WO2018205894A1 - 一种用于巡游的辅助装置系统 - Google Patents

一种用于巡游的辅助装置系统 Download PDF

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Publication number
WO2018205894A1
WO2018205894A1 PCT/CN2018/085760 CN2018085760W WO2018205894A1 WO 2018205894 A1 WO2018205894 A1 WO 2018205894A1 CN 2018085760 W CN2018085760 W CN 2018085760W WO 2018205894 A1 WO2018205894 A1 WO 2018205894A1
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WIPO (PCT)
Prior art keywords
fin
variable
tail fin
tail
swimmer
Prior art date
Application number
PCT/CN2018/085760
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English (en)
French (fr)
Inventor
朱光
Original Assignee
朱光
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201710324250.4A external-priority patent/CN106943717B/zh
Priority claimed from CN201710324270.1A external-priority patent/CN107050777B/zh
Priority claimed from CN201710324245.3A external-priority patent/CN106976534B/zh
Priority claimed from CN201710567878.7A external-priority patent/CN107174799B/zh
Priority claimed from CN201710567879.1A external-priority patent/CN107174800B/zh
Priority claimed from CN201710602542.XA external-priority patent/CN107213601B/zh
Priority claimed from CN201710603736.1A external-priority patent/CN107224709A/zh
Priority claimed from CN201710649010.1A external-priority patent/CN107284624A/zh
Priority claimed from CN201711060130.4A external-priority patent/CN107648810A/zh
Priority claimed from CN201810014885.9A external-priority patent/CN107998625A/zh
Priority claimed from CN201810014675.XA external-priority patent/CN108014461A/zh
Application filed by 朱光 filed Critical 朱光
Publication of WO2018205894A1 publication Critical patent/WO2018205894A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B31/00—Swimming aids
    • A63B31/08—Swim fins, flippers or other swimming aids held by, or attachable to, the hands, arms, feet or legs
    • A63B31/10—Swim fins, flippers or other swimming aids held by, or attachable to, the hands, arms, feet or legs held by, or attachable to, the hands or feet
    • A63B31/11—Swim fins, flippers or other swimming aids held by, or attachable to, the hands, arms, feet or legs held by, or attachable to, the hands or feet attachable only to the feet

Definitions

  • the invention relates to the swimming equipment and the diving equipment industry, in particular to an auxiliary device system for cruising, which is used for swimming and diving sports, and can be used for both high speed and low speed, and can also be finely adjusted during the cruising process.
  • the swimmer can only get the best propulsion when he draws water at the frequency of the water; when the swimmer wants to change the speed, For example, when the water is pumped at a higher frequency, or when the water is slowed down at a lower frequency, the efficiency of the propulsion will decrease, especially when the swimmer hits the water at a higher frequency, the promotion efficiency is not high. And it will quickly produce fatigue; whether it is a pair of feet or a pair of feet, the swimmer can not achieve flexible steering, direction fine-tuning correction; in addition, whether it is a pair of feet or feet, usually It is worn on the swimmer's foot. Because there is an angle between the leg and the foot, the direction of the propulsive force generated by the kicking of the ankle must not be exactly the same as the direction in which the swimmer advances, thereby also impairing the propulsion efficiency.
  • the main propulsion tools for today's existing swimming equipment and diving equipment are not well solved by the two-footed double-legged and double-legged single-handed body.
  • the human body is not suitable for the natural movement structural defects that swim efficiently in the water, that is, it is difficult to achieve high speed. In the two states of swimming and low-speed slow-moving, high propulsion efficiency can be obtained and the inflexibility of flexible steering and fine-tuning of the direction can not be achieved.
  • the inventor of the present invention swayes the tail fin of a mammal that returns to the sea life of dolphins and whales.
  • an auxiliary device system for cruising by which the swimmer can rotate the left and right ankles according to the speed of swimming in the water, that is, to straighten the instep or The action of the hook foot is adjusted by the pure mechanical force transmission method or the electronic control force transmission method to adjust the left tail of the variable tail fin device respectively.
  • the corners of the fins and the right side of the tail fins so as to achieve fin extension width, total fin area adjustment or flexible steering, and also adjust the elastic force of the knee elastic component and the hip elastic component, thereby achieving higher
  • the frequency of water fetching at high speed can also be used to swim at a low frequency and slow down at low speed. No matter what frequency the water is used, swimmers can effectively increase the proportion of useful work and maximize the progress of swimming and diving. Efficiency and speed. In the process of swimming, when the steering needs to be turned or the direction deviates, the corners of the left and right tail fins on the left side are adjusted asynchronously to realize real-time flexible steering or fine-tuning of the direction.
  • the knee joint and the hip joint can only bend in one direction and cannot bend in both directions.
  • the hip elastic energy storage component during the two-way synchronous swinging force of swimming or diving, the elastic energy storage components at the joints complete the process of storing and releasing energy for one cycle, thereby applying the force incorrectly.
  • the one-way swinging leg motion is transformed into a two-way synchronous swinging action with a relatively balanced force.
  • the swinging leg is more balanced and symmetrical, and the posture of the swinging leg is more coordinated, effectively increasing the proportion of useful work and reducing the internal friction of the swinging action.
  • An auxiliary device system for cruising includes a main tail fin and a sub-tail fin, wherein: a main tail fin side is provided with at least one auxiliary tail fin, the main tail fin and the auxiliary tail fin are coupled to each other in parallel, and the main tail fin plus the auxiliary tail fin
  • the fin spread width is variable or the total fin area is variable.
  • the auxiliary caudal fin is coupled to the main caudal fin through a main and auxiliary fin hinge structure, and the auxiliary caudal fin rotates at a center of the main shaft and the auxiliary fin.
  • the main tail fin is fixed to the swimmer's at least one lower leg or at least one foot by a variable tail fin fixing rod.
  • the main tail fin is rigidly coupled to the variable tail fin fixing rod.
  • one sub-tail fin is arranged on each of the left and right sides of the main tail fin.
  • the main and auxiliary fin hinge structure comprises a caudal fin hinge bolt shaft and a caudal fin hinge shaft end nut; and the rear fins on the left and right sides can ensure the synchronization of the rotation by the tooth surfaces being engaged with each other.
  • the manner in which the auxiliary tail fins and the variable tail fin fixing rods of the left and right sides are coupled to each other includes, but is not limited to, an articulated coupling manner or a sliding fit coupling manner, that is, the secondary tail fins on the left and right sides are
  • the variable tail fin fixing rods are coupled to each other in a sliding track, and the sliding rails of the respective left and right side sub-tail fins and the variable tail fin fixing rods are curved rails or linear rails.
  • the above two coupling modes can achieve similar functions, that is, the left and right side sub-tail fins and the variable tail fin fixing rods can be relatively rotated or relatively moved relative to each other, thereby realizing the left side sub-fin fins plus the right side.
  • the fin extension width of the secondary caudal fin is variable or the total fin area is variable.
  • At least one of the left side sub-fin fin and the right side tail fin has a rigid skeleton inside, and a streamlined flexible skin is wrapped on the outside, and the structural rigidity of the rigid skeleton is in the form of step stiffness or gradual stiffness.
  • the structural rigidity of the rigid skeleton gradually decreases in the direction of the swimmer from the front to the rear, that is, along the longitudinal axis of the variable tail fin fixing rod, or the structure of the rigid skeleton from the outer side of the left and right side sub-fin fins to the inner side thereof
  • the stiffness gradually decreases, similar to the caudal fin skeleton structure of fish in nature.
  • the distal end of the rigid skeleton is shaped as a fork to compensate for the decrease in support and the area of action due to the reduction in stiffness, thereby maximizing the lifting of the leg.
  • Propulsion efficiency at least one of the left side tail fin and the right side tail fin is wrapped with an elastic thin sleeve or an elastic film to reduce the surface unevenness of the secondary tail fin and the variable tail fin fixed rod The effect of dynamic resistance.
  • At least one of the left and right side sub-fin fins may also be formed in a front-rear splicing form, the front section is a rigid material, the rear section is a streamlined elastic material or a flexible material, and the front and rear sections are integrated. structure.
  • At least one of the left and right side sub-fin fins may also be a skinless structure, that is, completely made of a rigid material; the left side sub-fin fin and the right side tail fin may be used together Made of materials, can also be made of different materials.
  • variable tail fin fixing rod The position of the swimmers on the left and right sides of the variable tail fin fixing rod is arranged with a variable fin pedal for fixing the swimmer's foot.
  • the variable fin pedal is hinged to the variable tail fin fixed rod.
  • the variable fin pedal includes, but is not limited to, a foot fixing plate structure of a fixed walking swimming dual-purpose shoe, an integrated shoe type structure or a sled shoe device structure directly stuck into a common shoe; and a fixed walking and swimming dual-purpose shoe foot fixing
  • the sole of the walking swimming dual-purpose shoe described in the plate structure has a through hole completely corresponding to one or more threaded holes opened on the foot fixing plate, and the foot fixing plate and the walking swimming can be two by penetrating the bolt The shoes are coupled together; the foot of the integrated shoe-type swimmer can be directly inserted therein.
  • variable fin pedals on the left and right sides of the variable tail fin fixing rod are respectively coupled to the side or the opposite side of the variable tail fin interlocking elements provided between the left and right sides of the main tail fin through at least one variable tail fin linkage element provided between them.
  • the left side fin and the left side of the variable fin pedal are connected by more than one variable tail fin linkage element, and the right side of the tail fin and the right side of the variable fin pedal pass more than one variable tail fin
  • the linkage elements are associated, that is, the same side is associated and linked; the left side fins and the right side of the variable fin pedal are associated by more than one variable tail fin linkage element, and the right side of the tail fin and the left side of the variable fin pedal pass More than one variable tail fin linkage element is associated, that is, the opposite side is associated and linked.
  • the main tail fin and the variable tail fin fixed rod are internally equipped with a tail fin electronic control device, and the tail fin electronic control device includes a variable fin pedal, a pedal position sensor, a control unit, an electric motor, a variable fin actuator, and changes on the left and right sides.
  • the fin pedal is coupled to the same side or the opposite side by the variable tail fin linkage element of the left and right sides of the main tail fin, respectively, by the variable fin actuator.
  • the pedal position sensor is installed between the variable tail fin fixing rod and the variable fin pedal, and feels the amplitude, force and acceleration of the fin changing the fin pedal by rotating the pedal, that is, the angular displacement of the variable fin pedal compared to the initial zero position.
  • the control unit of the tail fin electronic control device comprises a control circuit board, a power supply, the control circuit board comprising a printed circuit board, a resistor, a capacitor, an integrated circuit chip, and the integrated circuit chip receives the amplitude, the speed and the acceleration.
  • the amplitude, force and acceleration information of the swimmer's rotary fin pedal transmitted by the pedal position sensor is comprehensively analyzed and processed according to the loaded mode program, and the variable fin actuator is driven by the variable tail fin linkage element by means of the power supply and the motor drive.
  • the reaction action is performed with the corresponding amplitude, force and acceleration, so that the auxiliary tail fins on the left and right sides are respectively reacted with the corresponding amplitude, force and acceleration, thereby realizing the relative rotation of the auxiliary caudal fins on the left and right sides.
  • the side sub-tail fins rotate in the same direction, the left turn, the right turn, and the direction trimming correction function;
  • the power supply includes but is not limited to a rechargeable battery pack or a non-rechargeable battery pack;
  • the variable fin actuator includes but is not limited to an electric motor
  • the rotary motion is converted into a screw drive mechanism, a crank slider mechanism, a rack and pinion mechanism, a cam mechanism, a multi-link, which respectively control the left and right side sub-fin fins to rotate relative to each other around the main and auxiliary fin hinge structures.
  • variable tail fin linkage component Through the pure mechanical plus electric control force transmission method, through the variable tail fin linkage component, the swimmer uses the variable fin pedal, and then through the variable fin actuator to perform the ipsilateral or opposite side association and linkage with the left and right side auxiliary caudal fins respectively.
  • the tail fin electronically controlled device and the variable caudal fin device are coupled into a one-piece structure.
  • the tail fin electronic control device is similar to the accelerator pedal electric control device in the automobile.
  • the variable fin pedal, pedal position sensor, control unit, motor and variable fin actuator of the tail fin electronic control device are respectively equivalent to the electric control of the accelerator pedal.
  • the accelerator pedal, pedal position sensor, EGAS control unit, motor, and throttle actuator are similar to those of the driver of the vehicle.
  • the tilt angle of the foot control variable fin pedal realizes the function of adjusting the fin spread width or the total fin area of the variable tail fin device.
  • a main and a secondary fin elastic member that exerts an elastic force between the main tail fin and the auxiliary tail fin is provided.
  • the main and auxiliary fin elastic members help the sub-tail fins on the left and right sides to return to the original position after the action, and the elastic coefficient k is constant or varies with the amount of deformation thereof.
  • the main tail fin, the auxiliary tail fin, the main and auxiliary fin hinge structure, the variable tail fin linkage element, the tail fin electronic control device, and the main and auxiliary fin elastic elements together constitute a variable tail fin device.
  • the variable tail fin fixing rod is coupled with a thigh rod body at one end of the swimmer's thigh, the thigh rod body is arranged parallel to the swimmer's thigh, and is fixed with at least one thigh of the swimmer, and the coupling manner of the variable tail fin fixing rod and the thigh rod body is In an articulated manner, the coupling between the variable tail fin fixing rod and the thigh rod body is provided with a knee hinge structure that is bent synchronously with the swimmer's knee joint, and the variable tail fin fixing rod and the thigh rod body are provided with a bending aid. At least one knee elastic element of the knee back.
  • the knee hinge structure includes a knee hinge shaft and a knee hinge shaft end nut.
  • the elastic coefficient k of the knee elastic member is constant or varies depending on the amount of deformation thereof.
  • the thigh rod body is coupled with a trunk rod body at one end of the swimmer trunk portion, the trunk rod body is fixed to the swimmer's torso, and the trunk rod body and the thigh rod body are coupled in an articulated manner, and the joint between the trunk rod body and the thigh rod body is provided with
  • the swimmer hip is simultaneously bent hip joint structure, and at least one hip elastic element is provided between the trunk shaft and the thigh shaft to assist in the bending of the hip joint.
  • the hip hinge structure includes a hip hinge shaft and a hip hinge shaft end nut.
  • the elastic coefficient k of the hip elastic member is constant or varies depending on the amount of deformation thereof.
  • variable fin pedals on the left and right sides of the variable tail fin fixing rod are respectively coupled with the knee elastic member and the hip elastic member through at least one balanced force applying linkage element provided between each other.
  • the swimmer's two-legged variable-flip pedal is associated with and associated with the knee elastic element and the hip elastic element of the balance urging device through one or more balanced force-applying linkage elements.
  • the variable tail fin fixing rod and the thigh rod body are internally equipped with a lever body electronic control device, and the rod body electronic control device comprises a variable fin pedal, a pedal position sensor, a control unit, an electric motor, and a knee elastic element for adjusting the balance force applying device,
  • the elastic adjusting actuator of the elastic component of the hip elastic member, the variable-thrust pedal is balanced with the elastic member of the knee on the thigh rod and the hip elastic member on the trunk shaft by the elastic adjusting actuator respectively.
  • the force linkage elements are coupled.
  • the swimmer uses the variable-force pedal, and then the elastic adjustment actuator and the knee elastic component and the hip elastic component are respectively associated and linked by the elastic force adjusting mechanism, and the rod body is respectively connected.
  • the electronically controlled operating device and the balanced urging device are coupled into a one-piece structure.
  • the lever electronic control device is similar to the accelerator pedal electronic control device in the automobile. The difference from the tail fin electronic control device is only that the actuator is different.
  • the lever electronic control device replaces the tail fin electronic control with the elastic adjustment actuator.
  • the variable fin actuator of the device is similar to the accelerator pedal electronic control device in the automobile.
  • the lever electronically controlled operating device and the tail fin electronically controlled operating device may share the same set of variable fin pedals, pedal position sensors, control units, and electric motors, and the variable fin actuator and the elastic adjustment actuator are operated by the same motor Coaxial drive.
  • the variable fin actuator and the spring adjustment actuator may also be driven separately by two separate motors.
  • variable fin pedals are It can realize the rotation of the ipsilateral caudal fin of the same side or the opposite side, and adjust the preset elastic deformation and elastic force of the knee elastic element and the hip elastic element, so that the swimmer can realize the increase in the process of swinging the variable tail fin device.
  • the swimmer can also realize the left by asynchronously rotating the ankle of the feet
  • the co-rotation of the side secondary caudal fin and the right auxiliary caudal fin, that is, the swimmer can realize the steering function or the direction fine-tuning correction function during the swinging of the caudal fin.
  • the swimmer can effectively reduce the fatigue caused by long-distance cruising through the variable speed cruising.
  • the auxiliary thrust system used for cruising has the same thrust direction as the swimmer's direction of travel, thus overcoming the double-legged double or double
  • the foot single cymbal has a defect that the direction of the propulsive force generated by the water being beaten is completely inconsistent with the direction in which the swimmer advances due to the angle between the leg and the ankle caused by wearing the swimmer's foot, thereby further improving the propulsion efficiency.
  • the knee elastic member and the knee fixing pile, the knee guiding wheel and the knee connecting rope together constitute a knee elastic energy storage assembly.
  • the knee fixing pile is replaced with a lever arm in a lever arm structure, and the two ends of the lever arm are respectively coupled with a knee elastic element and a balance force applying linkage element, and the lever arm structure includes a lever arm hinge shaft and a lever arm hinge A shaft end nut, a lever arm hinged to the hinged shaft of the lever arm.
  • the knee elastic element and the variable fin pedal are coupled by at least one balanced force applying linkage element between each other, and generally, the knee elastic element and the variable fin pedal pass between each other The lever arm and the balance force applying linkage element are coupled.
  • the hip elastic member and the hip guide wheel, the hip connecting rope, and the hip fixing pile together constitute a hip elastic energy storage assembly.
  • the hip fixing pile is replaced with a lever arm in a lever arm structure, and the two ends of the lever arm are respectively coupled with a hip elastic element and a balance force applying linkage element, and the lever arm structure includes a lever arm hinge shaft and a lever arm hinge A shaft end nut, a lever arm hinged to the hinged shaft of the lever arm.
  • the hip elastic element and the variable fin pedal are coupled by at least one balanced force applying linkage element between each other, and generally the hip elastic element and the variable fin pedal pass between each other.
  • the lever arm and the balance force applying linkage element are coupled.
  • variable tail fin linkage elements include, but are not limited to, flexible ropes that can only withstand tensile forces or rigid rods that can withstand both tensile and compressive forces.
  • the knee elastic element and the hip elastic element may also be functionally similar front and rear side elastic swimsuits, that is, the swimsuit is made of elastic rubber, plastic, silicone or elastic cloth, and the knee joint of the swimsuit,
  • the elastic force of the front side and the back side of the hip joint is not equal, the elastic force of one side is larger, and the elastic force of the other side is smaller; the front side and the rear side of the elastic swimsuit are equivalent to bridging and binding
  • the rod body is fixed on the front side or the back side of the joint and has its own elasticity.
  • the rod body with its own elasticity stores the elastic potential energy when the joint is bent, and releases the elastic potential energy when the joint is returned to help the joint to return.
  • the knee elastic element, the hip elastic element, the front side and the back side are not equal to the elastic swimsuit, bridging and binding to the front side or the back side of the joint and itself
  • the elastic body should also be superimposed on gravity, that is, when the knee elastic element, the hip elastic element, the front side and the back side are not equal to the elastic swimsuit, bridging and binding to the front side or the back side of the joint and itself
  • the elastic body stores the gravitational potential energy when bent upwards, and releases the gravitational potential energy when it returns to the position to help the joints return.
  • the balance force applying elastic adjustment structure can be adjusted by adjusting the knee elastic member and the hip elastic member.
  • the elastic force of each of the elastic members of the knee and the hip is further adjusted to suit the size of the swimmer's muscle strength and the length of the cruising distance.
  • the knee joint and the hip joint can only bend in one direction and cannot bend in both directions.
  • the energy component and the hip elastic energy storage component during the two-way synchronous swinging force of swimming or diving, the elastic energy storage components at the joints complete the process of storing and releasing energy for one cycle, thereby applying
  • the one-way swinging action of the unequal force is transformed into a two-way synchronous swinging action with relatively balanced force.
  • the swinging leg is more balanced and symmetrical, the posture of the swinging leg is more coordinated, the proportion of useful work is effectively increased, and the internal friction of the swinging action is reduced. , thereby greatly improving the forward efficiency and speed of swimming or diving, and effectively reducing the fatigue caused by long swimming and diving.
  • variable tail fin fixing rod is fixed or bound to the swimmer's lower leg by the calf binding structure.
  • variable tail fin fixing rod is provided with at least one pair of wide leg wide belts or calf wide straps for binding, fixing the left and right side legs and rooting the variable tail fin fixing rods.
  • the belt buckle or the belt buckle of the calf wide belt is a magnetic buckle structure
  • the magnetic buckle structure is a pair of calf wedge pieces and a calf wedge groove which are arranged on both ends of the wide leg wide belt and matched with each other.
  • the calf wedge block is small and large, the calf wedge groove is large and small, and the calf wedge block and the calf wedge groove are both strong magnets or electromagnets, and the other is a magnet or a strong magnet.
  • the auxiliary device system for cruising is provided with a corresponding power supply and an opening and closing control device for controlling opening and closing of the calf binding structure,
  • the control device is coupled with a corresponding opening and closing manual control button.
  • the calf binding structure can change the tail fin fixing rod binding structure.
  • the thigh shaft is fixed or bound to at least one thigh of the swimmer by a thigh binding structure.
  • the specific structure of the thigh binding structure is obtained by referring to the structural form of the calf binding structure and scaling according to the specific size of the swimmer's thigh.
  • the torso shaft is fixed or bound to the swimmer's torso by a torso binding structure.
  • the specific structure of the trunk binding structure refers to the structural form of the thigh binding structure, and is scaled and adjusted according to the specific size and number of the swimmer's torso.
  • the trunk shaft body, the hip joint structure, the hip elastic energy storage component, the trunk binding structure, and the hip binding structure are respectively referred to the corresponding thigh rod body, knee joint structure, knee elastic energy storage component, and thigh bundle
  • the structural form of the structure and the knee binding structure is obtained according to the specific size and size of the swimmer's torso and hip joints.
  • the calf binding structure, the thigh binding structure, and the trunk binding structure may also be replaced with the lower leg fixing structure, the thigh fixing structure, and the trunk fixing structure corresponding to the lower limb exoskeleton wearing fixing structure in the prior art.
  • the wearable fixing structure adopts a rigid body and a structure in which a flexible liner is lined.
  • the calf fixing structure can change the tail fin fixing rod fixing structure.
  • the main tail fin and the variable tail fin fixed rod are combined into a single unit to become an integral variable tail fin fixed rod, and the auxiliary tail fins of the left and right sides of the integral variable tail fin fixed rod respectively pass through the main main and auxiliary fin hinge structures.
  • the left side sub-fin fin plus the right side tail fin has a variable fin width or a variable total fin area.
  • the spatial shape type of the variable tail fin fixing rod or the integral variable tail fin fixing rod includes a variable tail fin fixing rod fixed to a single rod between the swimmer's legs, and is respectively fixed to the left and right legs of the swimmer.
  • variable tail fin fixing rod of the left and right double cylinder shape or the variable tail fin fixing rod of the left and right double rods, the left and right double cylinders or the left and right double rods are parallel to each other and close to each other, and are attracted to each other by permanent magnet force or electromagnetic force.
  • the corresponding left side variable tail fin fixing rod and the right side variable tail fin fixing rod are respectively provided with mutually paired permanent magnets, magnetizers or controlled power supply electromagnetic coils, and variable caudal fins on the left side.
  • the fixing surfaces of the fixed rod and the variable tail fin fixing rod on the right side are respectively provided with positioning pins and positioning pin holes which are paired with each other, and the positioning pins include but are not limited to tapered pins, cylindrical pins, hemispherical pins, elastic positioning pins or Elastic locking pin.
  • variable tail fin fixed rods of left and right double cylinder shapes or variable tail fin fixing rods of left and right double rods through the pair of permanent magnets, magnetizers or between the double barrel fitting surface or the double rod bonding surface
  • the electromagnetic coil and the pair of positioning pins and positioning pin holes can realize fast and convenient mutual positioning, close fitting and separation, which greatly facilitates the free switching between swimmers, swimming and walking, and indirectly It increases the responding options of swimmers in the event of sudden dangers in the water, which greatly improves the ability of swimmers to rescue themselves in distress.
  • the bionic tail fin structure composed of the left side tail fin and the right side tail fin is replaced by a fixed shape bionic tail fin or a double foot double tail composed of left and right halves, and a fixed shape bionic tail fin or both feet of the left half.
  • the left ankle of the double jaw is fixed to the left foot of the swimmer, or is fixed to the cylindrical variable tail fin fixed rod or the rod-shaped variable tail fin fixed rod on the left side
  • the fixed shape of the right half is bionic tail fin or double
  • the right ankle of the foot of the foot is fixed to the right foot of the swimmer, or is fixed to the cylindrical variable tail fin fixed rod or the rod-shaped variable tail fin fixed rod of the right side, and the fixed shape of the left and right halves
  • the left ankle and the right ankle of the bionic fin or the double ankle are parallel to each other and close together with each other, and are attracted to each other by a permanent magnet force or an electromagnetic force, and the corresponding left and right halves are fixed in shape to form a bionic fin or a pair of feet
  • the matching surfaces of the left ankle and the right ankle of the cymbal are respectively equipped with permanent magnets, magnetizers or electromagnetic coils controlled by the pair, and the left and right halves of the fixed shape bionic tail fins or the left ankles of both feet.
  • the fitting surface of the right ankle is also provided with a phase Alignment pins and locating pin holes, the locating pins include, but are not limited to, tapered pins, cylindrical pins, hemispherical pins, elastic locating pins or elastic locking pins.
  • the positioning pin and the positioning pin hole can also realize the quick and convenient mutual positioning, close fitting and separation, which greatly facilitates the free switching of the swimmer between wearing, swimming and walking, and indirectly increases the swimmer in the water.
  • the response options in the event of a sudden danger have greatly improved the ability of the swimmer to respond to the emergency.
  • the shape of the bionic tail fin formed by the left side sub-fin fin and the right side tail fin includes, but is not limited to, a dolphin-tail fin, a whale-like fin fin, a shark-like fin fin, an imitation tuna tail fin or a flagfish tail fin shape, and then according to the animal tail
  • the swinging force, the waveform and the swing frequency are compared with the swinging force, the waveform and the swing frequency of the human legs in the water, and the tail fins of the above animals are scaled accordingly to make the actual size of the left and right sides.
  • the types of bionic tail fin shapes include, but are not limited to, crescent-shaped, deep-fork, triangular, or semi-circular; the relative rotation of the secondary caudal fins on the left and right sides causes the fin extension or total fin area of the variable caudal fin to change.
  • the type of the bionic tail fin formed by the left side sub-fin fin and the right side tail fin may simultaneously change, that is, in the shape of the moon bud.
  • the types of deep-fork, triangular or semi-circular shapes are mutually transformed to suit the swimmer's changing conditions for different cruising distances and different speeds, and the cruise is used regardless of the working conditions.
  • the auxiliary system can achieve the best propulsion efficiency.
  • the thigh rod body also has four spatial shape types, including a knee joint structure and a single root fixed between the swimmer's two thighs and passing through at least one.
  • the rod-shaped rod of the single-bar coupled with the variable tail fin-fixing rod of the rod is respectively fixed to the left and right thighs of the swimmer and is respectively connected with the variable tail fin fixing rod of the left and right double rods through at least one knee hinge structure
  • the left and right double-bar thigh rods, the swimmer's two thighs are worn together, and the single-cylinder shaped thigh rod body and the swimmer's left and right sides are coupled with the single-cylinder variable tail fin fixing rod through at least one knee joint structure.
  • the trunk body also has three spatial shape types, including a single-bar trunk body, a left-right double-bar trunk body, and a single-tube trunk body. Without a torso shaft of a double barrel shape, the torso shaft is coupled to the thigh shaft of the same shape type by at least one hip hinge structure.
  • each of the cylindrical variable tail fin fixing rods is provided with at least one gas nozzle or valve for connecting the air pump or the gas cylinder Mouth, air pump built-in or external.
  • the air pump is a multi-purpose pump that can work in forward and reverse directions, and can be pumped in the forward direction, pumped, or reversely operated to inflate and fill the liquid.
  • variable tail fin fixing rod and the auxiliary caudal fins on the left and right sides a set of main and auxiliary fin elastic adjusting structures for adjusting the elastic deformation or the elastic force of the main and auxiliary fin elastic members are additionally provided.
  • the structural form of the main and auxiliary fin lock structure includes, but is not limited to, the structural form of the lock bolt and the lock nut, the structural form of the elastic locating pin, or the structural form of the elastic lock pin.
  • the structural form of the lock bolt and the lock nut specifically includes a main and auxiliary fin lock bolt and a main and auxiliary fin lock nut.
  • At least one of the knee elastic member and the hip elastic member is additionally provided with a balance biasing force adjustment structure that adjusts a predetermined elastic deformation or elastic force.
  • the balanced force applying elastic adjusting structure comprises a balanced force applying force adjusting screw, a balanced force applying free rotating joint, a force adjusting locking nut, a fixed pile locking nut, and a balanced force applying free rotating joint can be correspondingly in a balanced force applying force adjusting screw
  • the hole is free to rotate, so that the swimmer can adjust the elastic force of the elastic energy storage device at each joint according to the size of his muscle strength and the length of the cruising distance.
  • the knee hinge structure is provided with at least one knee locking structure for locking the knee hinge structure, and the locking structure forms a rigid coupling manner between the thigh rod body and the lower leg shaft body, the knee locking structure comprises Knee lock bolt, knee lock nut.
  • the hip hinge structure is provided with at least one hip locking structure that can lock the hip hinge structure, and after locking, forms a rigid coupling manner of the angle between the thigh rod body and the trunk rod body, the hip locking structure includes Hip lock bolt, hip lock nut.
  • the structural forms of the knee locking structure and the hip locking structure include but are not limited to the structural form of the side locking bolt and the side locking nut, the structural form of the side elastic positioning pin or the side elastic locking pin.
  • variable tail fin device is scaled and mounted on the tail of a bionic robot fish, underwater bionic robot or bionic submarine and connected to its original internal drive mechanism to replace its original fixed shape bionic tail fin as its propulsion Device.
  • the auxiliary device system for cruising can also be integrally applied to a bionic robot fish, an underwater bionic robot or a bionic submarine, and the auxiliary device system for cruising is according to the size of a bionic robot fish, an underwater bionic robot or a bionic submarine.
  • the overall scale of the matching is performed.
  • variable tail fin fixed rod is used to replace the ordinary immutable bionic fin as the propulsion device, according to the bionic
  • the speed of the fish or underwater bionic robot, the frequency or amplitude of the swinging variable caudal fin dynamically adjusts the fin spread width or the total fin area of the variable tail fin device so that the bionic robot fish, the underwater bionic robot or the bionic submarine reach the phase
  • the variable tail fin device can also pass the dovetail of the left and right sides in the same way as the dolphin fin arrangement swings up and down.
  • the tail fin electronic control device accepts Control left and right sides of the sub-caudal direction with a relative rotation operation or an instruction from the ROBOFISH, bionic robots or underwater submarine bionic central master computer chips.
  • the main tail fin and the secondary tail fin are replaced by a double-legged single-twist or a fixed-shaped bionic tail fin, that is, the variable tail fin fixed rod is coupled with a double-legged single-twist or a fixed-shaped bionic tail fin.
  • the outer packaged swim trunk for the paragliding auxiliary device system the swim trunks up to the swimmer's waist, down to the variable tail fin fixing rod, the balance force applying device and the swimmer's legs Wrapped integrally with the feet, the one-piece swimming trunks are worn in the middle and lower sections of the swimmer's torso, the balance force device, the swimmer's legs and the feet, which are close to the streamlined legs.
  • the connected swimming trunk is provided with at least one waterproof zipper extending longitudinally from the swimmer's waist to the variable caudal fin fixing rod, the one-piece swimming trunk
  • At least one gas nozzle or valve for connecting the air pump or the air cylinder is provided, and the air pump is built-in or externally connected.
  • the air pump is a multi-purpose pump capable of working in forward and reverse directions, and can be pumped or pumped in the forward direction.
  • variable tail fin fixing rod Reverse working inflating and filling; the end of the connected swimming trunks contacting the variable tail fin fixing rod is an annular structure with an elastic O-ring embedded therein, and the corresponding variable tail fin fixing rod is provided with a housing O-ring groove of the ring structure, the joint swimming trunk
  • the porous structure surface adsorbed water and may be applied on a microscopic or receiving petrolatum, said outer surface of the piece swimming trunks least one reflective tape affixed or coated with reflective material.
  • the main tail fin or integral variable tail fin fixed rod and one or more left side tail fins and one or more right side tail fins may also be coupled in a folding fan structure, and all left side tail fins are hinged to the same Main and auxiliary fin hinge structure, all right side tail fins are hinged to the same main and auxiliary fin hinge structure, and the left side sub-tail fins and the right side side tail fins are parallel to each other, and the left side sub-tail fins are added to the right side.
  • the total fin area or fin spread width of the secondary caudal fin is variable, and the left side sub-fin fins and the right side sub-tail fins are all structural forms lined with a rigid skeleton and externally wrapped with a flexible skin, the folding fan structure
  • the rigid caudal fins of each of the left side sub-fin fins, the right side sub-fin fin fins, and the left and right variable fin pedals are respectively coupled by at least one variable tail fin linkage element.
  • the left side sub-fin fins and the right-side auxiliary tail fins are allowed to overlap, and the left and right side sub-tail fins are partially overlapped.
  • the rigid skeleton is similar to the fan bone of the folding fan, and the flexible skin is similar to the fan surface of the folding fan; in general, the variable tail fin fixing rod is centrally arranged, and the left and right sides of the variable tail fin fixing rod are respectively provided
  • One or more secondary caudal fins on the left and right sides that are equal in number to each other are similar to the variable tail fin fixed rod, which can extend the rear left and right sides of the swimmer at the same time, or simultaneously to the variable caudal fin
  • the two folding fans that are gathered at the center of the fixed rod are similar in shape to the caudal fins in which the fish are fanned backwards.
  • the rigid skeleton is a two-stage structure, including a rigid skeleton root segment and a rigid skeleton end segment, a large tubular rigid skeleton root segment or a rigid skeleton root segment with a shaft hole.
  • the end section of the rigid skeleton with the small tube type or the end of the rigid skeleton with the shaft head is connected to each other in the form of a large sleeve tube or an insertion shaft in the shaft hole; the secondary caudal fins on the left side and the auxiliary caudal fins on the right side
  • Each rigid skeleton root segment is hinged to each other in the same main and auxiliary fin hinge structure; the rigid skeleton end portion in the embedded skin has a rectangular or elliptical cross section with unequal stiffness and can be rotated by its own longitudinal central axis.
  • the rigid skeleton root portions of each of the left side sub-fin fins embedded in the flexible skin and the right side tail fins are opened after the fan is opened, and when the end portions of the rigid skeletons are rotated by their longitudinal central axes, respectively
  • the stiffness of the rigid skeleton at the left side of the secondary caudal fin and the right rear fin fins in the direction of the swing changes, that is, when the swimmer swings the variable tail fin device in the water, the left side of the tail fins, each Right side
  • the degree of bending of the fins in the direction of their swings changes accordingly, so that the forward propulsive force generated by the swimmers at the amplitude of the same oscillating variable caudal fin device also changes; when the rectangular ends of the rigid skeletons are rectangular When the long side of the long side or the ellipse is perpendicular to the direction of the swinging variable caudal fin device, the stiffness of the end of each rigid skeleton is lower, and the amplitude
  • the force is small; when the short side of the rectangular end of the rigid skeleton or the short axis of the ellipse is perpendicular to the direction of the swinging variable tail fin device, the rigidity of the end of each rigid skeleton is higher, and the same swing can be
  • the forward propulsive force generated by the swimmer is greater at the amplitude of the tail fin device; the cross-section of the embedded flexible skin of each of the left sub-tail fins and the right rear fin fins is a rectangular or elliptical shape with unequal stiffness.
  • the end portion of each rigid skeleton which can be rotated by its own longitudinal central axis is similar to the blade of wind power which can be rotated by its longitudinal central axis.
  • the blade When the ambient wind is small, the blade extends The longitudinal central axis is turned to a state where the windward area is large, so that the wind power generator set is fully powered. At this time, the blade has a small stiffness in the windward direction; when the ambient wind is too large, the blade extends its own longitudinal central axis to the windward area. The smaller state is to make the wind power generator set in the state of minimum power generation. At this time, the stiffness of the blade in the windward direction is large, and the wind power is in a self-protection state against strong wind.
  • the swimmer can manipulate the end portions of the rigid skeletons to rotate their own longitudinal central axes or open and close like a folding fan, thereby changing the left side.
  • the stiffness of the end of each rigid skeleton of the secondary caudal fin and each of the right sub-fin fins in the direction of the swing or the change of the total area or fin width of the fins of each of the right side of the sub-tail fins includes but is not limited to a screw drive Mechanism, crank slider mechanism, rack and pinion mechanism, cam mechanism, multi-link mechanism, lever mechanism, electromagnetic force transmission mechanism or magnetic force transmission mechanism; from the functional point of view, the pitch system similar to the wind power blade is based on The ambient wind power drives the pitch mechanism through the pitch motor to adjust the windward area of the blade.
  • An auxiliary device system for parasailing comprising: a variable caudal fin device portion, a balanced force applying device portion, the variable caudal fin device portion including a main caudal fin and a sub-tail fin, the balance urging device portion including a calf a shank, a thigh shank, and at least one auxiliary caudal fin on the side of the main caudal fin, the main caudal fin and the sub caudal fin are coupled to each other in parallel, and the fin width of the main caudal fin plus the auxiliary caudal fin is variable or the total area of the fin is variable, and the calf shank Parallel to the swimmer's calf and fixed with at least one calf of the swimmer, the calf shaft is coupled to the thigh of one of the swimmer's thighs, the thigh shaft is arranged parallel to the swimmer's thigh, and is fixed with at least one thigh of the swimmer, the calf The coupling between the rod
  • the auxiliary caudal fin is coupled to the main caudal fin through a main and auxiliary fin hinge structure, and the auxiliary caudal fin rotates at a center of the main shaft and the auxiliary fin.
  • the thigh rod body is coupled with a trunk rod body at one end of the swimmer trunk portion, the trunk rod body is fixed to the swimmer's torso, and the trunk rod body and the thigh rod body are coupled in an articulated manner, and the joint between the trunk rod body and the thigh rod body is provided with
  • the swimmer hip is simultaneously bent hip joint structure, and at least one hip elastic element is provided between the trunk shaft and the thigh shaft to assist in the bending of the hip joint.
  • the left and right sides of the calf shaft body are arranged with a variable fin pedal for fixing the swimmer's foot, and the variable fin pedals on the left and right sides and the auxiliary tail fins on the left and right sides respectively pass at least one of the two
  • the variable tail fin linkage element is coupled to the side or the opposite side, and the auxiliary tail fin and the knee elastic element are interlocked with each other by at least one linkage element, and the auxiliary tail fin and the hip elastic element are interlocked with each other by at least one linkage element.
  • variable fin pedals on the left and right sides are hinged to the calf rod body through the ankle joint structure.
  • the shank shaft is coupled to the main tail fin toward one end of the swimmer's foot, and the other end of the swimmer's thigh is coupled to the thigh shank to couple the balance urging device portion and the variable caudal fin device portion into a unitary structure.
  • the calf shaft described above can be replaced with a variable tail fin fixed rod.
  • variable tail fin device can be changed into a tail fin device portion, a bionic variable tail fin device, Variable caudal fin equipment, bionic variable caudal fin equipment, variable speed tail fin device, variable speed fin fin equipment;
  • the left tail fin of the left side of the main tail fin is the left tail fin, and the right tail fin of the right tail fin is the right tail fin;
  • the main and auxiliary fin hinge structure That is, the bionic tail fin hinge structure and the caudal fin hinge structure;
  • the variable tail fin fixing rod is a bionic tail fin fixing rod, a double tail fin fixing rod, and a tail fin fixing rod;
  • the variable fin pedal is a foot fixing plate and a foot portion of the fixed swimmer's foot.
  • variable tail fin linkage element is a bionic variable tail fin linkage element, and a variable tail fin side linkage element
  • tail fin electronically controlled device is an electronic control device for manipulating the variable tail fin device
  • the primary and secondary fin elastic elements are the bionic tail fin return elastic element, the caudal fin return elastic element, and the caudal fin elastic element
  • the balanced force applying linkage element is the balanced force applying side
  • the lever electronically controlled device is an electric control device for operating the balance urging device
  • the knee elastic energy storage component is a knee elastic energy storage device
  • the hip elastic energy storage component is a hip elastic storage device
  • the device can be configured as follows: the calf binding structure can change the tail fin fixing rod binding structure; the main and auxiliary fin elastic adjusting structure is a bionic variable tail fin elastic adjusting structure, a variable tail fin elastic adjusting structure, and a caudal fin elastic adjusting structure;
  • the fin spread width refers to a lateral spread width of the main tail fin plus the secondary tail fin, or a lateral spread width of the left and right side sub-tail fins, similar to the span width of the bird;
  • the total area of the fin joint refers to The total area of the main caudal fin plus the secondary caudal fin, or the total area of the left and right side of the secondary caudal fin, is similar to the total span area of the bird.
  • variable-flip pedals on the left and right sides of the present invention are respectively coupled with the left-side auxiliary caudal fin and the right-side auxiliary caudal fin through respective independent variable fin-linking elements, and the swimmer electrically controls the force by rotating the ankle.
  • variable fin pedal drives the corresponding auxiliary tail fin rotation, and the swimmer can synchronously rotate the ankle of the two feet to realize the synchronous relative rotation of the left side tail fin and the right side tail fin, that is, the swimmer can realize
  • the swimmer can realize the co-rotation of the left sub-tail fin and the right side tail fin by asynchronously rotating the ankle of the two feet, that is, the swimmer can realize the steering function during the swinging of the caudal fin and
  • the direction fine-tuning correction function while adjusting the elastic force of the knee elastic element; no matter what frequency the swimmer is hitting, it can obtain higher propulsion efficiency and maximize the swimmer's potential in the water; the swimmer passes Variable speed cruising can effectively reduce the fatigue caused by long-distance cruising, and thus can realize long-distance continuous cruising in water and realize the tail fin of electronically controlled force transmission.
  • Actuating control means electrically control rod actuating devices are similar to the electronic throttle
  • the mutually independent left and right double barrel shapes or the left and right double rod variable tail fin fixing rods of the present invention are mutually paired with permanent magnets, magnetizers or electromagnetic coils on the bonding surface, and mutually paired
  • the locating pin and the locating pin hole can realize quick and convenient close-fitting, mutual positioning and separation, which greatly facilitates the free switching between the swimmer, the swimming and the walking, and indirectly increases the swimmer's encounter in the water.
  • the response options in the event of a sudden danger have greatly improved the ability of the swimmer to respond to the emergency.
  • the balanced force applying device of the present invention is adapted to the natural motion structure evolved by humans to adapt to land walking or running, and is unable to adapt to the main sports structural defects of swimming in the water, that is, when humans mimic the movement of dolphins or whales swinging their legs, It is impossible to achieve a two-way symmetrical swing leg in the true sense.
  • the balanced force applying device combined with the characteristics of the human body motion structure, scientific and rational use of ergonomics, two-way symmetrical swinging legs, equal balancing force, maximizing the swimmer's presence The potential of travel in the water, in order to achieve the purpose of long-distance continuous cruise.
  • the auxiliary device system for cruising of the present invention may be integrally applied to a bionic robot fish, an underwater bionic robot or a bionic submarine, and the auxiliary device system for cruising is in accordance with a bionic robot fish, an underwater bionic robot or a bionic submarine.
  • the auxiliary device system for cruising of the present invention can generally be arranged along the longitudinal axis of the human body, and the auxiliary device system for cruising generates the thrust in exactly the same direction as the swimmer, thereby overcoming the double feet.
  • the squat or the two-legged single squat has a defect that the direction of the propulsive force generated by the water is not exactly the same as the direction in which the swimmer advances due to the angle between the leg and the ankle caused by wearing the swimmer's foot.
  • the invention has the advantages of light structure, reliable work, simple production process, low cost, and is convenient for mass production and popularization.
  • FIG. 1 is a schematic view showing the combined structure of a variable tail fin fixing rod and a variable tail fin device of the present invention.
  • FIG. 2 is a partially enlarged schematic view showing the main and auxiliary fin elastic adjusting structure installed in the main tail fin of the present invention.
  • variable tail fin device in which the main tail fin and the variable tail fin fixing rod are combined.
  • variable tail fin device in which the main tail fin and the variable tail fin fixing rod are combined and equipped with a main and auxiliary fin elastic adjusting structure and a variable tail fin linkage element.
  • FIG. 5 is a schematic view showing the combined structure of the variable tail fin fixing rod and the variable fin jointing member and the balanced tail force linkage element and the balanced tail force linkage element according to the present invention.
  • Fig. 6 is a schematic view showing the combined structure of an auxiliary device system for cruising by a pure mechanical force transmission method and without a balance urging device.
  • FIG. 7 is a schematic structural diagram of an auxiliary device system for a parade that includes a tail rotor electronically controlled operating device and a variable tail fin fixed rod in a double cylinder shape according to the present invention.
  • FIG. 8 is a schematic view showing the combined structure of a variable tail fin fixing rod and a balanced force applying device according to the present invention.
  • Figure 9 is a cross-sectional view showing the combined structure of a variable tail fin fixing rod and a balance urging device equipped with a balanced force applying linkage element according to the present invention.
  • Figure 10 is a partially enlarged schematic view showing the balanced force applying elastic force adjusting structure of the present invention.
  • Figure 11 is a schematic view showing the combined structure of an auxiliary device system for cruising by a pure mechanical force transmission method and including a balanced force applying device.
  • FIG. 12 is a schematic structural diagram of an auxiliary device system for a paragliding device comprising a tail fin electronically controlled operating device and a lever body electronically controlled operating device through a purely mechanically-controlled electric force transmission method and a variable tail fin fixed rod having a double cylinder shape.
  • Figure 13 is a combination of an auxiliary device system for a cruiser having a double-cylinder variable tail fin fixed rod that does not include a balanced force applying device and can be positioned and attracted to each other, and has a smooth rounded low flow resistance shank shape.
  • variable tail fin devices are: 1. main tail fin; 2. secondary tail fin; 3. main and auxiliary fin hinge structure; 301, caudal fin hinge bolt shaft; 302, caudal fin hinge shaft end nut; 4. main and auxiliary fin elastic members; 5, ankle hinge structure; 501, ankle hinge shaft; 502, ankle hinge shaft nut; 11, variable tail fin linkage; 13, primary and secondary fin elastic adjustment structure; 1301, variable tail fin adjustment screw; Variable tail fin free rotary joint; 1303, variable tail fin force lock nut; 1304, main tail fin fixed pile; 15, calf binding structure; 1501, bionic variable tail fin fixed rod binding body; 1502, calf wide belt; 1503 , calf wedge block; 1504, calf wedge groove; 17, suction positioning assembly; 1701, mutually paired permanent magnets and magnetizer; 1702, pairs of positioning pins and positioning pin holes.
  • balanced force applying devices are: 8, thigh rod body; 9, knee hinge structure; 901, knee hinge shaft; 902, knee hinge shaft nut; 10, knee elastic energy storage component; 1001, knee Elastic element; 1002, knee guide wheel; 1003, knee connecting rope; 1004, knee fixed pile; 1005, lever arm; 1006, lever arm hinge shaft; 1007, lever arm hinge shaft end nut; Linkage component; 14, balance force force adjustment structure; 1401, balance force adjustment screw; 1402, balance force free rotation joint; 1403, balance force force lock nut; 1404, fixed pile lock nut; , thigh rod body binding structure; 1601, thigh rod body bound; 1602, thigh wide belt; 1603, thigh wedge block; 1604, thigh wedge groove.
  • variable fin actuator Unique to the tail fin electronic control device is: variable fin actuator.
  • tail fin electronically controlled device and the lever electronically controlled device are: a variable fin pedal 6, a pedal position sensor, a control unit, and an electric motor.
  • variable tail fin fixing rod 7 One end of the variable tail fin fixing rod 7 is coupled with the variable tail fin device, and the other end is coupled with the balance urging device, and the variable tail fin device and the balance urging device are coupled into a one-piece structure.
  • the auxiliary device system for parade of the tail fin electronically controlled operating device and the lever electronically controlled operating device is controlled by a purely mechanically and electrically controlled force transmission method and the variable tail fin fixing rod 7 is in the shape of a double cylinder.
  • the arrows in the figure represent the direction of signal transmission or the direction of force transmission.
  • variable caudal fin device includes a main caudal fin 1, a secondary caudal fin 2, a main and auxiliary fin hinge structure 3, and a main and auxiliary fin elastic member 4;
  • main and auxiliary fin hinge structure 3 includes a caudal fin hinge bolt shaft 301 and a caudal fin hinge shaft end nut 302.
  • the partially enlarged main and sub fin elastic adjustment structure 13 of the present invention is mounted inside the main caudal fin 1.
  • the primary and secondary fin spring adjustment structures 13 include a variable tail fin force adjustment screw 1301, a variable tail fin free rotation joint 1302, a variable tail fin force lock nut 1303, and a main tail fin fixed pile 1304.
  • variable caudal fin device includes a secondary tail fin 2 on the left and right sides, a main and a secondary fin hinge structure 3, and a main and a secondary fin elastic member 4.
  • the main tail fin 1 of the present invention and the variable tail fin fixing rod 7 are combined into one, and the combined structure of the main tail fin elastic adjusting structure 13 and the variable tail fin interlocking element 11 is provided.
  • the main and auxiliary fin elastic adjustment structure 13 is installed between the auxiliary caudal fin 2 and the variable caudal fin fixing rod 7; the main and auxiliary fin elastic adjusting structure 13 includes a variable tail fin adjusting screw 1301, a variable caudal fin free rotary joint 1302, and a variable caudal fin adjustment.
  • variable tail fin fixing rod 7 of the present invention is hinged to the crotch hinge 6 and is coupled to the crotch hinge structure 5 and is provided with a combined structure of a variable tail fin linkage element 11 and a balance biasing linkage element 12.
  • the ankle hinge structure 5 includes a crotch hinge shaft 501 and a crotch hinge end nut 502.
  • the crotch hinge shaft 501 is rigidly fixed with the variable fin pedal 6 and rotates synchronously.
  • the variable tail fin fixing rod 7 is provided with a calf binding structure 15 for fixing with the calf;
  • the calf binding structure 15 includes a bionic variable tail fin fixing rod binding body 1501, a calf wide belt 1502, a calf wedge block 1503, and a calf wedge groove 1504.
  • the calf wedge block 1503 and the calf wedge groove 1504 are mutually paired magnets and magnetizers that are attracted to each other to tighten the calf binding structure; the bionic variable tail fin fixing rods bundle the body 1501, that is, the calf binding body.
  • the structure of the auxiliary device system for parade of the tail fin electronically controlled device including the tail rotor electronically controlled device and the variable tail fin fixing rod 7 is a double cylinder shape.
  • the arrows in the figure represent the direction of signal transmission or the direction of force transmission.
  • the balance urging device comprises a thigh shank 8, a knee hinge structure 9, a knee elastic energy storage assembly 10; the knee hinge structure 9 includes a knee hinge shaft 901, a knee hinge shaft end nut 902, and a knee elastic energy storage assembly 10
  • the knee elastic element 1001, the knee guide wheel 1002, the knee connecting rope 1003, and the knee fixing pile 1004 are included.
  • the knee elastic energy storage assembly 10 adds a lever arm 1005, a lever arm hinge shaft 1006, based on the original knee elastic member 1001, the knee guide wheel 1002, the knee connecting rope 1003, and the knee fixing pile 1004.
  • the lever arm hinge shaft end nut 1007; one side knee fixing pile 1004 is replaced by the lever arm 1005, the lever arm hinge shaft 1006, the lever arm hinge shaft end nut 1007; the balance force applying linkage element 12 passes the lever arm 1005 and the knee portion
  • the elastic element 1001 is associated.
  • the balance urging force adjustment structure 14 includes a balance urging force adjustment screw 1401 , a balance urging force free rotation joint 1402 , a balance urging force adjustment lock nut 1403 , and a fixed pile lock nut 1404 .
  • a balance force applying elastic adjusting structure 14 may be added between the elastic component of the knee elastic energy storage component 10 and the hip elastic energy storage component to adjust the initial elastic force value of each elastic component. That is, the elastic force value when each elastic element is initially elastically deformed, that is, the elastic force value when the bending amount of the joint where the elastic energy storage components are located is 0, for example, when each elastic element adopts a tension spring, each elastic energy storage component A threaded hole is formed on the fixed pile along the axial direction of the tension spring, one end of the balanced force applying force adjusting screw 1401 is screwed into the threaded hole, and the other end is connected to the tension spring by the balanced force applying free rotation joint 1402, and the balance is applied.
  • the balance force applying force lock nut 1403 is locked, and finally the fixed pile lock nut 1404 is locked; the balance force applying free rotation joint 1402 can be freely rotated in the corresponding hole of the balance force applying force adjusting screw 1401 to facilitate adjustment.
  • variable tail fin fixing rod 7 is provided with a calf binding structure 15 for fixing to the calf on both sides
  • the thigh rod body 8 is provided with a thigh binding structure 16 for fixing with the thigh on both sides, the thigh rod body binding structure 16 and the calf binding structure 15 structure
  • the thigh body binding body 1601, the thigh wide belt 1602, the thigh wedge block 1603, the thigh wedge groove 1604; the thigh wedge block 1603 and the thigh wedge groove 1604 are mutually paired magnets and magnetizers, attracting each other and bundling the thighs.
  • the structure is tight.
  • the auxiliary device system for parade of the tail fin electronically controlled operating device and the lever electronically controlled operating device is controlled by a purely mechanically and electrically controlled force transmission method and the variable tail fin fixing rod 7 is in the shape of a double cylinder.
  • the arrows in the figure represent the direction of signal transmission or the direction of force transmission.
  • the double-cylinder variable tail fin fixing rod 7 of the present invention which does not include the balance urging means and can be mutually positioned and attracted to each other has a smooth rounded low flow resistance shank shape for assisting in cruising.
  • the pull-in positioning assembly 17 for positioning the suctions to each other includes a permanent magnet and a magnetizer 1701 that are paired with each other, and a pair of positioning pins and a positioning pin hole 1702.
  • Embodiment 1 As shown in FIG. 13 , the double tail cylinder variable tail fin fixing rod 7 of the present invention which does not include the balance urging device and can be mutually positioned and attracted to each other has a smooth and rounded low flow resistance shank shape.
  • the left and right independent double-cylinder variable tail fin fixing rods 7 can realize fast and convenient positioning through the pair of magnets between the double-tube fitting surfaces, the pair of positioning pins and the positioning pin holes. Positioning each other, close together and separating, greatly facilitating the free switching between swimmers, swimming and walking, and indirectly increasing the swimmer's coping options when encountering a sudden danger in the water, greatly improving swimming Emergency self-rescue ability when in distress.
  • Each of the cylindrical variable tail fin fixing rods 7 of the left and right double cylinder-shaped variable tail fin fixing rods 7 is provided with at least one air nozzle or a valve for connecting an air pump or a gas cylinder, and the air pump is built in or externally connected.
  • the air pump is a multi-purpose pump that can work in forward and reverse directions. It can pump air in the forward direction, pump liquid, or invert and inflate.
  • variable tail fin linkage element 11 disposed inside the left variable tail fin fixing rod 7 passes the variable fin pedal 6 inside the left variable tail fin fixing rod 7 by a pure mechanical force transmission method or a purely mechanically charged transmission force transmission method.
  • the left tail fin 2 is associated with the same side, and the variable tail fin linkage element 11 disposed inside the right variable tail fin fixing rod 7 converts the variable fin pedal 6 inside the right variable tail fin fixing rod 7 with the right side tail fin 2
  • the ipsilateral association is performed.
  • the swimmer can realize the acceleration, deceleration, left turn, right turn and direction fine adjustment during the cruise by rotating the ankles of the feet synchronously or asynchronously.
  • the left and right independent double cylinder-shaped variable tail fin fixing rods 7 are respectively provided with independent left and right sets of tail fin electronic control devices.
  • each of the two outer sides of the auxiliary caudal fin 2 is provided with a smaller side caudal fin, and the sub-tail fin 2 and the smaller side caudal fin of the same side are connected by the main and auxiliary fin hinge structure 3, and the auxiliary caudal fin 2 and the ipsilateral side
  • the main auxiliary fin elastic member 4 is further disposed between the smaller side caudal fins, and a smaller side caudal fin may be further disposed on both outer sides of the left and right smaller side caudal fins, the smaller The side tail fins and the smaller side tail fins on the same side are connected by the main and auxiliary fin hinge structures 3, and the main side fins are also provided between the smaller side tail fins and the smaller side tail fins on the same side.
  • the swimmer can wear a set of said balanced force applying devices on each of the two legs, corresponding hinge structures at the respective joints and joints,
  • Each elastic element and each bundled structure are formed into a structural form of the lower extremity exoskeleton Synchronized with the joints of the swimmer, the corresponding knee hinge structure 9 is two pairs of left and right, the hip joint structure is a pair, and the left and right pairs of knee hinge structures 9 are magnetic, and can be paired in pairs.
  • variable tail fin fixing rod 7 Integrated and positioned or interlocked with each other by a positioning pin, an elastic positioning pin or an elastic locking pin, and after being sucked, it becomes a balanced force applying device in the form of an exoskeleton of the lower limb, and the corresponding end of the variable tail fin fixing rod 7 is connected with a variable tail fin device.
  • variable tail fin fixing rod 7 when the left and right pairs of knee hinge structures 9 are separated, the corresponding ends of the separate variable tail fin fixing rods 7 are connected to a single-leg single-turn, when the left and right pairs of knee hinge structures 9 is in a separated state and the swimmer is in a standing state, the end of the variable tail fin fixing rod 7 is not connected to the single-leg single-twist, and the balanced force applying device in the form of the lower extremity exoskeleton can also be used as a walking assisted exoskeleton for easy wear.
  • the rod body can be made into a quick-fit type rod body, and the corresponding quick-fit type rod body and each hinge structure are made into a component structure, and each of the quick-fit type rod bodies can be worn on each joint of the swimmer.
  • the vertical hinge structure is separated, that is, each quick-fit type rod can be directly removed from the hinge structure at each joint, and the corresponding fixing manners of the quick-fit type rods include but are not limited to magnetic attraction mode and elastic positioning.
  • the pin locking mode or the elastic locking pin locking mode, the positioning manner of the quick-fit type rod body includes but is not limited to the positioning pin positioning mode or the detachable joint bearing positioning mode; any one of ordinary skill in the art does not deviate from the present It is within the scope of the technical features of the present invention to embody an equivalent embodiment of the present invention, which is a part of the technical features of the present invention, without departing from the technical features of the present invention.

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Abstract

一种用于巡游的辅助装置系统，包括可变尾鳍固定杆（7）、可变尾鳍装置、平衡施力装置，可变尾鳍固定杆（7）平行于游泳者小腿布置并与其相固定，其朝向游泳者脚部的一端联接可变尾鳍装置，其朝向游泳者大腿的一端联接平衡施力装置，可变尾鳍装置的左、右两侧的副尾鳍（2）分置于可变尾鳍固定杆左、右两侧并分别通过各自的主副鳍铰接结构（3）与可变尾鳍固定杆（7）相联接，左、右两侧的副尾鳍（2）上方的左、右变鳍踏板（6）分别通过踝部铰接结构（5）与可变尾鳍固定杆（7）相铰接，此种用于巡游的辅助装置系统或还包括尾鳍电控操纵装置、杆体电控操纵装置，左、右变鳍踏板通过电控传力方式或纯机械传力方式与左、右两侧的副尾鳍（2）以及膝、髋部弹性元件通过各自的至少一个的联动元件分别相联接。

Description

一种用于巡游的辅助装置系统 技术领域
本发明涉及游泳装备和潜水装备行业，特别涉及一种用于巡游的辅助装置系统，用于游泳运动、潜水运动，既可以高速快游，也可以低速慢游，还可以在巡游过程中微调修正方向和灵活转向，特别适合于水中长距离巡游。
背景技术
当代社会，游泳运动和潜水运动越来越普及，各种游泳装备、潜水装备层出不穷，绝大多数的游泳装备和潜水装备都是以脚蹼为前进的主要推进工具，常见的有双脚双蹼和双脚单蹼，双脚双蹼是游泳者的双脚各穿一只脚蹼，游泳者通过双腿交替打水产生前进的推动力，双脚单蹼是游泳者的双脚共穿一只脚蹼，游泳者通过双腿同步打水产生前进的推动力。
无论是双脚双蹼还是双脚单蹼，均有其最适合的单一打水频率，游泳者只有以该打水频率打水，才能获得最佳的推进力；当游泳者希望改变游速，比如以更高的频率打水高速快游或者以较低的频率打水低速慢游时，推进的效率均会下降，尤其是当游泳者以较高的频率打水时，不仅推进效率不高，而且还会很快产生疲劳感；无论是双脚双蹼还是双脚单蹼，游泳者都无法实现灵活转向、方向微调修正；另外，无论是双脚双蹼还是双脚单蹼，通常都是穿在游泳者脚上，因为腿与脚存在夹角，所以脚蹼打水产生的推进力方向必然不能够与游泳者前进的方向完全一致，由此也削弱了推进效率。
人类的腿部骨骼肌绝大部分生长在腿部骨骼的单侧而非对称生长，膝关节和髋关节均只能单向弯折而不能双向弯折，游泳者在游泳或潜水的双向同步摆腿施力过程中，很难做到摆腿幅度平衡对称；现有的绝大多数的游泳装备和潜水装备都难以彻底解决人体适应陆地行走的天然结构与在水中自由游动这样一对矛盾；自从人类的远古祖先离开海洋来到陆地生活以后，身体结构慢慢发生变化，原来适应在海洋中游动的结构逐渐退化、消失，取而代之的是适应陆地行走的结构，因此，当人类再次回到水中从事游泳运动时，已不能再象鱼一样摆动尾鳍、自在游动。
技术问题
针对当今现有的游泳装备和潜水装备的主要推进工具双脚双蹼、双脚单蹼所没有较好地解决的人体不适应在水中高效游动的天然运动结构缺陷，即难以实现在高速快游和低速慢游两种状态下均能获得较高的推进效率且无法实现灵活转向、方向微调修正的不足之处，本发明人对海豚、鲸类的重返海洋生活的哺乳动物摆动尾鳍的过程进行仔细观察、研究，并与人类在水中模仿海豚或鲸类摆动尾鳍游动的姿势相对比，比较二者之间的差异，对于产生差异的原因再进行具体分析，结合人体运动结构特点，通过科学合理地运用人体工学，提供出一 种用于巡游的辅助装置系统，借助该辅助装置系统，游泳者可以根据在水中的游速，通过分别转动左、右脚踝，即做伸直脚背或勾脚的动作，采用纯机械传力方式或电控传力方式，分别调整可变尾鳍装置的左侧的副尾鳍、右侧的副尾鳍的转角，从而实现鳍展宽度、鳍展总面积调整或实现灵活转向，同时还可调整膝部弹性元件、髋部弹性元件的弹力大小，进而达到既可以以较高的频率打水高速快游，也可以以较低的频率打水低速慢游，无论在何种频率下打水，游泳者均可以有效提高有用功的比重，最大限度地提升游泳和潜水的前进效率和游速，在游泳的过程中，当需要转向时或方向出现偏离时，通过异步调整左侧的副尾鳍、右侧的副尾鳍的转角，实现实时灵活转向或方向微调修正，充分发挥出游泳者在水中的行进潜能，最终达到长距离连续巡游的目的；游泳者通过变速巡游，还可以有效降低长距离巡游时产生的疲劳感；另外，该用于巡游的辅助装置系统产生推力的方向与游泳者行进方向完全一致，从而克服了双脚双蹼或者双脚单蹼由于穿着在游泳者脚上所造成的腿与蹼存在夹角进而蹼打水产生的推进力方向不能够与游泳者前进的方向完全一致的缺陷，从而进一步提高推进效率。
针对人类的腿部骨骼肌绝大部分生长在腿部骨骼的单侧而非对称生长，膝关节和髋关节均只能单向弯折而不能双向弯折的特点，通过膝部弹性储能组件、髋部弹性储能组件，在游泳或潜水的双向同步摆腿施力过程中，所述各关节处的弹性储能组件，均完成一个周期的储存、释放能量的过程，从而将施力不对等的单向摆腿动作转化成施力较为平衡对等的双向同步摆腿动作，摆腿幅度更加平衡对称，摆腿姿势更加协调，有效提高有用功的比重，降低摆腿动作的内耗，从而大大提高游泳或潜水的前进效率和游速，并有效降低长时间游泳和或潜水时产生的疲劳感。
技术解决方案
一种用于巡游的辅助装置系统，包括主尾鳍和副尾鳍，其特征在于：主尾鳍侧面设置至少一个副尾鳍，所述主尾鳍和副尾鳍相互平行地联接在一起，主尾鳍加上副尾鳍的鳍展宽度可变或鳍展总面积可变。
所述副尾鳍通过主副鳍铰接结构与主尾鳍相联接，副尾鳍以主副鳍铰接点为转轴中心转动。
所述主尾鳍通过可变尾鳍固定杆与游泳者的至少一条小腿或至少一只脚相固定。
所述主尾鳍与可变尾鳍固定杆刚性连接。
通常情况下，主尾鳍左、右两侧各布置一个副尾鳍。
所述主副鳍铰接结构包括尾鳍铰接螺栓轴、尾鳍铰接轴端螺母；左、右两侧的副尾鳍之间可以以齿面相互咬合的方式保证转动的同步性。
所述左、右两侧的副尾鳍与可变尾鳍固定杆彼此相联接的方式包括但不限于铰接联接方 式或滑动配合联接方式，所述滑动配合联接方式即左、右两侧的副尾鳍与可变尾鳍固定杆彼此互为滑动轨道地联接在一起，相应的所述左、右两侧的副尾鳍与可变尾鳍固定杆彼此之间的滑动轨道为曲线轨道或直线轨道。
上述两种联接方式均能够实现相类似的功能，即左、右两侧的副尾鳍与可变尾鳍固定杆彼此之间可以相对转动或相对移动，从而实现左侧的副尾鳍加上右侧的副尾鳍的鳍展宽度可变或鳍展总面积可变。
所述左侧的副尾鳍和右侧的副尾鳍二者之中至少有一者其内部为刚性骨架，外部包裹流线形柔性蒙皮，所述刚性骨架的结构刚度为阶梯刚度或渐变刚度形式，沿着游泳者前进的方向自前向后即沿着可变尾鳍固定杆的纵轴线的方向刚性骨架的结构刚度逐渐降低，或由左、右两侧的副尾鳍的外侧向其内侧刚性骨架的结构刚度逐渐降低，与自然界中鱼类的尾鳍骨架结构相类似，刚性骨架的末梢做成分叉的形状，以弥补由于刚度降低造成的支撑性和作用面积的下降，从而最大限度地提升摆腿的推进效率；所述左侧的副尾鳍和右侧的副尾鳍二者之中至少有一者其外部包裹弹性薄套或弹性薄膜，以减小副尾鳍、可变尾鳍固定杆的表面不平度对游动阻力的影响。
所述左、右两侧的副尾鳍二者之中至少有一者也可以做成前后段拼接的形式，前段为刚性材料，后段为流线形的弹性材料或柔性材料，前后段为一体式结构。
所述左、右两侧的副尾鳍二者之中至少有一者还可以为无蒙皮结构，即完全用刚性材料直接制成；所述左侧的副尾鳍和右侧的副尾鳍可以用同种材料制成，也可以用不同种材料制成。
作为上述技术方案的进一步改进：
所述可变尾鳍固定杆左、右两侧的游泳者放置双脚的位置均布置有固定游泳者脚的变鳍踏板。变鳍踏板与可变尾鳍固定杆相铰接。
所述变鳍踏板包括但不限于固定行走游泳两用鞋的脚部固定板结构、一体式鞋型结构或直接卡入普通鞋的雪橇卡鞋器结构；固定行走游泳两用鞋的脚部固定板结构中所述的行走游泳两用鞋的鞋底有与所述脚部固定板上开有的一个以上的螺纹孔完全对应的通孔，通过穿入螺栓可以将脚部固定板与行走游泳两用鞋联接为一体；所述一体式鞋型结构游泳者的脚可以直接穿入其中。
所述可变尾鳍固定杆左、右两侧的变鳍踏板分别与主尾鳍左、右两侧的副尾鳍通过彼此之间设有的至少一个的可变尾鳍联动元件同侧或异侧联接。
通过纯机械传力方式，左侧的副尾鳍与左侧的变鳍踏板通过一个以上的可变尾鳍联动元件相关联，右侧的副尾鳍与右侧的变鳍踏板通过一个以上的可变尾鳍联动元件相关联，即为同侧关联、联动；左侧的副尾鳍与右侧的变鳍踏板通过一个以上的可变尾鳍联动元件相关联，右侧的副尾鳍与左侧的变鳍踏板通过一个以上的可变尾鳍联动元件相关联，即为异侧关联、 联动。
所述主尾鳍、可变尾鳍固定杆内部装有尾鳍电控操纵装置，尾鳍电控操纵装置包括变鳍踏板、踏板位置传感器、控制单元、电动机、变鳍执行机构，左、右两侧的变鳍踏板借助所述变鳍执行机构分别与主尾鳍左、右两侧的副尾鳍通过彼此之间的至少一个的可变尾鳍联动元件同侧或异侧联接。
所述踏板位置传感器安装于可变尾鳍固定杆与变鳍踏板之间，感受游泳者通过转动脚踝转动变鳍踏板的幅度、力量、加速度，即变鳍踏板相较于初始零位的角位移变化的幅度、快慢、加速度，所述尾鳍电控操纵装置的控制单元包括控制电路板、供电电源，所述控制电路板包含印刷线路板、电阻、电容、集成电路芯片，所述集成电路芯片接收来自踏板位置传感器传递来的游泳者转动变鳍踏板的幅度、力量、加速度信息，按载入的模式程序综合分析处理计算，借助供电电源、电动机驱动，通过可变尾鳍联动元件驱动变鳍执行机构，以相应的幅度、力量、加速度做出反应动作，从而带动左、右两侧的副尾鳍分别以相应的幅度、力量、加速度做出反应动作，进而实现左、右两侧的副尾鳍相对转动的鳍展宽度或鳍展总面积的增大、减小功能，或者实现左、右两侧的副尾鳍同向转动的左转、右转以及方向微调修正功能；所述供电电源包括但不限于可充电电池组或不可充电电池组；所述变鳍执行机构包括但不限于将电动机的旋转运动转化成分别操控左、右两侧的副尾鳍围绕各自的主副鳍铰接结构作相对或同向转动的丝杠传动机构、曲柄滑块机构、齿轮齿条机构、凸轮机构、多连杆机构、杠杆机构、电磁力传力机构或磁力传力机构。
通过纯机械加电控传力方式，通过可变尾鳍联动元件，游泳者借助变鳍踏板，进而通过变鳍执行机构分别与左、右两侧的副尾鳍进行同侧或异侧关联、联动，将所述尾鳍电控操纵装置、可变尾鳍装置联接为一体式结构。
尾鳍电控操纵装置类同于汽车中的油门踏板电控操纵装置，尾鳍电控操纵装置的变鳍踏板、踏板位置传感器、控制单元、电动机、变鳍执行机构分别对应等效于油门踏板电控操纵装置的油门踏板、踏板位置传感器、EGAS控制单元、电动机、驱动节气门执行机构，类同于汽车驾驶员通过用单脚控制油门踏板的倾斜角度实现调节油门大小的功能，游泳者通过用双脚控制变鳍踏板的倾斜角度实现调节可变尾鳍装置的鳍展宽度或鳍展总面积大小的功能。
所述主尾鳍和副尾鳍之间设有在该二者之间施加弹性力的主副鳍弹性元件。
所述主副鳍弹性元件帮助左、右两侧的副尾鳍在动作之后回原位，其弹性系数k为常量或随其变形量变化而变化。
所述主尾鳍、副尾鳍、主副鳍铰接结构、可变尾鳍联动元件、尾鳍电控操纵装置、主副鳍弹性元件共同组成可变尾鳍装置。
所述可变尾鳍固定杆朝向游泳者大腿的一端联接有大腿杆体，大腿杆体平行于游泳者大 腿布置，并与游泳者至少一条大腿固定，所述可变尾鳍固定杆与大腿杆体的联接方式为铰接方式，所述可变尾鳍固定杆与大腿杆体的联接处设有与游泳者膝关节同步弯折的膝部铰接结构，所述可变尾鳍固定杆与大腿杆体之间设有帮助弯折的膝关节回位的至少一个膝部弹性元件。
所述膝部铰接结构包括膝部铰接轴、膝部铰接轴端螺母。所述膝部弹性元件的弹性系数k为常量或随其变形量变化而变化。
所述大腿杆体朝向游泳者躯干部的一端联接有躯干杆体，所述躯干杆体与游泳者的躯干固定，躯干杆体与大腿杆体的联接方式为铰接方式，躯干杆体与大腿杆体的联接处设有与游泳者髋关节同步弯折的髋部铰接结构，所述躯干杆体与大腿杆体之间设有帮助弯折的髋关节回位的至少一个髋部弹性元件。
所述髋部铰接结构包括髋部铰接轴、髋部铰接轴端螺母。所述髋部弹性元件的弹性系数k为常量或随其变形量变化而变化。
所述可变尾鳍固定杆左、右两侧的变鳍踏板分别与膝部弹性元件、髋部弹性元件通过彼此之间各自设有的至少一个的平衡施力联动元件相联接。
通过纯机械传力方式，游泳者双脚控制的变鳍踏板通过一个以上的平衡施力联动元件分别与平衡施力装置的膝部弹性元件、髋部弹性元件相关联、联动。
所述可变尾鳍固定杆、大腿杆体内部装有杆体电控操纵装置，杆体电控操纵装置包括变鳍踏板、踏板位置传感器、控制单元、电动机，以及调节平衡施力装置的膝部弹性元件、髋部弹性元件弹力大小的弹力调节执行机构，变鳍踏板借助弹力调节执行机构分别与大腿杆体上的膝部弹性元件、躯干杆体上的髋部弹性元件通过彼此之间各自的至少一个的平衡施力联动元件相联接。
通过纯机械加电控传力方式，通过平衡施力联动元件，游泳者借助变鳍踏板，进而通过弹力调节执行机构与膝部弹性元件、髋部弹性元件分别进行关联、联动，将所述杆体电控操纵装置、平衡施力装置联接为一体式结构。
杆体电控操纵装置同样类同于汽车中的油门踏板电控操纵装置，与尾鳍电控操纵装置不同之处仅在于执行机构不同，杆体电控操纵装置用弹力调节执行机构替代了尾鳍电控操纵装置的变鳍执行机构。
所述杆体电控操纵装置和尾鳍电控操纵装置可共用同一套的变鳍踏板、踏板位置传感器、控制单元、电动机，所述变鳍执行机构和弹力调节执行机构则由同一个所述的电动机共轴驱动。所述变鳍执行机构和弹力调节执行机构也可以由两个各自独立的电动机分别驱动。
游泳者通过同步转动左、右脚踝，即双脚同时做伸直脚背或勾脚的动作，通过以上所述 的纯机械传力方式或者纯机械加电控传力方式，相应的变鳍踏板均能够实现带动同侧的或异侧的副尾鳍转动，同时调节膝部弹性元件、髋部弹性元件的预设弹性形变和弹力大小，游泳者从而可以实现在摆动可变尾鳍装置过程中的增大或减小鳍展宽度或鳍展总面积的功能，以适应游泳者打水频率的变化并始终保持较高的推进效率，即实现变速功能；游泳者通过异步转动双脚的脚踝还可实现左侧的副尾鳍和右侧的副尾鳍的同向转动，即游泳者可实现在摆动尾鳍过程中的转向功能或方向微调修正功能。
游泳者通过变速巡游，可以有效降低长距离巡游时产生的疲劳感；另外，该用于巡游的辅助装置系统的产生推力的方向与游泳者行进方向完全一致，从而克服了双脚双蹼或者双脚单蹼由于穿着在游泳者脚上所造成的腿与蹼存在夹角进而蹼打水产生的推进力方向不能够与游泳者前进的方向完全一致的缺陷，从而进一步提高推进效率。
所述膝部弹性元件与膝部固定桩、膝部导向轮、膝部连接绳索共同组成膝部弹性储能组件。
所述膝部固定桩替换为杠杆臂结构中的杠杆臂，所述杠杆臂两端分别与膝部弹性元件、平衡施力联动元件联接，所述杠杆臂结构包括杠杆臂铰接轴、杠杆臂铰接轴端螺母、与杠杆臂铰接轴铰接的杠杆臂。
在纯机械传力方式中，所述膝部弹性元件与变鳍踏板通过彼此之间的至少一个平衡施力联动元件相联接，通常情况下，膝部弹性元件与变鳍踏板通过彼此之间的杠杆臂、平衡施力联动元件相联接。
所述髋部弹性元件与髋部导向轮、髋部连接绳索、髋部固定桩共同组成髋部弹性储能组件。
所述髋部固定桩替换为杠杆臂结构中的杠杆臂，所述杠杆臂两端分别与髋部弹性元件、平衡施力联动元件联接，所述杠杆臂结构包括杠杆臂铰接轴、杠杆臂铰接轴端螺母、与杠杆臂铰接轴铰接的杠杆臂。
在纯机械传力方式中，所述髋部弹性元件与变鳍踏板通过彼此之间的至少一个平衡施力联动元件相联接，通常情况下，髋部弹性元件与变鳍踏板通过彼此之间的杠杆臂、平衡施力联动元件相联接。
纯机械类型的可变尾鳍联动元件、平衡施力联动元件包括但不限于只能承受拉力的柔性绳索或既能承受拉力也能承受压力的刚性杆。
所述膝部弹性元件、髋部弹性元件也可以为功能相似的前侧面与后侧面不等弹力泳衣，即泳衣用具有弹力的橡胶、塑料、硅胶或弹力布制成，且泳衣的膝关节、髋关节处的前侧面与后侧面的弹力不相等，一侧的弹力较大，与其相对的另一侧的弹力较小；所述前侧面与后 侧面不等弹力泳衣等效于跨接并绑定于所在关节前侧或后侧且自身具有弹性的杆体，所述自身具有弹性的杆体当所在关节弯折时储存弹性势能，当所在关节回位时释放弹性势能，帮助所在关节回位。
当游泳者采用俯卧或仰卧的游泳姿势游泳时，所述膝部弹性元件、髋部弹性元件、前侧面与后侧面不等弹力泳衣、跨接并绑定于所在关节前侧或后侧且自身具有弹性的杆体，还应叠加上重力的作用，即当膝部弹性元件、髋部弹性元件、前侧面与后侧面不等弹力泳衣、跨接并绑定于所在关节前侧或后侧且自身具有弹性的杆体，向上弯折时储存重力势能，向下回位时释放重力势能，帮助所在关节回位。
考虑到重力作用的存在，当游泳者由俯卧切换为仰卧的游泳姿势或由仰卧切换为俯卧的游泳姿势时，可通过调节膝部弹性元件、髋部弹性元件各自附加的平衡施力弹力调节结构再进一步调整所述膝、髋部各弹性元件的弹力大小，以与游泳者的肌肉力量大小和巡游距离长短相适应。
针对人类的腿部骨骼肌绝大部分生长在腿部骨骼的单侧而非对称生长，膝关节和髋关节均只能单向弯折而不能双向弯折的特点，通过所述膝部弹性储能组件、髋部弹性储能组件，在游泳或潜水的双向同步摆腿施力过程中，所述各关节处的弹性储能组件，均完成一个周期的储存、释放能量的过程，从而将施力不对等的单向摆腿动作转化成施力较为平衡对等的双向同步摆腿动作，摆腿幅度更加平衡对称，摆腿姿势更加协调，有效提高有用功的比重，降低摆腿动作的内耗，从而大大提高游泳或潜水的前进效率和游速，并有效降低长时间游泳和或潜水时产生的疲劳感。
所述可变尾鳍固定杆通过小腿捆绑结构与游泳者的小腿相固定或绑定。
所述小腿捆绑结构的具体结构为，在所述可变尾鳍固定杆上设有至少一对用于捆绑、固定左右两侧小腿且生根于可变尾鳍固定杆的小腿宽皮带或小腿宽绑带，所述小腿宽皮带的皮带扣或皮带锁扣为磁性搭扣结构，所述磁性搭扣结构为一对分置于小腿宽皮带两端头且相互匹配的小腿楔形块和小腿楔形槽，所述小腿楔形块前小后大，小腿楔形槽前大后小，所述小腿楔形块和小腿楔形槽二者之一为强磁体或电磁铁，另一者为导磁体，也可均为强磁体或电磁铁，当所述小腿楔形块或小腿楔形槽为电磁铁时，所述用于巡游的辅助装置系统设有相应的供电电源和控制小腿捆绑结构开合的开合控制装置，所述开合控制装置联接有相对应的开合手动操控按键。所述小腿捆绑结构即可变尾鳍固定杆捆绑结构。
所述大腿杆体通过大腿捆绑结构与游泳者的至少一条大腿相固定或绑定。
大腿捆绑结构的具体结构即参照小腿捆绑结构的结构形式，按照游泳者大腿的具体尺寸进行比例缩放而得。
所述躯干杆体通过躯干捆绑结构与游泳者的躯干相固定或绑定。
躯干捆绑结构的具体结构即参照大腿捆绑结构的结构形式，按照游泳者躯干的具体尺寸、数量进行比例缩放、调整而得。
当上述各捆绑结构的宽皮带两端头的楔形块放入楔形槽并按下各开合手动操控按键通电时，各楔形块与楔形槽在磁力或电磁力的作用下，相互吸引且相互导引、定位，自动将各宽皮带收紧。
所述躯干杆体、髋部铰接结构、髋部弹性储能组件、躯干捆绑结构、髋部捆绑结构即分别参照与之相对应的大腿杆体、膝部铰接结构、膝部弹性储能组件、大腿捆绑结构、膝部捆绑结构的结构形式并依照游泳者的躯干部、髋关节的具体形状和尺寸做出相应的尺寸调整和数量调整而获得。
所述小腿捆绑结构、大腿捆绑结构、躯干捆绑结构还可以替换为现有技术中的下肢外骨骼穿戴式固定结构中与之相对应的小腿固定结构、大腿固定结构、躯干固定结构，所述各穿戴式固定结构采用刚性主体加内衬柔性衬垫的结构形式。所述小腿固定结构即可变尾鳍固定杆固定结构。
所述主尾鳍与可变尾鳍固定杆合并为单一整体，成为整体式的可变尾鳍固定杆，整体式的可变尾鳍固定杆左、右两侧的副尾鳍分别通过各自的主副鳍铰接结构与整体式的可变尾鳍固定杆相联接，左侧的副尾鳍加上右侧的副尾鳍的鳍展宽度可变或鳍展总面积可变。
所述可变尾鳍固定杆或整体式的可变尾鳍固定杆的空间形状类型包括固定于游泳者两腿之间的单根杆的可变尾鳍固定杆、分别与游泳者左右两腿相固定的左右双杆的可变尾鳍固定杆、游泳者两腿共穿一条的单筒形状的可变尾鳍固定杆、游泳者左右两腿各穿一条的左右双筒形状的可变尾鳍固定杆。
所述左右双筒形状的可变尾鳍固定杆或左右双杆的可变尾鳍固定杆，左右双筒或左右双杆彼此平行且相互靠拢贴合，并以永磁力或电磁力彼此吸合在一起，相应的左侧的可变尾鳍固定杆和右侧的可变尾鳍固定杆的贴合面分别装有相互成对的永磁体、导磁体或受控供电的电磁线圈，左侧的可变尾鳍固定杆和右侧的可变尾鳍固定杆的贴合面还分别设有相互成对的定位销和定位销孔，定位销包括但不限于圆锥销、圆柱销、半球面销、弹性定位销或弹性锁销。
采用相互独立的左右双筒形状的可变尾鳍固定杆或左右双杆的可变尾鳍固定杆，通过双筒贴合面或双杆贴合面之间的相互成对的永磁体、导磁体或电磁线圈和相互成对的定位销和定位销孔，可以实现快速、便捷的彼此相互定位、靠拢贴合及分离，大大地方便了游泳者在穿着、游泳、行走之间的随意切换，也间接增加了游泳者在水中遇到突发险情时的应对选项，大大提高了游泳者遇险时的应急自救能力。
所述由左侧的副尾鳍、右侧的副尾鳍共同组成的仿生尾鳍结构替换为由左、右两半组成的固定形状仿生尾鳍或双脚双蹼，左半的固定形状仿生尾鳍或双脚双蹼的左脚蹼与游泳者的左脚相固定，或与所述左侧的筒状的可变尾鳍固定杆或杆状的可变尾鳍固定杆相固定，右半 的固定形状仿生尾鳍或双脚双蹼的右脚蹼与游泳者的右脚相固定，或与所述右侧的筒状的可变尾鳍固定杆或杆状的可变尾鳍固定杆相固定，左、右两半的固定形状仿生尾鳍或双脚双蹼的左脚蹼、右脚蹼彼此平行且相互靠拢贴合，并以永磁力或电磁力彼此吸合在一起，相应的左、右两半的固定形状仿生尾鳍或双脚双蹼的左脚蹼、右脚蹼的贴合面分别装有相互成对的永磁体、导磁体或受控供电的电磁线圈，左、右两半的固定形状仿生尾鳍或双脚双蹼的左脚蹼、右脚蹼的贴合面还分别设有相互成对的定位销和定位销孔，定位销包括但不限于圆锥销、圆柱销、半球面销、弹性定位销或弹性锁销。左半的固定形状仿生尾鳍或双脚双蹼的左脚蹼与游泳者的左脚相固定的情况下，去掉所述左侧的筒状的可变尾鳍固定杆或杆状的可变尾鳍固定杆；右半的固定形状仿生尾鳍或双脚双蹼的右脚蹼与游泳者的右脚相固定的情况下，去掉所述右侧的筒状的可变尾鳍固定杆或杆状的可变尾鳍固定杆。
采用相互独立的左、右两半的固定形状仿生尾鳍或双脚双蹼的左脚蹼、右脚蹼，通过贴合面之间的相互成对的永磁体、导磁体或电磁线圈和相互成对的定位销和定位销孔，同样可以实现快速、便捷的彼此相互定位、靠拢贴合及分离，大大地方便了游泳者在穿着、游泳、行走之间的随意切换，也间接增加了游泳者在水中遇到突发险情时的应对选项，大大提高了游泳者遇险时的应急自救能力。
所述左侧的副尾鳍、右侧的副尾鳍共同组成的仿生尾鳍形状包括但不限于仿海豚尾鳍、仿鲸鱼尾鳍、仿鲨鱼尾鳍、仿金枪鱼尾鳍或仿旗鱼尾鳍形状，再根据上述动物尾部摆动力量、波形以及摆动频率与人类在水中同步摆动双腿的摆动力量、波形以及摆动频率的对比情况，将上述动物的尾鳍进行相应地按比例缩放，做成实际尺寸的由左、右两侧的副尾鳍组合而成的仿生尾鳍形状，以匹配游泳者在水中模仿上述相对应的动物同步摆动双腿打水并产生推进力的需要；所述左侧的副尾鳍、右侧的副尾鳍共同组成的仿生尾鳍形状的类型包括但不限于新月型、深叉型、三角型或半圆型；左、右两侧的副尾鳍相对转动使得可变尾鳍装置鳍展宽度或鳍展总面积发生变化时，左、右两侧的副尾鳍向左右对称中心线的方向收拢后允许出现左、右两侧的副尾鳍部分重叠的情况，可变尾鳍装置鳍展宽度或鳍展总面积发生变化前后，所述左侧的副尾鳍、右侧的副尾鳍共同组成的仿生尾鳍形状的类型可同时发生变化，即在月芽形、深叉型、三角型或半圆型形状的类型之间彼此相互转化，以适应游泳者对于不同巡游距离、不同游速的工况变化，且无论在何种工况下，所述用于巡游的辅助装置系统均能获得最佳的推进效率。
与所述可变尾鳍固定杆的四种空间形状类型相对应，大腿杆体也相应有四种空间形状类型，包括固定于游泳者两条大腿之间并通过至少一个的膝部铰接结构与单根杆的可变尾鳍固定杆相联接的单根杆的大腿杆体、分别与游泳者左右两条大腿相固定并各自通过至少一个的 膝部铰接结构与左右双杆的可变尾鳍固定杆分别相联接的左右双杆的大腿杆体、游泳者两条大腿共穿一条的并与单筒形状的可变尾鳍固定杆通过至少一个的膝部铰接结构相联接的单筒形状的大腿杆体、游泳者左右两条大腿各穿一条的并与双筒形状的可变尾鳍固定杆各自通过至少一个的膝部铰接结构相联接的双筒形状的大腿杆体；与所述大腿杆体的四种空间形状类型相对应，躯干杆体也相应有三种空间形状类型，包括单根杆的躯干杆体、左右双杆的躯干杆体、单筒形状的躯干杆体，仅是没有双筒形状的躯干杆体，躯干杆体与相同形状类型的大腿杆体同样通过至少一个的髋部铰接结构相联接。
所述单筒形状的可变尾鳍固定杆或左右双筒形状的可变尾鳍固定杆，每一个筒状的可变尾鳍固定杆上均设置有至少一个用于连接气泵或气筒的气嘴或气门嘴，气泵内置或外接。
所述气泵为可正向、反向工作的多用途泵，既可正向工作抽气、抽液，也可反向工作充气、充液。
所述可变尾鳍固定杆与左、右两侧的副尾鳍之间，各附加一套调节主副鳍弹性元件预设弹性形变或弹力大小的主副鳍弹力调节结构。
所述左、右两侧的副尾鳍与主尾鳍之间，或者左、右两侧的副尾鳍与整体式的可变尾鳍固定杆之间，还可附加将该二者相互锁止的主副鳍锁止结构。所述主副鳍锁止结构的结构形式包括但不限于锁止螺栓加锁止螺母的结构形式、弹性定位销的结构形式或弹性锁销的结构形式。所述锁止螺栓加锁止螺母的结构形式具体包括主副鳍锁止螺栓、主副鳍锁止螺母。
所述膝部弹性元件、髋部弹性元件二者之中至少有一者附加调节预设弹性形变或弹力大小的平衡施力弹力调节结构。
所述平衡施力弹力调节结构包括平衡施力调力螺杆、平衡施力自由旋转接头、调力锁紧螺母、固定桩锁紧螺母，平衡施力自由旋转接头可以在平衡施力调力螺杆相应的孔内自由旋转，以便于游泳者根据自己的肌肉力量大小和巡游距离长短调整各关节处的弹性储能装置的弹力大小。
所述膝部铰接结构装有至少一个可将膝部铰接结构锁止的膝部锁止结构，锁止后形成大腿杆体与小腿杆体夹角固定的刚性联接方式，所述膝部锁止结构包括膝部锁止螺栓、膝部锁止螺母。
所述髋部铰接结构装有至少一个可将髋部铰接结构锁止的髋部锁止结构，锁止后形成大腿杆体与躯干杆体夹角固定的刚性联接方式，所述髋部锁止结构包括髋部锁止螺栓、髋部锁止螺母。
所述膝部锁止结构、髋部锁止结构的结构形式均包括但不限于侧置锁止螺栓加侧置锁止螺母的结构形式、侧置弹性定位销的结构形式或侧置弹性锁销的结构形式。
所述可变尾鳍装置按比例缩放尺寸后装于仿生机器鱼、水下仿生机器人或仿生潜艇的尾部并与其内部原有的驱动机构相连接，替换其原装的固定形状的仿生尾鳍，作为其推进装置。
所述用于巡游的辅助装置系统还可整体应用于仿生机器鱼、水下仿生机器人或仿生潜艇，将所述用于巡游的辅助装置系统按照仿生机器鱼、水下仿生机器人或仿生潜艇的大小进行匹配的整体比例缩放，在仿生机器鱼、水下仿生机器人或仿生潜艇的尾部，通过可变尾鳍固定杆联接，将可变尾鳍装置替代普通的不可变仿生尾鳍，作为其推进装置，根据仿生鱼或水下仿生机器人的游速、摆动可变尾鳍的频率或幅度动态实时调整可变尾鳍装置的鳍展宽度或鳍展总面积，以使得仿生机器鱼、水下仿生机器人或仿生潜艇达到相较于安装有普通的不可变仿生尾鳍所不能达到的更高游速和更高的推进效率，可变尾鳍装置仿照海豚尾鳍布置上下摆动的情况下，还可通过左、右两侧的副尾鳍的同向转动实现转向或方向的微调修正，相应的，所述尾鳍电控操纵装置所接受的操控左、右两侧的副尾鳍相对或同向转动的动作指令来自于仿生机器鱼、水下仿生机器人或仿生潜艇的中央主控电脑芯片。
所述主尾鳍和副尾鳍替换为双脚单蹼或固定形状的仿生尾鳍，即可变尾鳍固定杆与双脚单蹼或固定形状的仿生尾鳍相联接。
所述用于巡游的辅助装置系统的外部包裹连体泳裤，所述连体泳裤上至游泳者腰部，下至可变尾鳍固定杆，将所述平衡施力装置及游泳者的双腿和双脚整体包裹住，所述连体泳裤在包裹游泳者的躯干、平衡施力装置、游泳者的双腿和双脚的中、下段为趋近于流线形的两腿共穿一条的单筒形结构或两腿各穿一条的左右双筒形结构，所述连体泳裤自游泳者腰部至可变尾鳍固定杆布置有纵向贯穿的至少一个防水拉链，所述连体泳裤上设置有至少一个用于连接气泵或气筒的气嘴或气门嘴，气泵内置或外接，气泵为可正向、反向工作的多用途泵，既可正向工作抽气、抽液，也可反向工作充气、充液；所述连体泳裤末端与可变尾鳍固定杆相接触的部分为内嵌弹性O形圈的环形结构，相应的所述可变尾鳍固定杆上开设有容纳所述环形结构的O形环槽，所述连体泳裤外表面为防水且微观上可吸附或容纳涂抹的凡士林的多孔隙结构，所述连体泳裤的外表面的至少一处贴有反光贴或涂有反光材料。
所述主尾鳍或整体式的可变尾鳍固定杆与一个以上左侧的副尾鳍和一个以上的右侧的副尾鳍还可以以折扇式的结构相联接，所有的左侧的副尾鳍铰接于同一主副鳍铰接结构，所有的右侧的副尾鳍铰接于同一主副鳍铰接结构，各左侧的副尾鳍和各右侧的副尾鳍相互平行，各左侧的副尾鳍加上各右侧的副尾鳍的鳍展总面积或鳍展宽度可变，各左侧的副尾鳍、各右侧的副尾鳍均为内衬有刚性骨架且外部包裹柔性蒙皮的结构形式，所述折扇式的结构中各左侧的副尾鳍、各右侧的副尾鳍内衬的刚性骨架与左、右变鳍踏板分别通过至少一个可变尾鳍联动元件相联接。
各左侧的副尾鳍、各右侧的副尾鳍收拢后允许出现左、右两侧的副尾鳍部分重叠的情况。所述刚性骨架类同于折扇的扇骨，所述柔性蒙皮类同于折扇的扇面；通常情况下，所述可变尾鳍固定杆居中布置，可变尾鳍固定杆左、右两侧分别设有一个以上且数量相等彼此平行的 左、右两侧的副尾鳍，类同于以可变尾鳍固定杆为中心可以同时延游泳者的后方向左、右两侧打开，也可以同时向可变尾鳍固定杆中心收拢的两把折扇，形状类同于鱼类呈扇形向后张开的尾鳍。
在所述折扇式的结构中，所述刚性骨架为两段式结构，包括刚性骨架根段和刚性骨架末段两段，大管式的刚性骨架根段或带有轴孔的刚性骨架根段与小管式的刚性骨架末段或带有轴头的刚性骨架末段以大管套小管的形式或轴孔内插入轴的形式彼此连接；各左侧的副尾鳍、各右侧的副尾鳍的各刚性骨架根段彼此铰接于同一主副鳍铰接结构；所述嵌入蒙皮内的各刚性骨架末段部分的横截面为不等刚度的矩形或椭圆形且可延其自身纵向中心轴线转动；所述嵌入柔性蒙皮内的各左侧的副尾鳍、各右侧的副尾鳍的各刚性骨架根段部分呈扇面打开后，当所述各刚性骨架末段延其自身纵向中心轴线转动时，各左侧的副尾鳍、各右侧的副尾鳍延其摆动方向的各刚性骨架末段刚度随之发生变化，即当游泳者在水中摆动所述可变尾鳍装置时各左侧的副尾鳍、各右侧的副尾鳍延其摆动方向的弯曲程度随之发生变化，从而使得在相同的摆动可变尾鳍装置的幅度下对游泳者产生的向前推进力也随之发生变化；当所述各刚性骨架末段的矩形的长边或椭圆形的长轴垂直于摆动可变尾鳍装置的方向时，所述各刚性骨架末段的刚度较低，相同的摆动可变尾鳍装置的幅度下对游泳者产生的向前推进力较小；当所述各刚性骨架末段的矩形的短边或椭圆形的短轴垂直于摆动可变尾鳍装置的方向时，所述各刚性骨架末段的刚度较高，相同的摆动可变尾鳍装置的幅度下对游泳者产生的向前推进力较大；所述各左侧的副尾鳍、各右侧的副尾鳍的嵌入柔性蒙皮内横截面为不等刚度的矩形或椭圆形且可延其自身纵向中心轴线转动的各刚性骨架末段部分的结构形式类同于可延其自身纵向中心轴线转动的风电的桨叶，当环境风力较小时，桨叶延其自身纵向中心轴线转至迎风面积较大的状态，以使风电发电机组全力发电，此时的桨叶迎风方向的刚度较小；当环境风力过大时，桨叶延其自身纵向中心轴线转至迎风面积较小的状态，以使风电发电机组处于最小发电功率状态，此时的桨叶迎风方向的刚度较大，风电处于抗强风的自保状态。
通过转动双脚脚踝，即做伸直脚背或勾脚的动作，游泳者可以操控所述各刚性骨架末段部分延其自身纵向中心轴线转动或象折扇一样打开、收拢，进而改变各左侧的副尾鳍、各右侧的副尾鳍延其摆动方向的各刚性骨架末段的刚度或改变各左侧的副尾鳍加上各右侧的副尾鳍的鳍展总面积或鳍展宽度，最终实现调节可变尾鳍装置对游泳者产生的向前推进力大小的功能；所述操控各刚性骨架末段部分延其自身纵向中心轴线转动或象折扇一样打开、收拢的操控机构包括但不限于丝杠传动机构、曲柄滑块机构、齿轮齿条机构、凸轮机构、多连杆机构、杠杆机构、电磁力传力机构或磁力传力机构；从功能而言，类同于风电桨叶的变桨系统根据环境风力通过变桨电机驱动变桨机构以调节桨叶迎风面积的功能。
一种用于巡游的辅助装置系统，其特征在于：包括可变尾鳍装置部分、平衡施力装置部分，所述可变尾鳍装置部分包括主尾鳍、副尾鳍，所述平衡施力装置部分包括小腿杆体、大 腿杆体，主尾鳍侧面设置至少一个副尾鳍，主尾鳍和副尾鳍相互平行地联接在一起，主尾鳍加上副尾鳍的鳍展宽度可变或鳍展总面积可变，所述小腿杆体平行于游泳者小腿布置，并与游泳者至少一条小腿固定，小腿杆体朝向游泳者大腿的一端联接有大腿杆体，大腿杆体平行于游泳者大腿布置，并与游泳者至少一条大腿固定，所述小腿杆体与大腿杆体的联接方式为铰接方式，所述小腿杆体与大腿杆体的联接处设有与游泳者膝关节同步弯折的膝部铰接结构，所述小腿杆体与大腿杆体之间设有帮助弯折的膝关节回位的至少一个膝部弹性元件，所述平衡施力装置部分沿小腿杆体的方向与可变尾鳍装置部分联接为一体式结构。
所述副尾鳍通过主副鳍铰接结构与主尾鳍相联接，副尾鳍以主副鳍铰接点为转轴中心转动。
所述大腿杆体朝向游泳者躯干部的一端联接有躯干杆体，所述躯干杆体与游泳者的躯干固定，躯干杆体与大腿杆体的联接方式为铰接方式，躯干杆体与大腿杆体的联接处设有与游泳者髋关节同步弯折的髋部铰接结构，所述躯干杆体与大腿杆体之间设有帮助弯折的髋关节回位的至少一个髋部弹性元件。
所述小腿杆体左、右两侧均布置有固定游泳者脚的变鳍踏板，左、右两侧的变鳍踏板分别与左、右两侧的副尾鳍通过彼此之间设有的至少一个的可变尾鳍联动元件同侧或异侧相联接，所述副尾鳍与膝部弹性元件之间通过至少一个联动元件彼此联动，所述副尾鳍与髋部弹性元件之间通过至少一个联动元件彼此联动。
所述左、右两侧的变鳍踏板均通过踝部铰接结构与小腿杆体相铰接。
小腿杆体朝向游泳者脚部的一端联接主尾鳍，朝向游泳者大腿的另外一端联接大腿杆体，从而将平衡施力装置部分与可变尾鳍装置部分联接为一体式结构。
以上所述的小腿杆体均可替换为可变尾鳍固定杆。
本文件中依次出现的各结构名称与本PCT国际申请所涵盖的各优先权文件中的各结构名称的替换关系如下：所述可变尾鳍装置即可变尾鳍装置部分、仿生可变尾鳍装置、可变尾鳍装备、仿生可变尾鳍装备、变速尾鳍装置、变速尾鳍装备；所述主尾鳍左侧的副尾鳍即左尾鳍，主尾鳍右侧的副尾鳍即右尾鳍；所述主副鳍铰接结构即仿生尾鳍铰接结构、尾鳍铰接结构；所述可变尾鳍固定杆即仿生尾鳍固定杆、双尾鳍固定杆、尾鳍固定杆；所述变鳍踏板即固定游泳者脚的脚部固定板、脚部联接板、脚部固定结构；所述可变尾鳍联动元件即仿生可变尾鳍联动元件、可变尾鳍侧联动元件；所述尾鳍电控操纵装置即操纵可变尾鳍装置的电控装置；所述主副鳍弹性元件即仿生尾鳍回位弹性元件、尾鳍回位弹性元件、尾鳍弹性元件；所述平衡施力联动元件即平衡施力侧联动元件；所述杆体电控操纵装置即操纵平衡施力装置的电控装置；所述膝部弹性储能组件即膝部弹性储能装置；所述髋部弹性储能组件即髋部弹 性储能装置；所述小腿捆绑结构即可变尾鳍固定杆捆绑结构；所述主副鳍弹力调节结构即仿生可变尾鳍弹力调节结构、可变尾鳍弹力调节结构、尾鳍弹力调节结构；所述双脚单蹼即海豚蹼或蝶泳蹼；所述平衡施力装置部分即平衡施力装置、平衡施力装备；所述新月型即月芽形；所述主副鳍锁止结构即尾鳍锁止结构；所述仿生可变尾鳍固定杆捆绑本体即小腿捆绑本体。
所述鳍展宽度是指主尾鳍加上副尾鳍的横向展开宽度，或者左、右两侧的副尾鳍的横向展开宽度，类同于鸟类的翼展宽度；所述鳍展总面积是指主尾鳍加上副尾鳍的展开总面积，或者左、右两侧的副尾鳍的展开总面积，类同于鸟类的翼展总面积。
有益效果
1.本发明的左、右两侧的变鳍踏板通过各自独立的可变尾鳍联动元件分别与左侧的副尾鳍、右侧的副尾鳍相联接，游泳者通过转动脚踝，以电控传力方式或纯机械传力方式，变鳍踏板带动相应的副尾鳍转动，游泳者通过同步转动双脚的脚踝可实现左侧的副尾鳍和右侧的副尾鳍的同步相对转动，即游泳者可实现在摆动尾鳍过程中的变速功能，游泳者通过异步转动双脚的脚踝可实现左侧的副尾鳍和右侧的副尾鳍的同向转动，即游泳者可实现在摆动尾鳍过程中的转向功能和方向微调修正功能，同时调整膝部弹性元件的弹力大小；无论游泳者在何种频率下打水，均能获得较高的推进效率，最大限度地发挥游泳者在水中的行进潜能；游泳者通过变速巡游，可以有效降低长距离巡游时产生的疲劳感，进而可以实现水中长距离连续巡游，实现电控传力方式的尾鳍电控操纵装置、杆体电控操纵装置均类同于汽车的电子油门装置。
2.本发明的相互独立的左、右双筒形状或左、右双杆的可变尾鳍固定杆借助贴合面上的相互成对的永磁体、导磁体或电磁线圈，以及相互成对的定位销和定位销孔，可以实现快速、便捷的彼此靠拢贴合、相互定位及分离，大大地方便了游泳者在穿着、游泳、行走之间的随意切换，也间接增加了游泳者在水中遇到突发险情时的应对选项，大大提高了游泳者遇险时的应急自救能力。
3.本发明的平衡施力装置针对人类为适应陆地行走或奔跑而进化出的天然运动结构无法适应水中游动的主要运动结构缺陷，即当人类模仿海豚或鲸类摆动双腿游动时，不能做到真正意义上的双向对称摆腿，通过该平衡施力装置，结合人体运动结构特点，科学合理地运用人体工学，双向对称摆腿，对等平衡施力，最大限度地发挥游泳者在水中的行进潜能，进而达到长距离连续巡游的目的。
4.本发明的用于巡游的辅助装置系统可整体应用于仿生机器鱼、水下仿生机器人或仿生 潜艇，将所述用于巡游的辅助装置系统按照仿生机器鱼、水下仿生机器人或仿生潜艇的大小进行匹配的整体比例缩放，在仿生机器鱼、水下仿生机器人或仿生潜艇的尾部，通过可变尾鳍固定杆与可变尾鳍装置相连接，以替代普通的不可变仿生尾鳍，作为其推进装置。
5.本发明的用于巡游的辅助装置系统通常情况下可沿人体的纵轴线布置，所述用于巡游的辅助装置系统产生推力的方向与游泳者行进方向完全一致，从而克服了双脚双蹼或者双脚单蹼由于穿着在游泳者脚上所造成的腿与蹼存在夹角进而蹼打水产生的推进力方向不能够与游泳者前进的方向完全一致的缺陷。
6.本发明结构轻巧，工作可靠，相应的制作工艺简单，成本低廉，便于大规模生产和普及使用。
7.本发明的下肢外骨骼穿戴式固定结构中的小腿固定结构、大腿固定结构、躯干固定结构所采用的刚性主体加内衬柔性衬垫的结构形式，在遇到鲨鱼或虎鲸的大型掠食动物攻击时，对游泳者的下肢可起到有限的保护作用。
附图说明
图1为本发明的可变尾鳍固定杆及可变尾鳍装置的组合结构示意图。
图2为本发明的安装于主尾鳍内部的主副鳍弹力调节结构的局部放大结构示意图。
图3为本发明的主尾鳍与可变尾鳍固定杆合二为一的可变尾鳍装置的组合结构示意图。
图4为本发明的主尾鳍与可变尾鳍固定杆合二为一且装有主副鳍弹力调节结构、可变尾鳍联动元件的可变尾鳍装置的组合结构示意图。
图5为本发明的可变尾鳍固定杆与变鳍踏板相铰接且装有可变尾鳍联动元件、平衡施力联动元件的组合结构示意图。
图6为本发明的通过纯机械传力方式且不包含平衡施力装置的用于巡游的辅助装置系统的组合结构示意图。
图7为本发明的包含尾鳍电控操纵装置的通过纯机械加电控传力方式且可变尾鳍固定杆为双筒形状的用于巡游的辅助装置系统的组成结构简图。
图8为本发明的可变尾鳍固定杆及平衡施力装置的组合结构示意图。
图9为本发明的装有平衡施力联动元件的可变尾鳍固定杆与平衡施力装置的组合结构剖视图。
图10为本发明的平衡施力弹力调节结构的局部放大结构示意图。
图11为本发明的通过纯机械传力方式且包含平衡施力装置的用于巡游的辅助装置系统的组合结构示意图。
图12为本发明的包含尾鳍电控操纵装置及杆体电控操纵装置的通过纯机械加电控传力方 式且可变尾鳍固定杆为双筒形状的用于巡游的辅助装置系统的组成结构简图。
图13为本发明的不包含平衡施力装置且彼此之间可以相互定位吸合的双筒形状的可变尾鳍固定杆具有光滑圆润的低流阻小腿外形的用于巡游的辅助装置系统的组合结构示意图。
图中：1、主尾鳍；2、副尾鳍；3、主副鳍铰接结构；301、尾鳍铰接螺栓轴；302、尾鳍铰接轴端螺母；4、主副鳍弹性元件；5、踝部铰接结构；501、踝部铰接轴；502、踝部铰接轴端螺母；6、变鳍踏板；7、可变尾鳍固定杆；8、大腿杆体；9、膝部铰接结构；901、膝部铰接轴；902、膝部铰接轴端螺母；10、膝部弹性储能组件；1001、膝部弹性元件；1002、膝部导向轮；1003、膝部连接绳索；1004、膝部固定桩；1005、杠杆臂；1006、杠杆臂铰接轴；1007、杠杆臂铰接轴端螺母；11、可变尾鳍联动元件；12、平衡施力联动元件；13、主副鳍弹力调节结构；1301、可变尾鳍调力螺杆；1302、可变尾鳍自由旋转接头；1303、可变尾鳍调力锁紧螺母；1304、主尾鳍固定桩；14、平衡施力弹力调节结构；1401、平衡施力调力螺杆；1402、平衡施力自由旋转接头；1403、平衡施力调力锁紧螺母；1404、固定桩锁紧螺母；15、小腿捆绑结构；1501、仿生可变尾鳍固定杆捆绑本体；1502、小腿宽皮带；1503、小腿楔形块；1504、小腿楔形槽；16、大腿杆体捆绑结构；1601、大腿杆体捆绑本体；1602、大腿宽皮带；1603、大腿楔形块；1604、大腿楔形槽；17、吸合定位组件；1701、相互成对的永磁体和导磁体；1702、相互成对的定位销和定位销孔。
其中属于可变尾鳍装置的有：1、主尾鳍；2、副尾鳍；3、主副鳍铰接结构；301、尾鳍铰接螺栓轴；302、尾鳍铰接轴端螺母；4、主副鳍弹性元件；5、踝部铰接结构；501、踝部铰接轴；502、踝部铰接轴端螺母；11、可变尾鳍联动元件；13、主副鳍弹力调节结构；1301、可变尾鳍调力螺杆；1302、可变尾鳍自由旋转接头；1303、可变尾鳍调力锁紧螺母；1304、主尾鳍固定桩；15、小腿捆绑结构；1501、仿生可变尾鳍固定杆捆绑本体；1502、小腿宽皮带；1503、小腿楔形块；1504、小腿楔形槽；17、吸合定位组件；1701、相互成对的永磁体和导磁体；1702、相互成对的定位销和定位销孔。
其中属于平衡施力装置的有：8、大腿杆体；9、膝部铰接结构；901、膝部铰接轴；902、膝部铰接轴端螺母；10、膝部弹性储能组件；1001、膝部弹性元件；1002、膝部导向轮；1003、膝部连接绳索；1004、膝部固定桩；1005、杠杆臂；1006、杠杆臂铰接轴；1007、杠杆臂铰接轴端螺母；12、平衡施力联动元件；14、平衡施力弹力调节结构；1401、平衡施力调力螺杆；1402、平衡施力自由旋转接头；1403、平衡施力调力锁紧螺母；1404、固定桩锁紧螺母；16、大腿杆体捆绑结构；1601、大腿杆体捆绑本体；1602、大腿宽皮带；1603、大腿楔形块；1604、大腿楔形槽。
属于尾鳍电控操纵装置独有的是：变鳍执行机构。
属于杆体电控操纵装置独有的是：弹力调节执行机构。
属于尾鳍电控操纵装置和杆体电控操纵装置共有的是：变鳍踏板6、踏板位置传感器、控制单元、电动机。
可变尾鳍固定杆7一端与可变尾鳍装置相联接，另一端与平衡施力装置相联接，将可变尾鳍装置与平衡施力装置联接为一体式结构。
本发明的最佳实施方式
下面结合附图对本发明的最佳实施方式作进一步说明：
如图12所示，本发明的包含尾鳍电控操纵装置及杆体电控操纵装置的通过纯机械加电控传力方式且可变尾鳍固定杆7为双筒形状的用于巡游的辅助装置系统的组成结构。图中的箭头代表信号传递的方向或力传递的方向。
本发明的实施方式
下面结合附图对本发明的实施方式作进一步说明：
如图1所示，本发明的可变尾鳍固定杆7及可变尾鳍装置的组合结构。可变尾鳍装置包括主尾鳍1、副尾鳍2、主副鳍铰接结构3、主副鳍弹性元件4；主副鳍铰接结构3包括尾鳍铰接螺栓轴301、尾鳍铰接轴端螺母302。
如图2所示，本发明的安装于主尾鳍1内部的局部放大的主副鳍弹力调节结构13。主副鳍弹力调节结构13包括可变尾鳍调力螺杆1301、可变尾鳍自由旋转接头1302、可变尾鳍调力锁紧螺母1303、主尾鳍固定桩1304。
如图3所示，本发明的主尾鳍1与可变尾鳍固定杆7合二为一的可变尾鳍装置的组合结构。可变尾鳍装置包括左右两侧的副尾鳍2、主副鳍铰接结构3、主副鳍弹性元件4。
如图4所示，本发明的主尾鳍1与可变尾鳍固定杆7合二为一且装有主副鳍弹力调节结构13、可变尾鳍联动元件11的可变尾鳍装置的组合结构。主副鳍弹力调节结构13安装于副尾鳍2与可变尾鳍固定杆7之间；主副鳍弹力调节结构13包括可变尾鳍调力螺杆1301、可变尾鳍自由旋转接头1302、可变尾鳍调力锁紧螺母1303。
如图5所示，本发明的可变尾鳍固定杆7与变鳍踏板6相铰接于踝部铰接结构5且装有可变尾鳍联动元件11、平衡施力联动元件12的组合结构。踝部铰接结构5包括踝部铰接轴501、踝部铰接轴端螺母502，踝部铰接轴501与变鳍踏板6刚性固定，同步转动。
如图6所示，本发明的通过纯机械传力方式且不包含平衡施力装置的用于巡游的辅助装置系统的组合结构。可变尾鳍固定杆7两侧装有用于与小腿相固定的小腿捆绑结构15；小腿捆绑 结构15包括仿生可变尾鳍固定杆捆绑本体1501、小腿宽皮带1502、小腿楔形块1503、小腿楔形槽1504；小腿楔形块1503与小腿楔形槽1504为相互成对的磁体和导磁体，相互吸引定位，将小腿捆绑结构束紧；所述仿生可变尾鳍固定杆捆绑本体1501即小腿捆绑本体。
如图7所示，本发明的包含尾鳍电控操纵装置的通过纯机械加电控传力方式且可变尾鳍固定杆7为双筒形状的用于巡游的辅助装置系统的组成结构。图中的箭头代表信号传递的方向或力传递的方向。
如图8所示，本发明的可变尾鳍固定杆7及平衡施力装置的组合结构。平衡施力装置包括大腿杆体8、膝部铰接结构9、膝部弹性储能组件10；膝部铰接结构9包括膝部铰接轴901、膝部铰接轴端螺母902；膝部弹性储能组件10包括膝部弹性元件1001、膝部导向轮1002、膝部连接绳索1003、膝部固定桩1004。
如图9所示，本发明的装有平衡施力联动元件12的可变尾鳍固定杆7与平衡施力装置的组合结构。膝部弹性储能组件10在原有包括的膝部弹性元件1001、膝部导向轮1002、膝部连接绳索1003、膝部固定桩1004的基础上，增加了杠杆臂1005、杠杆臂铰接轴1006、杠杆臂铰接轴端螺母1007；一侧的膝部固定桩1004被杠杆臂1005、杠杆臂铰接轴1006、杠杆臂铰接轴端螺母1007所取代；平衡施力联动元件12通过杠杆臂1005与膝部弹性元件1001相关联。
如图10所示，本发明的平衡施力弹力调节结构14的局部放大结构。平衡施力弹力调节结构14包括平衡施力调力螺杆1401、平衡施力自由旋转接头1402、平衡施力调力锁紧螺母1403、固定桩锁紧螺母1404。
所述膝部弹性储能组件10、髋部弹性储能组件中各自的弹性元件与固定桩之间均可附加一套平衡施力弹力调节结构14，用以调节各弹性元件的初始弹力值，即各弹性元件初始弹性形变时的弹力值，也即各弹性储能组件所在关节的弯折量为0时的弹力值，例如，当各弹性元件采用拉伸弹簧时，在各弹性储能组件的固定桩上沿拉伸弹簧的轴线方向加工出螺纹孔，将平衡施力调力螺杆1401的一端拧入螺纹孔中，另一端通过平衡施力自由旋转接头1402与拉伸弹簧相连，平衡施力调力螺杆1401旋入固定桩的旋入量越大，挂接拉伸弹簧后的初始弹力值越大，反之则越小，调定好初始弹力值之后，将平衡施力调力螺杆1401的平衡施力调力锁紧螺母1403锁紧，最后将固定桩锁紧螺母1404锁紧；平衡施力自由旋转接头1402可以在平衡施力调力螺杆1401相应的孔内自由旋转，以方便调节各关节处的弹性元件的弹力大小。
如图11所示，本发明的通过纯机械传力方式且包含平衡施力装置的用于巡游的辅助装置系统的组合结构。可变尾鳍固定杆7两侧装有用于与小腿相固定的小腿捆绑结构15，大腿杆体8两侧装有用于与大腿相固定的大腿捆绑结构16，大腿杆体捆绑结构16与小腿捆绑结构15结构 相似，包括大腿杆体捆绑本体1601、大腿宽皮带1602、大腿楔形块1603、大腿楔形槽1604；大腿楔形块1603与大腿楔形槽1604为相互成对的磁体和导磁体，相互吸引定位，将大腿捆绑结构束紧。
如图12所示，本发明的包含尾鳍电控操纵装置及杆体电控操纵装置的通过纯机械加电控传力方式且可变尾鳍固定杆7为双筒形状的用于巡游的辅助装置系统的组成结构。图中的箭头代表信号传递的方向或力传递的方向。
如图13所示，本发明的不包含平衡施力装置且彼此之间可以相互定位吸合的双筒形状的可变尾鳍固定杆7具有光滑圆润的低流阻小腿外形的用于巡游的辅助装置系统的组合结构。用于彼此定位吸合的吸合定位组件17包括相互成对的永磁体和导磁体1701、相互成对的定位销和定位销孔1702。
工业实用性
实施例一：如图13所示，本发明的不包含平衡施力装置且彼此之间可以相互定位吸合的双筒形状的可变尾鳍固定杆7具有光滑圆润的低流阻小腿外形的用于巡游的辅助装置系统的组合结构。
采用左、右相互独立的双筒形状的可变尾鳍固定杆7，通过双筒贴合面之间的相互成对的磁体，相互成对的定位销和定位销孔，可以实现快速、便捷的彼此相互定位、靠拢贴合及分离，大大地方便了游泳者在穿着、游泳、行走之间的随意切换，也间接增加了游泳者在水中遇到突发险情时的应对选项，大大提高了游泳者遇险时的应急自救能力。
所述左、右双筒形状的可变尾鳍固定杆7的每一个筒状的可变尾鳍固定杆7上均设置有至少一个用于连接气泵或气筒的气嘴或气门嘴，气泵内置或外接。气泵为可正向、反向工作的多用途泵，既可正向工作抽气、抽液，也可反向工作充气、充液。
通过纯机械传力方式或纯机械加电控传力方式，设在左侧可变尾鳍固定杆7内部的可变尾鳍联动元件11将左侧可变尾鳍固定杆7内部的变鳍踏板6与左侧的副尾鳍2进行同侧关联，设在右侧可变尾鳍固定杆7内部的可变尾鳍联动元件11将右侧可变尾鳍固定杆7内部的变鳍踏板6与右侧的副尾鳍2进行同侧关联，游泳者通过同步或异步转动双脚的脚踝，可实现巡游过程中的加速、减速、左转、右转以及方向微调修正。当采用纯机械加电控传力方式时，左、右相互独立的双筒形状的可变尾鳍固定杆7内部还相应设有相互独立的左、右两套尾鳍电控操纵装置。
以上所举实施例为本发明的较佳实施方式，仅用来方便说明本发明，并非对本发明作任何形式上的限制，例如，对于可变尾鳍装置而言，在所述左、右两侧的副尾鳍2的两外侧各 设置一个较小的侧尾鳍，所述副尾鳍2与同侧较小的侧尾鳍之间均通过所述主副鳍铰接结构3相联接，副尾鳍2与同侧较小的侧尾鳍之间还设有所述主副鳍弹性元件4，在所述左、右较小的侧尾鳍的两外侧还可再各设置一个更小的侧尾鳍，所述较小的侧尾鳍与同侧更小的侧尾鳍之间均通过所述主副鳍铰接结构3相联接，较小的侧尾鳍与同侧更小的侧尾鳍之间也还设有所述主副鳍弹性元件4，依此类推；再例如，对于平衡施力装置而言，游泳者可以在两条腿上各穿戴一套所述的平衡施力装置，相应的各杆体、各关节处的铰接结构、各弹性元件、各捆绑结构均做成下肢外骨骼的结构形式，与游泳者的各关节同步弯折，相应的膝部铰接结构9为左右两对，髋部铰接结构则为一对，左右两对膝部铰接结构9均具有磁性，可以左右成对吸合为一体并通过定位销、弹性定位销或弹性锁销相互定位或相互锁定，吸合后即成为下肢外骨骼形式的平衡施力装置，相应的所述可变尾鳍固定杆7末端连接可变尾鳍装置或双脚单蹼，当左右两对膝部铰接结构9均呈分开状态时，相应的所述分开的可变尾鳍固定杆7末端各连接一个单脚单蹼，当左右两对膝部铰接结构9均呈分开状态且游泳者处于站立状态时，可变尾鳍固定杆7末端不连接单脚单蹼，所述下肢外骨骼形式的平衡施力装置还可作为行走助力外骨骼使用，为便于穿戴，可将各杆体做成快装型杆体，相应的各快装型杆体与各铰接结构均做成分体式结构，所述各快装型杆体均可与穿戴在游泳者各关节上的各独立的铰接结构相分离，即各快装型杆体均可直接从各关节处的铰接结构上取下，相应的所述各快装型杆体的固定方式包括但不限于磁力吸合方式、弹性定位销锁定方式或弹性锁销锁定方式，所述快装型杆体的定位方式包括但不限于定位销定位方式或可拆卸的关节轴承定位方式；任何所属技术领域中具有通常知识者，在不脱离本发明所提技术特征的范围内，利用本发明所揭示技术内容所作出局部改动或修饰的等效实施例，并且未脱离本发明的技术特征内容，均仍属于本发明技术特征的范围内。

Claims (25)

  1. 一种用于巡游的辅助装置系统，包括主尾鳍(1)和副尾鳍(2)，其特征在于：主尾鳍(1)侧面设置至少一个副尾鳍(2)，所述主尾鳍(1)和副尾鳍(2)相互平行地联接在一起，主尾鳍(1)加上副尾鳍(2)的鳍展宽度可变。
  2. 根据权利要求1所述的一种用于巡游的辅助装置系统，其特征在于，所述副尾鳍(2)通过主副鳍铰接结构(3)与主尾鳍(1)相联接，副尾鳍(2)以主副鳍铰接点为转轴中心转动。
  3. 根据权利要求2所述的一种用于巡游的辅助装置系统，其特征在于：所述主尾鳍(1)通过可变尾鳍固定杆(7)与游泳者的至少一条小腿或至少一只脚相固定。
  4. 根据权利要求3所述的一种用于巡游的辅助装置系统，其特征在于：所述可变尾鳍固定杆(7)左、右两侧均布置有固定游泳者脚的变鳍踏板(6)。
  5. 根据权利要求4所述的一种用于巡游的辅助装置系统，其特征在于：所述可变尾鳍固定杆(7)左、右两侧的变鳍踏板(6)分别与主尾鳍(1)左、右两侧的副尾鳍(2)通过彼此之间设有的至少一个的可变尾鳍联动元件(11)同侧或异侧联接。
  6. 根据权利要求5所述的一种用于巡游的辅助装置系统，其特征在于：所述主尾鳍(1)、可变尾鳍固定杆(7)内部装有尾鳍电控操纵装置，尾鳍电控操纵装置包括变鳍踏板(6)、踏板位置传感器、控制单元、电动机、变鳍执行机构，左、右两侧的变鳍踏板(6)借助所述变鳍执行机构分别与主尾鳍(1)左、右两侧的副尾鳍(2)通过彼此之间的至少一个的可变尾鳍联动元件(11)同侧或异侧联接。
  7. 根据权利要求6所述的一种用于巡游的辅助装置系统，其特征在于：所述主尾鳍(1)和副尾鳍(2)之间设有在该二者之间施加弹性力的主副鳍弹性元件(4)，所述主尾鳍(1)、副尾鳍(2)、主副鳍铰接结构(3)、可变尾鳍联动元件(11)、尾鳍电控操纵装置、主副鳍弹性元件(4)共同组成可变尾鳍装置。
  8. 根据权利要求7所述的一种用于巡游的辅助装置系统，其特征在于：所述可变尾鳍固定杆(7)朝向游泳者大腿的一端联接有大腿杆体(8)，大腿杆体(8)平行于游泳者大腿布置，并与游泳者至少一条大腿固定，所述可变尾鳍固定杆(7)与大腿杆体(8)的联接方式为铰接方式，所述可变尾鳍固定杆(7)与大腿杆体(8)的联接处设有与游泳者膝关节同步弯折的膝部铰接结构(9)，所述可变尾鳍固定杆(7)与大腿杆体(8)之间设有帮助弯折的膝关节回位的至少一个膝部弹性元件(1001)。
  9. 根据权利要求8所述的一种用于巡游的辅助装置系统，其特征在于：所述大腿杆体(8)朝向游泳者躯干部的一端联接有躯干杆体，所述躯干杆体与游泳者的躯干固定，躯干杆体与大腿杆体(8)的联接方式为铰接方式，躯干杆体与大腿杆体(8)的联接处设有与游泳者髋 关节同步弯折的髋部铰接结构，所述躯干杆体与大腿杆体(8)之间设有帮助弯折的髋关节回位的至少一个髋部弹性元件。
  10. 根据权利要求9所述的一种用于巡游的辅助装置系统，其特征在于：所述可变尾鳍固定杆(7)左、右两侧的变鳍踏板(6)分别与膝部弹性元件(1001)、髋部弹性元件通过彼此之间各自设有的至少一个的平衡施力联动元件(12)相联接。
  11. 根据权利要求10所述的一种用于巡游的辅助装置系统，其特征在于：所述可变尾鳍固定杆(7)、大腿杆体(8)内部装有杆体电控操纵装置，杆体电控操纵装置包括变鳍踏板(6)、踏板位置传感器、控制单元、电动机、弹力调节执行机构，变鳍踏板(6)借助弹力调节执行机构分别与大腿杆体(8)上的膝部弹性元件(1001)、躯干杆体上的髋部弹性元件通过彼此之间各自的至少一个的平衡施力联动元件(12)相联接。
  12. 根据权利要求11所述的一种用于巡游的辅助装置系统，其特征在于：所述可变尾鳍固定杆(7)通过小腿捆绑结构(15)与游泳者的小腿相固定或绑定。
  13. 根据权利要求12所述的一种用于巡游的辅助装置系统，其特征在于：所述主尾鳍(1)与可变尾鳍固定杆(7)合并为单一整体，成为整体式的可变尾鳍固定杆(7)，整体式的可变尾鳍固定杆(7)左、右两侧的副尾鳍(2)分别通过各自的主副鳍铰接结构(3)与整体式的可变尾鳍固定杆(7)相联接，左侧的副尾鳍(2)加上右侧的副尾鳍(2)的鳍展宽度可变或鳍展总面积可变。
  14. 根据权利要求13所述的一种用于巡游的辅助装置系统，其特征在于：所述可变尾鳍固定杆(7)或整体式的可变尾鳍固定杆(7)的空间形状类型包括固定于游泳者两腿之间的单根杆的可变尾鳍固定杆(7)、分别与游泳者左右两腿相固定的左右双杆的可变尾鳍固定杆(7)、游泳者两腿共穿一条的单筒形状的可变尾鳍固定杆(7)、游泳者左右两腿各穿一条的左右双筒形状的可变尾鳍固定杆(7)，所述左右双筒形状的可变尾鳍固定杆(7)或左右双杆的可变尾鳍固定杆(7)，左右双筒或左右双杆彼此平行且相互靠拢贴合，并以永磁力或电磁力彼此吸合在一起，相应的左侧的可变尾鳍固定杆(7)和右侧的可变尾鳍固定杆(7)的贴合面分别装有相互成对的永磁体、导磁体或受控供电的电磁线圈，左侧的可变尾鳍固定杆(7)和右侧的可变尾鳍固定杆(7)的贴合面还分别设有相互成对的定位销和定位销孔，定位销包括圆锥销、圆柱销、半球面销、弹性定位销或弹性锁销。
  15. 根据权利要求14所述的一种用于巡游的辅助装置系统，其特征在于：所述由左侧的副尾鳍(2)、右侧的副尾鳍(2)共同组成的仿生尾鳍形状结构替换为由左、右两半组成的固定形状仿生尾鳍或双脚双蹼，左半的固定形状仿生尾鳍或双脚双蹼的左脚蹼与游泳者的左脚相固定，或与所述左侧的筒状的可变尾鳍固定杆(7)或杆状的可变尾鳍固定杆(7)相固 定，右半的固定形状仿生尾鳍或双脚双蹼的右脚蹼与游泳者的右脚相固定，或与所述右侧的筒状的可变尾鳍固定杆(7)或杆状的可变尾鳍固定杆(7)相固定，左、右两半的固定形状仿生尾鳍或双脚双蹼的左脚蹼、右脚蹼彼此平行且相互靠拢贴合，并以永磁力或电磁力彼此吸合在一起，相应的左、右两半的固定形状仿生尾鳍或双脚双蹼的左脚蹼、右脚蹼的贴合面分别装有相互成对的永磁体、导磁体或受控供电的电磁线圈，左、右两半的固定形状仿生尾鳍或双脚双蹼的左脚蹼、右脚蹼的贴合面还分别设有相互成对的定位销和定位销孔，定位销包括圆锥销、圆柱销、半球面销、弹性定位销或弹性锁销。
  16. 根据权利要求15所述的一种用于巡游的辅助装置系统，其特征在于：所述单筒形状的可变尾鳍固定杆(7)或左右双筒形状的可变尾鳍固定杆(7)，每一个筒状的可变尾鳍固定杆(7)上均设置有至少一个用于连接气泵或气筒的气嘴或气门嘴，气泵内置或外接。
  17. 根据权利要求16所述的一种用于巡游的辅助装置系统，其特征在于：所述可变尾鳍固定杆(7)与左、右两侧的副尾鳍(2)之间，各附加一套调节主副鳍弹性元件(4)预设弹性形变或弹力大小的主副鳍弹力调节结构(13)。
  18. 根据权利要求17所述的一种用于巡游的辅助装置系统，其特征在于：所述膝部弹性元件(1001)、髋部弹性元件二者之中至少有一者附加调节预设弹性形变或弹力大小的平衡施力弹力调节结构(14)。
  19. 根据权利要求18所述的一种用于巡游的辅助装置系统，其特征在于：所述可变尾鳍装置按比例缩放尺寸后装于仿生机器鱼、水下仿生机器人或仿生潜艇的尾部并与其内部原有的驱动机构相连接，替换其原装的固定形状的仿生尾鳍，作为其推进装置。
  20. 根据权利要求18所述的一种用于巡游的辅助装置系统，其特征在于：所述主尾鳍(1)和副尾鳍(2)替换为双脚单蹼或固定形状的仿生尾鳍，即可变尾鳍固定杆(7)与双脚单蹼或固定形状的仿生尾鳍相联接，所述的双脚单蹼即海豚蹼或蝶泳蹼。
  21. 根据权利要求18所述的一种用于巡游的辅助装置系统，其特征在于：所述主尾鳍(1)或整体式的可变尾鳍固定杆(7)与一个以上左侧的副尾鳍(2)和一个以上的右侧的副尾鳍(2)以折扇式的结构相联接，所有的左侧的副尾鳍(2)铰接于同一主副鳍铰接结构(3)，所有的右侧的副尾鳍(2)铰接于同一主副鳍铰接结构(3)，各左侧的副尾鳍(2)和各右侧的副尾鳍(2)相互平行，各左侧的副尾鳍(2)加上各右侧的副尾鳍(2)的鳍展总面积或鳍展宽度可变，各左侧的副尾鳍(2)、各右侧的副尾鳍(2)均为内衬有刚性骨架且外部包裹柔性蒙皮的结构形式，所述折扇式的结构中各左侧的副尾鳍(2)、各右侧的副尾鳍(2)内衬的刚性骨架与左、右变鳍踏板(6)分别通过至少一个可变尾鳍联动元件(11)相联接。
  22. 一种用于巡游的辅助装置系统，其特征在于：包括可变尾鳍装置部分、平衡施力装置部分，所述可变尾鳍装置部分包括主尾鳍(1)、副尾鳍(2)，所述平衡施力装置部分包 括小腿杆体、大腿杆体(8)，主尾鳍(1)侧面设置至少一个副尾鳍(2)，主尾鳍(1)和副尾鳍(2)相互平行地联接在一起，主尾鳍(1)加上副尾鳍(2)的鳍展宽度可变，所述小腿杆体平行于游泳者小腿布置，并与游泳者至少一条小腿固定，小腿杆体朝向游泳者大腿的一端联接有大腿杆体(8)，大腿杆体(8)平行于游泳者大腿布置，并与游泳者至少一条大腿固定，所述小腿杆体与大腿杆体(8)的联接方式为铰接方式，所述小腿杆体与大腿杆体(8)的联接处设有与游泳者膝关节同步弯折的膝部铰接结构(9)，所述小腿杆体与大腿杆体(8)之间设有帮助弯折的膝关节回位的至少一个膝部弹性元件(1001)，所述平衡施力装置部分沿小腿杆体的方向与可变尾鳍装置部分联接为一体式结构。
  23. 根据权利要求22所述的一种用于游泳的辅助装置系统，其特征在于：所述副尾鳍(2)通过主副鳍铰接结构(3)与主尾鳍(1)相联接，副尾鳍(2)以主副鳍铰接点为转轴中心转动。
  24. 根据权利要求23所述的一种用于游泳的辅助装置系统，其特征在于：所述大腿杆体(8)朝向游泳者躯干部的一端联接有躯干杆体，所述躯干杆体与游泳者的躯干固定，躯干杆体与大腿杆体(8)的联接方式为铰接方式，躯干杆体与大腿杆体(8)的联接处设有与游泳者髋关节同步弯折的髋部铰接结构，所述躯干杆体与大腿杆体(8)之间设有帮助弯折的髋关节回位的至少一个髋部弹性元件。
  25. 根据权利要求24所述的一种用于游泳的辅助装置系统，其特征在于：所述小腿杆体左、右两侧均布置有固定游泳者脚的变鳍踏板(6)，左、右两侧的变鳍踏板(6)分别与左、右两侧的副尾鳍(2)通过彼此之间设有的至少一个的可变尾鳍联动元件(11)同侧或异侧联接，所述副尾鳍(2)与膝部弹性元件(1001)之间通过至少一个联动元件彼此联动，所述副尾鳍(2)与髋部弹性元件之间通过至少一个联动元件彼此联动。
PCT/CN2018/085760 2017-05-10 2018-05-05 一种用于巡游的辅助装置系统 WO2018205894A1 (zh)

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CN201710324245.3A CN106976534B (zh) 2017-05-10 2017-05-10 一种用于游泳的可变尾鳍装置
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CN201710324270.1 2017-05-10
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CN201710324270.1A CN107050777B (zh) 2017-05-10 2017-05-10 一种用于游泳的平衡施力装置
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CN201710567879.1A CN107174800B (zh) 2017-07-13 2017-07-13 一种用于游泳的智能变速巡游系统
CN201710567878.7A CN107174799B (zh) 2017-07-13 2017-07-13 一种用于游泳的智能可变尾鳍装备
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CN201710602542.XA CN107213601B (zh) 2017-07-21 2017-07-21 一种包含幅度传感器的智能变速巡游系统
CN201710603736.1A CN107224709A (zh) 2017-07-23 2017-07-23 一种用于游泳的可变双尾鳍装备
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CN201710649010.1A CN107284624A (zh) 2017-08-01 2017-08-01 一种用于游泳的机械变速巡游装备
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CN201711060130.4A CN107648810A (zh) 2017-11-01 2017-11-01 一种用于游泳的可转向变速巡游装备
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