bag 652 expands to discharge the water in the second tank 650. The outside world reduces the weight of the second storage drain tank 65, thereby reducing the weight of the fish body 3, so that the fish body 3 floats; otherwise, the weight of the fish body 3 is increased, so that the fish body 3 dive. After diving on the fish body 3, the dive is over.

Specifically, in the embodiment, the second storage drain tank 65 is disposed in the middle of the trunk skeleton 30, and has The body is disposed in the trunk joint 31 of the rear trunk of the fish that is connected to the electric control box 301. The second storage drain tank 65 is applied to the bionic robot fish and is used for driving the fish body 3 to perform the floating and dive. Since the overall quality of the fish body 3 is greater than the overall quality of the fish head 1, the present embodiment The number of the examples is two, and is symmetrically distributed on both sides of the trunk skeleton 30, and is disposed between the first portion 410 and the second portion 411 of the skeleton joint 41 to which the rear trunk skeleton is connected to the electric control box 301.

Further, in the present embodiment, the floating lower dive mechanism 6 includes a first electromagnetic valve 66, a second electromagnetic valve 67, and a third electromagnetic valve 68, and the first electromagnetic valve 66, the second electromagnetic valve 67, and the third electromagnetic valve 68 Each of the two first air guiding ports A, the second air guiding port B, and the third air guiding port C connected to the first air guiding port A and the second air guiding port B respectively control the first air guiding port A and the third air guiding port C The first valve switch that is turned on, and the second valve switch that controls the second air guiding port B to be electrically connected to the third air guiding port C. The first air guiding port A and the second air guiding port B of the first electromagnetic valve 66 are respectively connected to the first storage drain tank 61 and the second storage drain tank 65, and the first air guiding port A and the second air guiding port of the second electromagnetic valve 67 B is connected to the second air guiding port B of the third electromagnetic valve 68 and the first air guiding port A. The air storage tank 62 is connected to the first air guiding port A of the second electromagnetic valve 67 and the second air guiding port B of the third electromagnetic valve 68. The third air guiding port C of the first electromagnetic valve 66 is connected between the second air guiding port B of the second electromagnetic valve 67 and the first air guiding port A of the third electromagnetic valve 68, and the third electromagnetic valve 68 is third. The air guide port C is connected to the third air guide port C of the second air guide valve through the air pump 62. When the fish body 3 is required to float upward, the air pump 62 is, for example, pumped clockwise, and the second valve switches of the three solenoid valves are opened, so that the gas in the air tank 62 is discharged into the first water storage tank 61, which will be first. The water in the storage drain tank 61 is discharged, thereby realizing the fish head 1 to float, and conversely the fish head 1 sinks. When the fish body 3 is required to float, the air pump 62 is, for example, pumped clockwise, and the second valve switches of the three solenoid valves are opened, so that the gas in the air tank 62 is discharged into the second water storage tank 65, and the second storage is performed. The water in the drain tank 65 is discharged, so that the fish body 3 is floated, and conversely, the fish body 3 sinks.

The control system 7 includes a microprocessor 701 that is coupled to a fish body swing motor 34 that drives the trunk frame 30 to swing to control the actuation of the fish body swing motor 34 that drives the trunk frame 30 to oscillate to achieve the body frame 30 portion. The swing, which in turn enables the bionic robot fish to turn. When turning, the microprocessor 701 controls the fish body swing motor 34 that drives the trunk frame 30 to swing, and drives the corresponding reel 35 to wind the drawstring 36, thereby rotating the trunk frame 30 to one side to realize bionic robot fish turning. In After the end of the turn, the fish body swing motor 34 that drives the trunk frame 30 to swing causes the reel 35 to rotate to return the torso drawstring 36, that is, to return to the initial position and then stop the rotation.

The microprocessor 701 is also connected to the fish body swing motor 34 that drives the tail frame 40 to swing, to control the movement of the fish body swing motor 34 that drives the tail frame 40 to swing, to realize the swing of the tail frame 40, and to provide driving force for the bionic robot fish. In order to achieve the bionic robot fish forward. When the bionic robot fish is to be advanced, the microprocessor 701 controls the fish body swing motor 34 that drives the trunk frame 30 to swing forward and reverse, so that the corresponding reel 35 is respectively positioned on the left side of the drawstring 36 and on the right side. The drawstring 36 is wound to drive the trunk skeleton 30 to swing left and right to provide a driving force for the bionic robot fish. After the bionic robot fish stops moving forward, the fish body swing motor 34 that controls the swing of the tail frame 40 is stopped to rotate, thereby making the bionic machine The fish stopped moving forward.

The microprocessor 701 is also coupled to a fin swing motor 520 in the fin swinging device 52. In order to control the operation of the fin swing motor 520, the fins 5 of the bionic robot fish are swung while the bionic robot fish is moving forward, so that the bionic robot fish moves smoothly and the bionic effect is more realistic.

The microprocessor 701 is also coupled to the fin rotating motor 531 to control the operation of the fin rotating motor 531. During the floating or dive, the microprocessor 701 controls the fin rotating motor 531 to rotate to drive the fin 5 toward Rotate the front or rearward to the set angle to reduce the reverse force of the water on the fins 5, which is beneficial to the floating and dive of the bionic robot fish.

The control system 7 further includes a fish body position detecting device 71 which is divided into a tail position detecting device for collecting a position signal of the tail skeleton 40 and transmitted to the microprocessor 701, and a collecting body skeleton 30. The position signal is transmitted to the torso position detecting device of the microprocessor 70.

The microprocessor 701 is configured to determine the position of the tail skeleton 40 based on the received position signal of the tail frame 40 and control the fish body swing motor 34 for driving the tail swing to perform corresponding operations. Specifically, the position signal of the tail skeleton 40 includes a tail maximum left deviation position signal, a tail maximum right deviation position signal, and a tail initial position signal. When the tail deflection amount reaches a maximum value, the microprocessor 701 controls the fish for driving the tail swing. The body swing motor 34 rotates in the opposite direction to drive the tail frame 40 to swing left and right. When the tail frame 40 is swung to the initial position, the microprocessor 701 can control the fish body swing motor 34 for driving the swing of the tail frame 40 to stop rotating. It can be understood that the wireless signal is passed through the microprocessor 701. When the reception 702 receives an externally input control command, for example, stops swinging the fishtail, the microprocessor 701 controls the fish body swing motor 34 for driving the tail swing to swing the tail skeleton 40 to the initial position, and swings to the tail frame 40 to The initial position control rotates the fish body swing motor 34 for driving the tail swing; of course, the microprocessor 701 can also control the fish body for driving the tail swing after the tail swing reaches the set time according to the internal stored running program. The swing motor 34 drives the tail frame 40 to swing toward the initial position, and controls the fish body swing motor 34 for driving the tail swing to stop the rotation when the tail frame 40 is swung to the initial position.

The microprocessor 70 is further configured to control the fish body swing motor 34 for driving the trunk frame 30 to swing according to the position signal of the trunk frame 30 to perform corresponding operations. Specifically, the position signal of the trunk skeleton 30 includes a torso maximum left deviation position signal, a trunk maximum right deviation position signal, and a trunk initial position signal. After the torso skeleton 30 is deflected to the maximum offset position, the microprocessor 701 controls to drive the torso. The fish body swing motor 34 that swings the skeleton 30 rotates in the reverse direction to drive the trunk frame 30 to swing left and right. When the trunk frame 30 returns to the initial position, the processor 701 controls the fish body swing motor 34 for driving the trunk frame 30 to swing to stop rotating. To stop the trunk skeleton 30 in its original position. It can be understood that when the microprocessor 701 receives the external input control command by the wireless signal reception 702, for example, stops swinging the trunk skeleton 30, the microprocessor 701 controls the fish body swing motor 34 for driving the trunk swing to drive the trunk skeleton. 30 swings to the initial position, and swings the trunk frame 30 to the initial position to control the fish body swing motor 34 for driving the trunk swing to stop rotating; of course, the microprocessor 701 can also swing in the trunk according to the internal stored running program. After the set time, the fish body swing motor 34 for driving the trunk swing is driven to swing the trunk skeleton 30 toward the initial position, and the fish body swing motor 34 for driving the trunk swing is stopped when the trunk skeleton 30 is swung to the initial position.

Specifically, each fish body position detecting device 71 includes a first fish body hall sensor 711, a second fish body hall sensor 712, a third fish body hall sensor 713, and a fish body magnet 714. The first fish body Hall sensor 711, the second fish body hall sensor 712, and the third fish body hall sensor 713 are configured to generate a maximum left offset position signal, an initial position signal, and a maximum right when aligned with the fish body magnet 714. Off-position signal. Specifically, the first fish body hall sensor 711, the second fish body hall sensor 712, and the third fish body hall sensor 713 in the tail position detecting device are disposed on the foremost tail joint 41, and the fish body magnet 714 It is disposed on the fish body swing motor 34 for driving the swing of the tail frame 40, such that the first fish body Hall sensor 711, the second fish body hall sensor 712, and the third fish body Hall sensor 713 in the tail position detecting device The fish body magnet 714 will not swing as the tail joint 41 swings, so that the first fish body Hall sensor 711, the second fish body Hall sensor 712, and the third fish body Hall sensor 713 follow the tail skeleton The 40 wobbles are respectively aligned with the fish body magnet 714, corresponding to the tail maximum right deviation position signal, the tail initial position signal and the tail maximum right deviation position signal.

The first fish body hall sensor 711, the second fish body hall sensor 712, and the third fish body hall sensor 713 of the trunk position detecting device are disposed on the trunk joint of the fish body swing motor 34 that is mounted with the driving trunk skeleton 30. On the adjacent trunk joint 31, the fish body magnet 714 is disposed on the fish body swing motor 34 for driving the trunk frame 30 to swing, so that the first fish body for the fish body position detecting device 71 in the trunk position detecting device The sensor 711, the second fish body hall sensor 712, and the third fish body hall sensor 713 will swing with the swing of the trunk joint 31, and the fish body magnet 714 will not swing, so that the first fish body Hall sensor 711 The second fish body hall sensor 712 and the third fish body hall sensor 713 are respectively aligned with the fish body magnet 714 as the trunk skeleton 30 swings, corresponding to the maximum right deviation position signal of the trunk, the initial position signal of the trunk and the maximum right deviation of the trunk. Position signal.

In the present embodiment, the fish body position detecting device 71 further includes a mounting bracket 715. The mounting bracket 715 includes a first mounting block 716, a second mounting block 717, and a connecting bracket 718. The first mounting block 716 and the second mounting block 717 are stacked on top of each other and hinged together. The bottom of the second mounting block 717 and the connecting bracket 718 Fixedly connected together. The first fish body hall sensor 711, the second fish body hall sensor 712, the third fish body hall sensor 713 are mounted on the first mounting block 716, and the fish body magnet 714 is disposed on the second mounting block 717. a fish body position detecting device 71 that collects the swing position information of the trunk skeleton 31 and a fish body position detecting device 71 that collects the swing position information of the tail skeleton 40, wherein the first mounting blocks 716 are respectively disposed and swayed with the driving trunk skeleton 30 The trunk joint 31 adjacent to the trunk joint 31 of the fish body swing motor 34 and the foremost tail joint 41 are specifically located on the first portion 310 of the trunk joint 31 and the first connecting piece 410 of the tail joint, among them The second mounting block 717 is provided on the fish body swing motor 34 that drives the trunk frame 31 and the fish body swing motor 34 that drives the tail frame 40 to swing by the connection bracket 715. Thus, when the trunk skeleton 31 and the tail skeleton 40 are swung, the corresponding fish body position detecting device is mounted. The first fish body Hall sensor 711, the second fish body hall sensor 712 and the third fish body hall sensor 713 in the position 71 can be displaced from the fish body magnet 714, so that the first fish body Hall sensor 711 The second fish body Hall sensor 712 and the third fish body Hall sensor 713 may be aligned with the fish body magnet 714 to generate a fish body position signal.

In this embodiment, the connecting bracket 715 is further provided with a connecting shaft 719. The first mounting block 716 and the second mounting block 717 are triangular, and the first mounting block 716 and the second mounting block 717 are opposite to each other. The rotation of the connecting shaft 719 is coupled together such that the first mounting block 716 and the second mounting block 717 can be rotated relative to each other.

In this embodiment, the control system 7 further includes a fin position detecting device, wherein the fin position detecting device is configured to acquire the fin position signal at the initial position, and control the fin swing motor to return to the initial fin according to the fin initial position information. After the position, stop controlling the fins to swing up and down. The fin position detecting device includes a fin Hall sensor (not shown) and a fin magnet (not shown), the fin Hall sensor is disposed on the fin bracket 51, and the fin magnet is disposed on the cover. 59, when the fin holder 51 is in the initial position, the fin magnet is aligned with the fin Hall sensor, the fin Hall sensor senses the fin magnet and generates a fin at the initial position signal is sent to the microprocessor 701, when When the fin swing is not required, the microprocessor 701 stops driving the fin swing when it receives the fin returning to the initial position signal. It can be understood that when the fin is swung, the fin bracket 51 rotates relative to the cover 59, so that the fin Hall sensor will be staggered from the fin magnet, and the fin Hall sensor will not generate a signal that the fin is located at the initial position. The main purpose of setting the fin position detecting device is to facilitate the return of the fin to the initial position.

The microprocessor 701 is further connected to the air pump 63, the first electromagnetic valve 66, the second electromagnetic valve 67, and the third electromagnetic valve 68 to control opening and closing of the air pump 63, and the first electromagnetic valve 66, the second electromagnetic valve 67, and the The opening and closing of the first valve and the second valve on the three solenoid valves 68 to cause the bionic robot fish to float or sink when the bionic robot fish needs to float or sink. The principle of floating and sinking of bionic robot fish is described in detail in the above, and will not be described herein.

In the present embodiment, the control system 7 of the present invention further includes a first water depth sensor 74 and a second water depth sensor 75 connected to the microprocessor 701. The first water depth sensor 74 and the second water depth sensor 75 are respectively mounted on the fish head. 1 and the fish body 3, the first water depth sensor 74 and the second water depth sensor 75 are used The fish head 1 and the fish body 3 collecting the bionic robot fish are located in the depth of the water and convert the water depth into a digital signal and transmitted to the microprocessor 701. The microprocessor 701 collects the water depth signal according to the first water depth sensor 74 and the second water depth sensor 75. The operation of the air pump 63 and the opening and closing of the valve switches of the first, second and third solenoid valves 66, 67, 68 are controlled.

Specifically, when the microprocessor 701 determines that the fish head 1 is at the first set depth according to the water depth signal collected by the first water depth sensor 74, the first, second, and third solenoid valves 66, 67, 68 are closed. A valve switch no longer discharges the gas in the gas storage tank 62 into the first air bag 612, and the water in the first storage drain tank 61 is no longer discharged, and the weight of the first storage drain tank 61 is no longer reduced. When the microprocessor 701 determines that the fish body 3 floats to the first set depth according to the water depth signal collected by the second water depth sensor 75, the microprocessor 701 turns off the air pump 63 while closing the first, second, and The second valve switch of the three solenoid valves 66, 67, 68 no longer discharges the gas in the gas storage tank 62 into the second air bag 652, the first storage drain tank 65 is no longer drained, and the weight of the fish body 3 is no longer reduced. The fish is no longer floating.

The microprocessor 701 turns off the first valve switch of the first, second and third solenoid valves 66, 67, 68 when the fish head 1 is at the second set depth according to the water depth signal collected by the first water depth sensor 74. The gas in the first air bag 612 is discharged into the air tank 62, the first water storage tank 61 is no longer filled with water, the weight of the fish head 1 is no longer increased, and the fish head 1 is no longer dive; when the microprocessor 701 is based on When the water depth signal collected by the second water depth sensor 75 determines that the fish body 3 is at the second set depth, the microprocessor 701 turns off the air pump 63 while closing the first, second, and third solenoid valves 66, 67, 68. The two valve switches no longer discharge the gas in the second air bag 652 into the cylinder air tank 62. The first water storage tank 65 is no longer filled with water, the weight of the fish body 3 is no longer increased, and the fish body no longer sinks.

It should be noted that both the first set depth and the second set depth are stored in the microprocessor 701, and the microprocessor 701 determines the bionic robot fish according to the depth information collected by the first water depth sensor 74 and the second water depth sensor 75. Whether it is at the first set depth during the floating process and whether it is at the second set depth during the sinking process. In the two processes, if the result is that the microprocessor 701 controls the air pump 63 to perform the above-described operation.

In the present embodiment, the microprocessor 701 is also coupled to the tensioning motor 14 in the tensioning mechanism 13 for controlling the actuation of the tensioning motor 14 to control the opening and closing of the fish mouth. Specifically, when the fish mouth is needed, The microprocessor 701 controls the tensioning motor 14 to first drive the first gear 15 to rotate forwardly to drive the second gear 16 to reverse. The second gear 16 drives the lower jaw 12 to rotate downwardly about the pivot 171, thereby opening the fish mouth and then microprocessing. The controller 701 controls the tensioning motor 14 to drive the first gear 15 to reversely drive the second gear 16 to rotate forward. The second gear 16 drives the lower jaw 12 to rotate upward about the pivot 171, so that the fish mouth is closed, thereby completing the fish mouth opening.

In the present embodiment, the processor 701 is further connected to the eye drive motor 21 for controlling the actuation of the eye drive motor 21 to operate the eye drive motor 21 when the fish eye 19 needs to be rotated, and to drive the crank shake. The rod mechanism 22 drives the parallelogram mechanism 23 to act to drive the fisheye 19 to rotate.

The control system 7 is also connected to a wireless signal receiver 702 connected to the microprocessor 701. The wireless signal receiver 702 is configured to receive an external wireless remote control signal and transmit the wireless remote control signal to the microprocessor 701. The microprocessor 701 is based on the wireless remote control signal. The actuation of each of the drive motors and the actuation of the dive-floating mechanism 6 are controlled to cause the bionic robot to move in accordance with the motion mode specified by the wireless remote control signal. In this embodiment, the microprocessor 701 and the wireless signal receiver 702 are both disposed on the circuit board, and the circuit board is sealed in the electrical control box 301.

The sport mode specified by the wireless remote control signal includes a plurality of single sport modes and a free cruise mode. Multiple monomer movement modes include fish head floating, fish floating, fish head sinking, fish sinking, fish mouth opening, fish mouth closing, eye rotation, trunk swing, fins swinging up and down, fishtail swinging and fish The fins rotate. Understandably, the fish head floats up and floats on the fish to form a bionic robot fish. The fish head sinks and the fish body sinks into a synthetic bionic robot fish to dive. The fish mouth is opened and the fish mouth is closed and the synthetic bionic machine fish mouth is closed. The torso swings to form a bionic machine turn. The fishtail swing provides the driving force for the bionic robotic fish to move forward, forming a bionic robotic fish swimming. The fin swing is used to ensure the balance of the bionic robot fish. The fin rotation is used to rotate the fin structure 50 of the fin 5 to a set inclination angle when the fish floats or the fish sinks to reduce the water resistance, and the fish floats and the fish sinks. When the bionic robot fish swims on the surface of the water, the bionic robot fish first floats up. After the bionic robot fish floats up, the fishtail swings to form a bionic robotic fish swimming in the water. In other words, the bionic robot fish floats and the fishtail swings. The bionic robot fish swims on the surface of the water; when the raw robot fish swims in the water, the bionic robot fish sinks first, and after the bionic robot fish sinks, the fishtail swings to form a bionic robot fish water downstream, that is, the bionic robot fish. The sinking and the fishtail swing to form a bionic robotic fish swimming in the water.

The free cruise mode includes at least two of the plurality of single motion modes. Specifically, for example, the bionic robot fish first performs the sneak sneak of the bionic robot fish, and the bionic robot fish mouth is closed during the sneak process. After the bionic robot fish sneaked on the water surface for a certain period of time, the underwater sneak is carried out, and the underwater sneak is carried out. The bionic robot fish mouth is closed.

The above-mentioned monomer motion, its motion process and principle, as well as detailed in the above process, will not be described herein.

It should be noted that the fish body 3 of the bionic robot fish of the present invention is also provided with a plurality of battery cases 101 between the first portion 310 and the second portion 312 of the trunk joint 31 of the trunk frame 31, and a battery is mounted in the battery case 101. To provide electrical energy to the electrical components of the present invention.

The bionic robot fish of the present invention has a simple structure and a low cost, and in addition, the bionic robot fish of the present invention has a realistic biomimetic effect.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims (14)

1. A bionic robot fish characterized by comprising:

   a fish head (1), the fish head (1) comprising an upper jaw (11), a lower jaw (12), a fisheye (19) disposed on the upper jaw (11), coupled to the upper jaw (11) and the lower jaw (12) a tensioning mechanism (13) for driving the lower jaw (12) to move in relation to the upper jaw (11), and an eye driving mechanism (2) for driving the rotation of the fisheye (19);

   a fish body (3) comprising a trunk skeleton (30), a tail skeleton (40), and a fin (5) provided on the trunk skeleton (30), wherein the fin (5) a fin support (51) connected to the trunk skeleton (30) and a fin skeleton (50) connected to the fin support (51), wherein the trunk skeleton (30) is provided for driving the trunk skeleton (30) and a fish body swinging device (33) that swings the tail skeleton (40), a fin swinging device (52) for driving the fin structure (50) to swing, and a fin rotating device for driving the fin structure (50) to rotate ( 53);

   a floating lower dive mechanism (6), wherein the floating lower dive mechanism (6) is used for driving the fish head (1) and the fish body (3) to float and dive;

   a control system (7) for controlling an eye drive mechanism (2), a fish body swing device (33), a fin swing device (52), a fin rotation device (53), and a floating device The submarine mechanism (6) is activated.
2. A bionic robot according to claim 1, wherein said tensioning mechanism (13) comprises a tensioning motor (14), a first gear (15) and a second gear (16), and a tensioning motor (14) ) and on The jaw (11) is fixed, the first gear (15) is coupled to the rotating shaft of the tensioning motor (14), the second gear (16) is meshed with the first gear (15), and the second gear (16) and the lower jaw (12) ) fixed and connected to the upper jaw (11).
3. The bionic robot fish according to claim 1, wherein said eye drive mechanism (2) comprises an eye drive motor (21), a crank rocker mechanism (22) and a parallelogram mechanism (23), The eye drive motor (21) is coupled to the parallelogram mechanism (23) via a crank rocker mechanism (22), and the parallelogram mechanism (23) is coupled to the fisheye (19).
4. A bionic robot according to claim 3, wherein said crank rocker mechanism (22) includes an eye turntable (222) sleeved on a rotating shaft portion of an eye drive motor (21) in an articulated manner An eye crank (221) fixed to the face of the eye turntable (222), the other end of the eye crank (221) extending outward from the eye turntable (222) and hinged to the parallelogram mechanism (23) connection.
5. A bionic robotic fish according to claim 4, wherein said parallelogram mechanism (23) includes a first link (230) hingedly coupled to an eye crank (221) in a crank rocker mechanism (22). a second link (231) hingedly connected to both ends of the first link (230), and a fisheye (19) mounted on the fisheye mounting hole (110) of the upper jaw (11) Two fisheye trays (232), and two vertical bars (233) for connecting the fisheye tray (232) and the second link (231), respectively.
6. A bionic robotic fish according to claim 1 wherein said torso skeleton (30) includes a plurality of torso joints (31) hingedly coupled to each other to form a torso skeleton (30), the tail skeleton (40) comprising a plurality a tail joint (41) hinged to each other to form a fish tail, at the tail of the front end The joint (41) is connected to a trunk joint (31) at the rear end, the fish body (3) is provided with at least two fish body swinging devices (33), and each fish body swinging device (33) includes a fish body swing motor (34) a reel (35) and a drawstring (36) wound around the reel (35), wherein the reel (35) is sleeved on a rotating shaft portion of the fish body swing motor (34) The two ends of the pull cord (36) protrude outward from the reel (35), and the fish body swinging device (33) is divided into a trunk swinging device and a tail swinging device, and a fish body swinging motor of the trunk swinging device (34) installed in the trunk joint (31) of the trunk skeleton (30), and both ends of the pull cord (36) extend forward or backward along the arrangement direction of the plurality of trunk joints (31) and are sequentially disposed. The plurality of trunk joints (31) are fixed to the trunk joint (31) at the foremost or the last end; the fish body swing motor (34) of the tail swing device is installed in the trunk joint (31) at the rear end, and the drawstring (36) The two ends are simultaneously extended rearward along the arrangement direction of the plurality of tail joints (41) and fixed to the tail joint (41) at the rear end after sequentially passing through the plurality of tail joints (41).
7. The bionic robot according to claim 1, wherein the fin swinging device (52) comprises a fin swinging motor (520), a fin turntable (521), and a fin crank (522), wherein the fin The part swing motor (520) is disposed in the fin motor case (58) and the rotating shaft portion of the fin swing motor (520) passes through the fin motor case (58), and the fin turntable (521) is sleeved on the fin On the rotating shaft portion of the swing motor (520), two ends of the fin crank (522) are pivotally connected to the fin turntable (521) and the fin bracket (51), respectively, and the fin bracket (51) and the fin motor The box (58) is pivotally connected.
8. The bionic robot according to claim 1, wherein the fin rotating device (53) comprises a fin rotating motor (531) and a connecting rod (533), a fin rotating motor (531) and a fin bracket (51) Fixedly connected, the connecting rod (533) is fixedly connected to the fin frame (50), and the connecting rod (533) is connected to the rotating shaft portion of the fin rotating motor (531).
9. The bionic robot according to claim 1, wherein the fish body (3) further comprises a resilient member (37) and a plurality of tabs (38), and the tab (38) is provided with a through hole (380) The plurality of tabs (38) are distributed on the trunk joint (31) and the tail joint (41), the elastic member (37) is passed through the through hole (380), and the elastic member (37) is respectively associated with the trunk frame (30). ) and the tail skeleton (40) is fixed.
10. The bionic robot fish according to claim 1, characterized in that said floating lower dive mechanism (6) comprises a first storage drain tank (61) for controlling the floating and dive of the fish head (1) for control a second storage drain tank (65) for floating and dive of the fish body (3), a gas storage tank (62) connected to the first storage drain tank (61) and the second storage drain tank (65), and for controlling a gas pump (63) for gas exchange between the gas storage tank (62) and the second storage drain tank (65) and the first storage drain tank (61), the first storage drain tank (61) being installed in the fish body ( In the front part of 3), the second storage drain tank (65) is installed in the middle of the fish body (3).
11. The bionic robot fish according to claim 10, wherein said floating lower dive mechanism (6) further comprises a first electromagnetic valve (66), a second electromagnetic valve (67) and a third electromagnetic valve (68), The first electromagnetic valve (66), the second electromagnetic valve (67) and the third electromagnetic valve (68) respectively comprise two first air guiding ports (A), a second air guiding port (B), and a first air guiding port respectively. (A) and a third air guiding port (C) connected to the second air guiding port (B), a first valve switch for controlling the first air guiding port (A) and the third air guiding port (C), and a second guiding a second valve switch that is open to the port (B) and the third air port (C), The first air guiding port (A) and the second air guiding port (B) of the first electromagnetic valve (66) are respectively connected with the first water storage drain tank (61) and the second water storage drain tank (65), and the second electromagnetic valve (67) The first air guiding port (A) and the second air guiding port (B) are connected to the second air guiding port (B) of the third electromagnetic valve (68) and the first air guiding port (A), and the gas storage tank (62) is connected. Between the first air inlet (A) of the second solenoid valve (67) and the second air outlet (B) of the third solenoid valve (68), the third air outlet (C) of the first solenoid valve (66) Connected between the second air guiding port (B) of the second solenoid valve (67) and the first air guiding port (A) of the third electromagnetic valve (68), and the third air guiding port of the third electromagnetic valve (68) (C The third air port (C) of the second air guiding valve (67) is connected by the air pump (62).
12. The bionic robot according to claim 11, wherein the first storage drain tank (61) comprises a first tank body (610) and a first air bag disposed in the first tank body (610) ( 612), wherein the first tank body (610) is provided with a first water receiving port, and communicates with the outside water through the first water receiving port, and the first air guiding port (A) of the first electromagnetic valve (66) It is connected to the first air bag (612) of the first storage drain tank (61).
13. The bionic robot according to claim 11, wherein the second drain tank (65) comprises a second tank (650) and a second air bag disposed in the second tank (650) ( 652), wherein the second tank (650) is provided with a first water receiving port, a second air guiding port (B) of the first electromagnetic valve (66) and a first air bag of the second water storage tank (65) ( 652) Connection.
14. The bionic robotic fish according to claim 1, wherein said control system (7) comprises a microprocessor (71) and a wireless signal receiver (72) coupled to the microprocessor (71), said none The line signal receiver (72) is configured to receive an external wireless remote control signal and transmit it to a microprocessor (71) for determining a motion pattern represented by the wireless remote control signal and controlling the tensioning mechanism (13), the eye drive mechanism (2), the fish body swinging device (33), the fin swinging device (52), the fin turning device (53), and the driving device in the floating dive mechanism (6) are correspondingly Actuate.

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