CN106005321A

CN106005321A - Biomimetic robotic fish and fish-head floating and sinking control method

Info

Publication number: CN106005321A
Application number: CN201610536605.1A
Authority: CN
Inventors: 应佳伟; 陈辉
Original assignee: Hangzhou Chang Intelligent Technology Co Ltd
Current assignee: Jiangsu Sanzhou Machinery Technology Co., Ltd
Priority date: 2016-07-05
Filing date: 2016-07-05
Publication date: 2016-10-12
Anticipated expiration: 2036-07-05
Also published as: CN106005321B

Abstract

The invention discloses a biomimetic robotic fish. The biomimetic robotic fish comprises a fish head, a fish body, a floating and diving mechanism and a control system. The floating and diving mechanism comprises a first storing-discharging water tank, an air storing tank connected with the first storing-discharging water tank and an air pump, and the first storing-discharging water tank is installed in the front of the fish body. The control system comprises a microprocessor connected with the air pump and a wireless signal receiver connected with the microprocessor, the wireless signal receiver is used for receiving wireless remote control signals and sending the wireless remote control signals to the microprocessor, and when the microprocessor judges that the movement mode represented through the wireless remote control signals is the fish-head floating movement mode or the fish-head diving movement mode, the air pump is controlled to discharge gas in the first storing-discharging water tank into an air storing cylinder, or the air pump is controlled to discharge gas in the air storing cylinder into the first storing-discharging water tank. By means of the biomimetic robotic fish, fish-head floating and fish-head sinking of the biomimetic robotic fish can be conveniently achieved, and the structure is simple. The invention further relates to a fish-head floating and sinking control method of the biomimetic robotic fish.

Description

Bionic machine fish and fish head float and sinking control method

Technical field

The invention belongs to bio-robot technical field, be specifically related to a kind of bionic machine fish and fish head floats and sinking control method.

Background technology

The nineties in 20th century focuses primarily upon theoretical side previously for the bionic research of Fish, along with going deep into of Fish promotion tactics research, robotics, bionics, electronic technology, material science and the new development of control technology, the underwater robot bionic machine fish of simulation fish swimming mechanism receives extensive concern both domestic and external." flux driving is theoretical " that the rope made of hemp Institute of Technology of the U.S. advances according to the fish tail of proposition, develops bionical tuna and the bionical Mugil cephalus of length 0.8 meter of long 1.2 meters.Marine Science Center of Northeast USA university utilizes marmem and linkage to develop the machine Anguillar japonica of undulatory propulsion.University of New Mexico of the U.S. utilizes polyelectrolyte ion exchange membrane IEM, is plated on the foil of bionic machine fish fin, realizes artificial muscle by extra electric field and moves, and produces the travelling method of similar Anguillar japonica.Essex university of Britain devises the machine fish with three-dimensional motion ability.Tokyo Univ Japan have developed the robotic dolphin that two joint advances.Kato etc. have studied the control to fin propulsive mechanism and develop machine fish model machine sea bass.Japan Nagoya university develops marmem and drives miniature physical undulations formula underwater propeller and the dipterus type microrobot of Piezoelectric Ceramic.At home, Harbin Institute of Engineering engineering university has carried out the research work of bionic machine Zhang Yu.BJ University of Aeronautics & Astronautics's robot research have developed machine Anguillar japonica, robotic dolphin and use the SPC series bionic machine fish of flat roomy axe shape hydrodynamic force external form.Chinese Academy of Sciences's Shenyang automation research be have developed diarticular bionic machine fish model.Peking University's mechanics and engineering science system have developed bionical dolphin model machine.Chinese Academy of Sciences's Beijing automation research developed microminiature machine fish, multisensor bionic machine fish etc..

But, the fish head of bionic machine fish floats complicated with sink structures and control method thereof the most both at home and abroad, and manufacturing cost is high.

Summary of the invention

It is an object of the invention to provide a kind of bionic machine fish for solving above-mentioned technical problem.

The embodiment of the present invention provides a kind of bionic machine fish, including fish head, fish body, drives fish head floating and the floating descending mechanism of dive and controls the control system with descending mechanism driving fish head floating with dive that floats；Described floating descending mechanism includes the first storage displacement can for controlling fish head floating and dive, with the first storage tank connected air accumulator of draining, and for controlling to carry out between air accumulator and the first storage displacement can the air pump of gas exchange, described first storage displacement can is arranged on the front portion of fish body, described control system includes the microprocessor being connected with air pump and the wireless signal receiver being connected with microprocessor, wireless signal receiver is used for receiving wireless remote control signals and wireless remote control signals being sent to microprocessor, microprocessor is when judging that the motor pattern that wireless remote control signals represents is fish head dive motor pattern, control air pump to be entered in air reservoir by the gas in the first storage displacement can；When microprocessor is when judging that the motor pattern that wireless remote control signals represents is fish head floating motor pattern, microprocessor controls air pump and the gas in air reservoir enters the first storage displacement can.

Further, described fish body includes fixing the fish neck frame being connected with described fish head, and described first storage displacement can is arranged in described fish neck frame.

Further, described fish head includes the upper jaw, lower jaw and is arranged between the described upper jaw and lower jaw and the fixed mount affixed with the upper jaw, and described fixed mount is fixing with described fish neck frame to be connected.

Further, described fish head also includes opening and closing motor, the first gear and the second gear, opening and closing motor is affixed with the upper jaw, first gear is connected with the rotating shaft of opening and closing motor, second gear and the engagement of the first gear, described fixed mount includes that the first fixed plate, the first fixed plate are provided with pivot, the connection that the second gear is pivoted by pivot and the first fixed plate.

Further, described fish head also includes fixation plate, and fixation plate is affixed with lower jaw, and fixation plate is affixed with the second gear, fixation plate and pivot knuckles.

Further, the first fixed plate is additionally provided with limit shaft, and limit shaft is positioned at lower section or the back lower place of the second gear and pivot, with when lower jaw rotates down, limit shaft and fixation plate against.

Further, fish neck frame takes the shape of the letter U, including the first installing plate, being positioned at the second installing plate below the first installing plate and stator that two ends are connected respectively with the first installing plate and the second installing plate, described first storage displacement can is arranged between the first installing plate and second installing plate of fish neck frame.

Further, the second installing plate is provided with elastomeric element, and the bottom of the first storage displacement can abuts elastomeric element.

Further, described first storage displacement can includes the first tank body and is arranged on the first air bag in this first tank body, offering the first water inlet on wherein said first tank body, and connected with extraneous aqueous phase by this first water inlet, described first gasbag is connected with air pump and described air accumulator successively.

The present invention also provides for the fish head of a kind of above-mentioned bionic machine fish and floats and sinking control method, comprises the following steps:

Receive wireless remote control signals；

Judge the motor pattern representated by wireless remote control signals；

When judging that the motor pattern representated by wireless remote control signals is fish head floating motor pattern, fish head is driven to float；And

When judging that the motor pattern representated by wireless remote control signals is fish head dive motor pattern, drive fish head dive.

Due to the application of technique scheme, the method have the advantages that

The bionic machine fish of the present invention by by first storage displacement can be connected with air accumulator, control to carry out gas transmission between air accumulator and the first storage displacement can by air pump, realize water storage and the draining of the first storage displacement can, and then the fish head realizing bionic machine fish floats and sinks, simple in construction, and there is bionical effect true to nature.

Additionally, the fish head of the bionic machine fish of the present invention floats and sinking control method, by the control signal outside wireless signal receiver reception, microprocessor is when the control signal outside judging represents the signal of fish head floating and dive, control air pump start, realizing floating and the dive of fish head, control method is simple.

Accompanying drawing explanation

Fig. 1 is the perspective view of the provided bionic machine fish of present pre-ferred embodiments.

Fig. 2 is the planar structure schematic diagram of Fig. 1.

Fig. 3 is the decomposing schematic representation of the fish head in Fig. 1.

Fig. 4 is the cross-sectional schematic of the fish head in Fig. 1.

Fig. 5 is the partial exploded view of the fish body in Fig. 1, specially the anterior decomposing schematic representation with fish neck of fish trunk.

Fig. 6 is the decomposing schematic representation after the partial exploded view of the fish body in Fig. 1, specially fish trunk with fish tail portion.

Fig. 7 is the schematic diagram of the fish body pendulous device in Fig. 1.

Fig. 8-10 is the schematic diagram that the fish body pendulous device in Fig. 1 drives that the trunk skeleton of fish body swings.

Figure 11 is the schematic diagram of the fin in Fig. 1.

Figure 12 is the schematic diagram of the flexible joint in Figure 11.

Figure 13 is the schematic diagram of the motor box in Figure 11.

Figure 14 is the schematic diagram of the floating descending mechanism of bionic machine fish of the present invention.

Figure 15 is the schematic diagram of the control system of bionic machine fish of the present invention.

Detailed description of the invention

In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.

The bionic machine fish that present pre-ferred embodiments provides can be true to nature the head simulating Fish float and dive, the mouth opening and closing of Fish can also be simulated realistically simultaneously.

Incorporated by reference to reference to Fig. 1, Fig. 2, Figure 14 and Figure 15, the bionic machine fish of the present invention, including fish head 1, fish body 3, floating descending mechanism 6 and control system 7.First of all for being easy to this bionic mechanical machine fish is described, initially set up and give advice coordinate system, definition X, Y, Z-direction are respectively first direction, second direction and third direction, first direction horizontal direction and be line direction before fish, second direction is that it is vertical with first direction for horizontal direction, third direction is vertically, and fish rises and dive along third direction.

Specifically refer to Fig. 3 and Fig. 4, in the present embodiment, described fish head 1 includes the upper jaw 11, lower jaw 12 and open/close mechanism 13, the upper jaw 11 is connected with lower jaw 12 by open/close mechanism 13, and open/close mechanism 13 is used for driving lower jaw 12 to carry out opening and closing campaign relative to the upper jaw 11, to present opening and closing of face position in this bionic machine fish.In the present embodiment, described open/close mechanism 13 is arranged on the upper jaw 11 with lower jaw 12 near one end of fish body 3, in order to the opening and close of the face position of bionic machine fish.

In the present embodiment, described open/close mechanism 13 includes opening and closing motor the 14, first gear 15 and the second gear 16, opening and closing motor 14 is affixed with the upper jaw 11, first gear 15 is connected with the rotating shaft of opening and closing motor 14, second gear 16 engages with the first gear 15, and the second gear 16 is affixed with lower jaw 12 and hinged with the upper jaw 11.So this open/close mechanism 13 is operationally, opening and closing motor 14 drives the second gear 16 to rotate around the pin joint of the second gear 16 with the upper jaw 11 by the first gear 15, make the second gear 16 drive lower jaw 12 to carry out around the pin joint of the second gear 16 with the upper jaw 11 to rotate, and then achieve this lower jaw 12 and carry out opening and closing campaign relative to the upper jaw 11.It should be noted that the first gear 15 is circular gear, the second gear 16 is sector gear.

Specifically, when opening and closing motor 14 drives the first gear 15 to rotate clockwise, described second gear 16 rotates counterclockwise under the transmission of the first gear 15, and the second gear 16 drives lower jaw 12 to do the motion opened relative to the upper jaw 11；Otherwise, the second gear 16 drives lower jaw 12 to do the motion relative to the upper jaw 11 Guan Bi.Further, the second gear 16 is positioned at the rear of the first gear 15, in order to simulate the mouth opening and closing of Fish realistically, it should be noted that, second gear 16 is positioned at the rear of the first gear 15 and refers to for the first gear 15, and the second gear 16 is closer to fish body.Preferably, the diameter of the second gear 16 is more than the diameter of the first gear 15, in order to control the opening and closing degree of fish mouth.In the present embodiment, pivot 171 is hinged with the center of circle of the second gear 16, and the center of circle of the second gear 16 relative to the teeth portion of the second gear 16 closer to fish body 3, with ensure to simulate realistically Fish mouth opening and closing while realize the quick opening and closing of fish mouth.

In the present embodiment, described open/close mechanism 13 also includes fixed mount 17, described fixed mount 17 is arranged between the described upper jaw 11 and lower jaw 12 and affixed with the upper jaw 11, described fixed mount 17 includes the first longitudinally disposed fixed plate 170, in the horizontal direction, first fixed plate 170 extends along a first direction, and opening and closing motor 14 is arranged on fixed mount 17, and the rotating shaft of opening and closing motor 14 vertically pass the first fixed plate 170 after be connected with the first gear 15.First fixed plate 170 is provided with pivot 171, the connection that second gear 16 is pivoted by pivot 171 and the first fixed plate 170, make the second gear 16 affixed with lower jaw 12 and hinged with the upper jaw 11, with this ensure the upper jaw 11 by open/close mechanism 13 and lower jaw 12 hinged while, open/close mechanism 13 can also drive lower jaw 12 and the upper jaw 11 to carry out opening and closing campaign.

In the present embodiment, fixed mount 17 also includes the second fixed plate 172 of horizontally set, first fixed plate 170 is vertical with the second fixed plate 172 to be connected, second fixed plate 172 is affixed with the upper jaw 11 by fixtures such as screws, and the main body of opening and closing motor 14 is fixed in the second fixed plate 172, i.e. opening and closing motor 14 is affixed with the upper jaw 11 by the second fixed plate 172.Second fixed plate 172 is set and can ensure that fixed mount 17 can be tightened together with the upper jaw 11 by fixtures such as screws, strengthen the structural strength of bionic machine fish.

In the present embodiment; fixed mount 17 also includes longitudinally disposed 3rd fixed plate 173; 3rd fixed plate 173 and the second fixed plate 172 and the first fixed plate 170 is the most vertical is connected; the medial surface of the 3rd fixed plate 173 is provided with the anti-flake 174 being connected with pivot 171, to protect the second gear 16 will not depart from from pivot 171.

In the present embodiment, described open/close mechanism 13 also includes fixation plate 18, and fixation plate 18 is affixed with lower jaw 12, and fixation plate 18 is affixed with the second gear 16, and the i.e. second gear 16 is affixed with lower jaw 12 by fixation plate 18.Wherein, can be attached fixing by the way of rivet, spot welding, soldering between described fixation plate 18 and the second gear 16.Further, fixation plate 18 is in tongue shape, to ensure the head of realistic simulation Fish.Further, fixation plate 18 is hinged with pivot 171, simultaneously facilitates lower jaw 12 and does opening and closing campaign relative to the upper jaw 11 strengthening the structural strength of bionic machine fish.

In the present embodiment, first fixed plate 170 is additionally provided with limit shaft 175, limit shaft 175 is positioned at the second gear 16 and the lower section of pivot 171 or the back lower place, with when lower jaw 12 rotates down, limit shaft 175 and fixation plate 18 against, limit the maximum rotation amplitude of lower jaw 12, i.e. limit the maximum opening width of fish mouth.In the present embodiment, limit shaft 175 is positioned at the back lower place of the second gear 16 and pivot 171.

Continuing with combining with reference to Fig. 3 and Fig. 4, in the present embodiment, two flake installing holes 110 are offered symmetrically on the described upper jaw 11, and on each flake installing hole 110, it is respectively provided with a flake 19, in order to present the appreciation effect that in this bionic machine fish simulation Fish, flake rotates, the fish head of the present embodiment also includes being arranged between the upper jaw 11 and lower jaw 12 the eye drive mechanism 2 rotated for driving flake 19 to carry out in the flake installing hole 110 of the upper jaw 11.In the present embodiment, described eye drive mechanism 2 can drive flake 19 to carry out synchronous axial system in the flake installing hole 110 of the upper jaw 11.

Specifically, described eye drive mechanism 2 includes that eye drives motor 21, crank and rocker mechanism 22 and parallel-crank mechanism 23, described eye drives motor 21 to be assemblied on the upper jaw 11, specifically, eye drives motor 21 to be arranged in the second fixed plate 172, and in other words, namely eye drives motor 21 to be assemblied on the upper jaw 11 by the second fixed plate 172.Eye drives motor 21 to be connected with parallel-crank mechanism 23 by crank and rocker mechanism 22, parallel-crank mechanism 23 is connected with flake 19, and eye drives motor 21 driven parallel-crank mechanism 23 to rotate by crank and rocker mechanism 22 and then driven flake 19 to rotate in the flake installing hole 110 of the upper jaw 11.

Wherein, described crank and rocker mechanism 22 includes that being set in eye drives the eye rotating disk 220 on the shaft of motor 21, it is fixed on the eye crank 221 in eye rotating disk 220 card in hinged way, the other end of wherein said eye crank 221 stretches out from eye rotating disk 220, and be articulated and connected with parallel-crank mechanism 23, to drive parallel-crank mechanism 23 to carry out rotation operation.That is, eye drives motor 21 operationally, parallel-crank mechanism 23 can be driven to carry out rotation operation by this crank and rocker mechanism 22.

Described parallel-crank mechanism 23 includes carrying out the first connecting rod 230 being articulated and connected, the second connecting rod 231 being connected to first connecting rod 230 both side ends in hinged way with the eye crank 221 in crank and rocker mechanism 22, and two the flake pallets 232 being respectively assembled at by flake 19 in the upper jaw 11 on flake installing hole 110, and it is respectively used to two montants 233 connecting flake pallet 232 with second connecting rod 231.Wherein, first connecting rod 230 is all horizontally disposed with second connecting rod 231, and first connecting rod 230 length bearing of trend is parallel with two flake 19 line directions, and second connecting rod 231 is vertical relative to first connecting rod 230.Further, one end of described montant 233 is fixed on the second connecting rod 231 side end away from first connecting rod 230, the other end is fixed on flake pallet 232 in vertical manner, so this flake pallet 232 is using and can do the rotation relative to first connecting rod 230 with second connecting rod 231, and then the flake 19 driving correspondence to be fixed on flake pallet 232 carries out rotation operation.In the present embodiment, it is to be fixedly connected by connecting pin 26 between described flake 19 and flake pallet 232, specifically, the first pin-and-hole 190 is offered on described flake 19, offering the second pin-and-hole 235 on described flake pallet 232, the two ends of described connecting pin 26 are plugged in the first pin-and-hole 190 of flake 19 and the second pin-and-hole 235 of flake pallet 232 respectively and fixing are connected.Drive flake 19 to rotate it is understood that its flake of the bionic machine fish of the present invention drives crank and rocker mechanism 22 band parallel-crank mechanism 23 to rotate then by eye drive mechanism 2, there is the bionical effect of flake true to nature and simple in construction.

Incorporated by reference to reference to Fig. 1, Fig. 2, Fig. 5 and Fig. 6, in the present embodiment, fish body 3 includes trunk skeleton 30 and the afterbody skeleton 40 being connected with trunk skeleton 30.

Trunk skeleton 30 includes multiple joint of trunk 31 being hingedly engaged to each other to form trunk skeleton 30.Joint of trunk 31 takes the shape of the letter U, and including in the form of sheets and first 310 of horizontally set, is positioned at second 311 below first 310 and in the form of sheets, and two ends respectively with first 310 and second 311 connecting portion 312 connected vertically.Wherein, two first about 310 of two adjacent joint of trunk 31 is stacked and by vertically arranged hinge, and two second about 311 of two adjacent joint of trunk 31 is stacked and by vertically arranged hinge.

Specifically, in the present embodiment, connecting portion 312 offered mouth 313 the end of neighbouring first 310, on the connecting portion 312 of in one of them joint of trunk 31 of adjacent two joint of trunk 31 first 310 another joint of trunk 31 of insertion cross mouth 313 in and two first 310 lean and by vertically arranged hinge, two second about 311 of two adjacent joint of trunk 31 is distributed and contacts with each other and by vertically arranged hinge, thus achieve being articulated and connected between two joint of trunk 31, and two joint of trunk 31 with them between bearing pin swing for rotating shaft.

In the present embodiment, fish body 3 also includes the fish neck frame 32 that affixed with fish head 1 and with trunk skeleton 30 the joint of trunk 31 being positioned at forefront is hinged.Specifically, fish neck frame 32 takes the shape of the letter U, including horizontally set the first installing plate 320, be positioned at the second installing plate 321 below the first installing plate 320 and two ends are vertical with the second installing plate 321 with the first installing plate 320 respectively is connected stator 322.Specifically, in the present embodiment, stator 322 is fixing with fish head 1 is connected.At the present embodiment, stator 322 is such as connected, so that fish body 3 is connected with fish head 1 by screw pin etc. is fixing with the 3rd fixed plate 173.Wherein, fish neck frame 32 sees below detailed description for installing the storage displacement can controlling fish head rising and dive.

In the present embodiment, the free end of the first installing plate 320 and the second installing plate 321 extends a pin-joint piece 323 respectively, the pin-joint piece 323 of the first installing plate 320 insert be positioned at front end joint of trunk 31 cross mouth 313 and with first 310 against and by vertically arranged hinge, pin-joint piece 323 on second installing plate 321 and second 311 against and pass through hinge, and then achieve being pivotally connected between joint of trunk 31 and fish neck frame 32, trunk skeleton 30 relative to fish neck frame 32 with them between bearing pin as rotating shaft about put.

In the present embodiment, afterbody skeleton 40 is pivotally connected with trunk skeleton 30, including multiple caudal articular processes 41 being hingedly engaged to each other to form fish tail portion, caudal articular process 41 includes a connecting piece 410 of horizontally set, it is positioned at the second connection sheet 412 below a connecting piece 410, and two ends are connected the 3rd connection sheet 413 of sheet 412 respectively with a connecting piece 410 and second.Described 3rd connection sheet 413 offers in the end of neighbouring a connecting piece 410 wears mouth 414.A connecting piece 410 in one of them caudal articular process 41 of adjacent two caudal articular processes 41 insert on the 3rd connection sheet 413 of another caudal articular process 41 wear mouth 414 in and two a connecting piece 410 lean and by vertically arranged hinge, two the second connection sheets about 412 in two adjacent tail portions joints 41 are distributed and contact with each other and by vertically arranged hinge, thus achieve being articulated and connected between two caudal articular processes 41, and two caudal articular processes 41 with them between bearing pin as rotating shaft about put.

In afterbody skeleton 40 to be positioned at caudal articular process 41 foremost hinged with the joint of trunk 31 of trunk skeleton 30.It is understandable that, the caudal articular process 41 of afterbody skeleton 40 is essentially identical with the structure of the joint of trunk 31 of trunk skeleton 30, simply the afterbody of fish varies in size with trunk, therefore to realistic simulation goes out the form of Fish, the size of caudal articular process 41 is less than the size of joint of trunk 31, further, the caudal articular process 41 hinged with joint of trunk 31 is transition joints, extend obliquely downward as the second connection sheet 412 of the caudal articular process 41 of transition joints and be formed with oblique connection sheet 415 and the free end from this oblique connection sheet 415 extends and the lateral connection sheet 416 hinged with the bottom of the second of joint of trunk 31 311, with when afterbody skeleton 40 is connected with trunk skeleton 30, realize the change between two skeleton difference in size, and then the form imitating out Fish true to nature.

Please gather with reference to Fig. 1, Fig. 2 and Fig. 7, in the present embodiment, fish body 3 also includes fish body pendulous device 33.Fish body pendulous device 33 is divided into the tail swing device for driving afterbody skeleton 40 to swing and for the trunk pendulous device driving trunk skeleton 30 to swing.Each fish body pendulous device 33 includes that fish body oscillating motor 34, reel 35 and the wherein said reel of stay cord 36 35 being wrapped on reel 35 are set on the shaft of fish body oscillating motor 34, and the two ends of described stay cord 36 are protruding from reel 35.In the fish body oscillating motor 34 of trunk pendulous device is arranged on the joint of trunk 31 of trunk skeleton 30 and be particularly located between first 310 and second 311, after driving the two ends of the stay cord 36 corresponding to fish body oscillating motor 34 that trunk skeleton 30 swings to extend along the arragement direction of multiple joint of trunk 31 and wear multiple joint of trunk 31 successively the most forward or backward be positioned at foremost or the joint of trunk 31 of rearmost end is fixing.So this fish body oscillating motor 34 is operationally, fish body oscillating motor 34 drives reel 35 to rotate, and pull the stay cord 36 being wrapped on reel 35 to make its two ends do corresponding retracting and relaxation exercise, and then achieve this fish body oscillating motor 34 and drive trunk skeleton 30 to swing, thus imitate out the action that Fish trunk swings.

In the present embodiment, the electric-controlled box 301 for loading control system 7 it is provided with on trunk skeleton 30, trunk skeleton 30 is divided into anterior trunk skeleton and rear portion trunk skeleton by electric-controlled box 301, first 310 free end with second 311 of the joint of trunk 31 being positioned at rear end of anterior trunk skeleton is such as connected by screw is fixing towards electric-controlled box 301 and with electric-controlled box 301, and first 310 free end with second 311 of the joint of trunk 31 being positioned at front end of rear portion trunk skeleton arranges towards electric-controlled box 301 and be such as connected by screw is fixing with electric-controlled box 301.The quantity of trunk pendulous device is two, the fish body oscillating motor 34 of this trunk pendulous device is separately positioned in the joint of trunk 31 of anterior trunk skeleton and rear portion trunk skeleton, to drive anterior trunk skeleton and rear portion trunk skeleton, simulate, with vivider, the action that Fish trunk swings.It should be noted that, the stay cord 36 of fish body oscillating motor 34 correspondence being arranged on anterior trunk skeleton, its two ends are fixing with the joint of trunk 31 being positioned at foremost after extending along the arragement direction of multiple joint of trunk 31 and wear multiple joint of trunk 31 successively the most forward；The stay cord 36 of fish body oscillating motor 34 correspondence being arranged on the trunk skeleton of rear portion, its two ends extend back simultaneously along the arragement direction of multiple joint of trunk 31 and wear multiple joint of trunk 31 successively after be positioned at rear end volume joint of trunk 31 and fix.

As shown in Fig. 8 to Figure 10, drive the fish body oscillating motor 34 that anterior trunk skeleton swings when start, during with corresponding with this fish body oscillating motor 34 reel 35 coiling, reel 35 simply will be located in the stay cord 36 of reel 35 side and is wrapped on reel 35 when coiling, the stay cord 36 making this side is furled, such as when fish body oscillating motor 34 drives reel 35 to turn clockwise, stay cord 36 on the right side of reel 35 is furled on reel 35, shortening of stay cord 36 on the right side of reel 35, anterior trunk skeleton swings to the right, otherwise anterior trunk skeleton swings the most to the left, the swing principle of rear portion trunk skeleton is same as described above, do not repeat them here.Anterior trunk skeleton and the swing of rear portion trunk skeleton, can make bionic machine fish turn, and this bionical effect is true to nature.

In the present embodiment, the top of connecting portion 312 offers two perforation 313 symmetrically, and these two perforation 313 are for driving the stay cord 36 corresponding to fish body oscillating motor 34 of trunk skeleton swing to pass.Drive the stay cord 36 corresponding to fish body oscillating motor 34 that trunk skeleton swings when being tightened up, by the perforation 313 of correspondence power can be acted on and on joint of trunk 31, make joint of trunk 31 swing.In the present embodiment, connecting portion 312 includes that the first of triangular shape connects plate body and the second connection plate body vertically extended from the first bottom connecting plate body, being arranged such connecting portion 312 can be with Appropriate application space, it is to avoid interfering between element, and alleviates the overall weight of fish body.Further, in the present embodiment, cross mouth 313 to be opened on the first connection plate body.

Fish body oscillating motor 34 in tail swing device is arranged on the joint of trunk 31 being positioned at rearmost end of trunk skeleton 30, between first 310 and second 311 of the joint of trunk 31 in rearmost end being specifically arranged on trunk skeleton 30, the two ends of the stay cord 36 corresponding to fish body oscillating motor 34 that afterbody skeleton 40 swings are driven to fix with last caudal articular process 41 after extending back along the arragement direction of multiple caudal articular processes 41 simultaneously and wearing multiple caudal articular process 41 successively.The joint of trunk 31 being positioned at rearmost end of trunk skeleton 30 refers to that joint being connected with afterbody skeleton 40 of trunk skeleton 30.The fish body oscillating motor 34 of tail swing device is operationally, the fish body oscillating motor 34 driving afterbody skeleton 40 to swing drives the reel 35 of this fish body oscillating motor 34 correspondence to rotate, and pull the stay cord 36 being wrapped on reel 35 make its two ends furl accordingly and loosen, and then achieve fish body oscillating motor 34 and drive afterbody skeleton 40 to swing, thus imitate out the action of Fish tail swing.

In the present embodiment, 3rd connection sheet 413 of caudal articular process 41 offers two cable-through holes 416 being symmetrically distributed in top, and the stay cord 36 corresponding to fish body oscillating motor 34 so driving afterbody skeleton 40 to swing connects the cable-through hole 416 on sheet 413 through the 3rd of caudal articular process 41 and fixes with the caudal articular process 41 being positioned at rear end.

In the present embodiment, fish body 3 also includes flexible member 37 and multiple lug 38 of strip, and lug 38 is provided with through hole 380.Lug 38 is distributed on each joint of trunk 31 and caudal articular process 41, is particularly located at the top of joint of trunk 31 and caudal articular process 41, is more specifically in backbone first 310 of joint 31 and the top on a connecting piece 410 of caudal articular process 41.Flexible member 37 wears the two ends of through hole 380 and flexible member 37 and is fixed on fish body 3, and such fish body 3 is when swinging, and the pliability of fish body 3 is strong.In the present embodiment, flexible member 37 for example, Elastic Steel cord.

Further, a lug 38 in multiple lugs 38 is distributed on fish neck frame 32, is specially the top with fish neck frame 32, is more specifically positioned on the top of the first installing plate 320 of fish neck frame 32.Flexible member 37 wears the through hole 380 on the lug 38 of fish neck frame 32, with when trunk skeleton 30 rotates relative to fish neck frame 32, strengthens the pliability between trunk skeleton 30 and fish neck frame 32.In the present embodiment, owing to trunk skeleton 30 is divided into anterior trunk skeleton and rear portion trunk skeleton by electric-controlled box 301, therefore, flexible member 37 quantity is two, one of them flexible member 37 through anterior trunk skeleton and the through hole 380 on the lug 38 on fish neck frame 32, the two ends of this flexible member 37 respectively with anterior trunk skeleton and fish neck frame 32；Another flexible member 37 is through rear portion trunk skeleton and the through hole 380 on the lug 38 on afterbody skeleton 40, and the two ends of this flexible member 37 are fixed with rear portion trunk skeleton and afterbody skeleton 40 respectively.

Incorporated by reference to reference to Fig. 1, Figure 11 to Figure 13, in the present embodiment, fish body 3 being additionally provided with fin 5, fin 5 is arranged in pairs and is symmetrically disposed in the both sides of trunk skeleton 30.

Described fin 5 includes fin skeleton 50 and the fin support 51 being connected with fin skeleton 50, and fin support 51 is connected with fish body 3.Wherein, fin skeleton 50 includes skeleton substrate 501 and the multiple flexible joints 502 being hinged being positioned apart from skeleton substrate 501, wherein, the length bearing of trend of skeleton substrate 501 is vertical with the length bearing of trend of fish body 3, and the length bearing of trend of flexible joint 502 is parallel with the length bearing of trend of fish body 3.

All fixing with skeleton substrate 501 and along fish body 3 the length bearing of trend in one end of each flexible joint 502 is arranged.Each soft energy property joint 502 includes the sub-joint 503 of multiple lamellar, the sub-joint of two, adjacent company 503 is connected by connection rotating shaft 505, a torsion spring 504 it is arranged with on connection rotating shaft 505, the two ends of each torsion spring 504 are respectively held against two sub-joints 503, can keep the pliability of fin skeleton 50 when fin skeleton 50 swings, will allow fin skeleton 50 that moderate finite deformation, and reinstatement under the effect of torsion spring 504 after fin skeleton 50 deforms occur because of the change of hydraulic pressure.

In the present embodiment, fin 5 also includes fin pendulous device 52 and fin motor box 58.Fin pendulous device 52 includes fin oscillating motor 520, fin rotating disk 521 and fin crank 522.Wherein, fin oscillating motor 520 is arranged on interior and fin oscillating motor 520 the shaft of fin motor box 58 and passes fin motor box 58.Described fin rotating disk 521 is set on the shaft of fin oscillating motor 520, the two ends of described fin crank 522 are pivotally connected with fin rotating disk 521 and fin support 51 respectively, the medium position of fin support 51 is pivotally connected by the front end face of connecting shaft 581 with fin motor box 58, it should be noted that the front end face of fin motor box 58 refers to the fin motor box 58 face towards fish head 1.It is understandable that, fin rotating disk 521, fin crank 522 and fin support 51 constitute a double leval jib linkage structure, so this fin oscillating motor 520 is operationally, can pass through fin rotating disk 521 and fin crank 522 transmission, and fin support 51 swings up and down operation.In the present embodiment, fin motor box 58 is arranged in the joint of trunk 31 of trunk skeleton 30, concrete fin motor box 58 arranges between first 310 of this joint of trunk 31 and second 311, and be specifically such as fixed on second 311 by fixtures such as screws, it is understood that fin support 51 is connected with the trunk skeleton 30 of fish body 3 by fin motor box 58.

In the present embodiment, being arranged in same fin motor box 58 with two fin oscillating motors 520 in a pair fin 5, fin motor box 58 is fixed between first 310 and second 311 of the predetermined joint of trunk of trunk skeleton 30 31.The front portion of this fin motor box 58 arranges cover plate 59, and the pivot that fin crank 522 links together is arranged on fin motor box 58.The cover plate 59 of fin motor box 58 is provided with the perforation 591 that the shaft for two fin oscillating motors 520 wears, and connecting shaft 581 is arranged on cover plate 59.

In the present embodiment, fin 5 also includes the fin tumbler 53 for driving fin skeleton 50 to swing.Fin tumbler 53 includes fin rotary electric machine 531, shaft coupling 532 and connecting rod 533, the rotating shaft of this fin rotary electric machine 531 is the most vertical with the length bearing of trend of fish body 3, fin rotary electric machine 531 is fixing with fin support 51 to be connected, fin rotary electric machine 531 is connected with connecting rod 533 by shaft coupling 532, connecting rod 533 is fixing with skeleton substrate 501 to be connected, the fin rotary electric machine 531 of fin tumbler 53 is dynamically connected bar 533 in rotational band, and connecting rod 533 rotates and then drives fin skeleton 50 to rotate.

It is understood that fin 5 can be divided into anterior fin and rear portion fin, the structure of anterior fin is as described above, rear portion fin only can swing up and down will not swing, in other words, namely rear portion fin does not include fin tumbler 53.It is understood that fin 5 is not when including fin tumbler 53, the fin support 51 of fin 5 and fin skeleton 50 such as can be fixed together by fixtures such as screws or by the way of welding.More particularly, the fin motor box 58 of anterior fin is fixed in the joint of trunk 31 being connected with electric-controlled box 301 of anterior trunk skeleton, and the fin motor box 58 of rear portion fin is fixed in the joint of trunk 31 of rear portion trunk skeleton.

It should be noted that, fin 5 swing can rise to become to tilt forward or backward certain angle in horizontal plane with during dive fish, such as between 15 ° to 30 °, such fish will be diminished by the opposition of water during dive in rising, and beneficially fish rises and dive.

At the present embodiment, described bionic machine fish also includes floating and the floating descending mechanism 6 of dive for realizing this bionic machine fish, and floating descending mechanism 6 includes for controlling the first storage displacement can 61 that fish head 1 floats with dive and the first storage air accumulator 62 of being connected of displacement can 61 and storing up carry out the air pump 63 of gas exchange between displacement can 61 for controlling air accumulator 62 and first.When needs fish head 1 floats, the gas in air accumulator 62 is entered in the first storage displacement can 61 by air pump 63, and then is discharged by the water in the first storage displacement can 61 so that the weight of fish head 1, it is achieved fish head 1 floats；Otherwise, then realize fish head 1 and sink.Specifically, air pump 63 turns clockwise and can be entered by the gas in air accumulator 62 in first storage displacement can 61, and air pump 63 turns counterclockwise and the gas in the first storage displacement can 61 can be entered gas tank 62.In the present embodiment, the dividing plate that electric-controlled box 301 is divided into Liang Ge chamber resettling it is provided with in electric-controlled box 301, one of them chamber installation control system 7, the air pump 62 in floating descending mechanism 6 is installed by another chamber resettling, and air pump 62 is fixed on dividing plate, it should be noted that in the present embodiment, electric-controlled box 301 is divided into upper and lower spaced Liang Ge chamber resettling by dividing plate.Air accumulator 62 is arranged in the joint of trunk 31 of trunk skeleton 30.Concrete, the quantity of air accumulator 62 such as can be two in this embodiment, two air accumulators 62 are arranged in the joint of trunk 31 of anterior trunk skeleton, in being specifically located at the joint of trunk 31 being connected with fish neck frame 32 and in the joint of trunk 31 being connected with electric-controlled box 301 of anterior trunk skeleton, the air accumulator 62 being located in the joint of trunk 31 being connected with electric-controlled box 301 is positioned at the top of fin motor box 58, to reach Appropriate application space, and can be the first storage displacement can 61 with the second storage displacement can 65 provides sufficient gas and sucks two gases stored up in displacement can, realize fish head 1 and the floating of fish body 3 and sinking.

Specifically, first storage displacement can 61 is arranged between the first installing plate 320 and second installing plate 321 of fish neck frame 32, first installing plate 320 is provided with opening 324, pass through for the valve on the first storage displacement can 61, it is connected with air accumulator 62 to facilitate valve to pass through airway, and then conveniently the gas circuit in bionic mechanical machine fish is arranged.Second installing plate 321 is provided with elastomeric element 325, and the bottom of the first storage displacement can 61 abuts elastomeric element 325, in order to convenient installation the first storage displacement can 61 also relies on the elastic-restoring force of elastomeric element 325 to prevent the first storage displacement can 61 from loosening.In the present embodiment, the arch sheet that elastomeric element 325 is for example, elastic, in order to install the first storage displacement can 61.In the present embodiment, air accumulator 62 is such as arranged in fish neck frame 32, and in other embodiments, the first storage displacement can 61 can directly be arranged in fish head 1.

In the present embodiment, the first storage displacement can 61 includes the first tank body 610 and the first air bag 612 being arranged in this first tank body 610, wherein said first tank body 610 offers the first water inlet, and is connected with extraneous aqueous phase by this first water inlet.It is understood that when fish head 1 needs floating or dive, the gas in air accumulator 62 is entered in the first air bag 612 by air pump 63, first air bag 612 expands and the water in the first tank body 610 is entered the external world, alleviate the first storage displacement can 61 weight, and then alleviate the weight of fish head 1 so that fish head 1 floats；Otherwise then increase the weight of fish head 1, make fish head sink.After on fish head 1, latent dive receives.

In the present embodiment, floating descending mechanism 6 also includes for controlling fish body 3 and floating, the second storage displacement can 65 of dive, and air pump 63 is connected with the second storage displacement can 65, since control air accumulator 62 and second and store up and carry out gas exchange between displacement can 65.When needing fish body 3 to float, the gas in air accumulator 62 is entered in the second storage displacement can 65 by air pump 63, and then is discharged by the water in the second storage displacement can 65 so that the weight of fish body 3, it is achieved fish body 3 floats；Otherwise, then realize fish body 3 and sink.

In the present embodiment, the second storage displacement can 65 includes the second tank body 650 and the second air bag 652 being arranged in this second tank body 650, wherein said second tank body 650 offers the second water inlet, and is connected with extraneous aqueous phase by this second water inlet.It is understood that when fish body 3 needs floating or dive, the gas in air accumulator 62 is entered in the second air bag 652 by air pump 63, second air bag 652 expands and the water in the second tank body 650 is entered the external world, alleviate the second storage displacement can 65 weight, and then alleviate the weight of fish body 3 so that fish body 3 floats；Otherwise then increase the weight of fish body 3, make fish body 3 dive.After on fish body 3, latent dive terminates.

Concrete, at the present embodiment, the second storage displacement can 65 is arranged on the middle part of trunk skeleton 30, and is specifically located in the joint of trunk 31 being connected with electric-controlled box of fish rear portion trunk.Described second storage displacement can 65 is applied in this bionic machine fish, for driving fish body 3 to carry out floating dive, owing to the total quality of fish body 3 is greater than the total quality of fish head 1, for this, the quantity of the present embodiment is two, and it is symmetrically distributed in the both sides of trunk skeleton 30, and is arranged between first 410 and second 411 of the skeleton joint 41 that rear portion trunk skeleton is connected with electric-controlled box 301.

Further, in the present embodiment, floating descending mechanism 6 includes the first electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electromagnetic valve 68, first electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electromagnetic valve 68 include the 3rd air guide port C that two the first air guide port A, the second air guide port B and the first air guide port A and the second air guide port B connect the most respectively, control the first valve switch of the first air guide port A and the 3rd air guide port C conducting, and control the second valve switch of the second air guide port B and the 3rd air guide port C conducting.The first air guide port A and the second air guide port B of the first electromagnetic valve 66 is connected with the first storage displacement can 61 and the second storage displacement can 65 respectively, the second air guide port B and the first air guide port A of corresponding 3rd electromagnetic valve 68 of the first air guide port A and the second air guide port B of the second electromagnetic valve 67 connect, air accumulator 62 is connected between the first air guide port A and the second air guide port B of the 3rd electromagnetic valve 68 of the second electromagnetic valve 67, 3rd air guide port C of the first electromagnetic valve 66 is connected between the second air guide port B and the first air guide port A of the 3rd electromagnetic valve 68 of the second electromagnetic valve 67, 3rd air guide port C of the 3rd electromagnetic valve 68 is connected with the 3rd air guide port C of the second guide valve by air pump 62.When needs fish body 3 floats, air pump 62 is bled the most clockwise, and the second valve switch of three electromagnetic valves is all opened, the gas in air accumulator 62 is made to enter in the first storage displacement can 61, water in first storage displacement can 61 is discharged, thus realizes fish head 1 and float, otherwise then fish head 1 sinks.When needs fish body 3 floats, air pump 62 is bled the most clockwise, and the second valve switch of three electromagnetic valves is all opened, the gas in air accumulator 62 is made to enter the second storage displacement can 65, water in second storage displacement can 65 is discharged, thus realizes fish body 3 and float, otherwise then fish body 3 sinks.

Control system 7 includes microprocessor 701, microprocessor 701 is connected with the fish body oscillating motor 34 driving trunk skeleton 30 to swing, to control the start of the fish body oscillating motor 34 driving trunk skeleton 30 to swing, to realize the swing at trunk skeleton 30 position, and then realize bionic machine fish turning.When turning, the fish body oscillating motor 34 that microprocessor 701 controls to drive trunk skeleton 30 to swing drives the reel 35 of correspondence that stay cord 36 is carried out coiling, trunk skeleton 30 is driven to rotate to side, realize bionic machine fish to turn, after turning terminates, the fish body oscillating motor 34 driving trunk skeleton 30 to swing drives reel 35 to rotate and makes trunk stay cord 36 return, stops operating after i.e. returning to initial position.

Microprocessor 701 is also connected with the fish body oscillating motor 34 driving afterbody skeleton 40 to swing, to control the start of the fish body oscillating motor 34 driving afterbody skeleton 40 to swing, realize the swing of afterbody skeleton 40, provide driving force for bionic machine fish, and then realize bionic machine fish advance.When needing bionic machine fish to advance, the fish body oscillating motor 34 that microprocessor 701 controls to drive trunk skeleton 30 to swing rotates and reverse, make correspondence reel 35 be pointed to respectively left side stay cord 36 and be positioned at right side stay cord 36 carry out coiling, trunk skeleton 30 is driven to swing, driving force is provided for bionic machine fish, after bionic machine fish halts, the fish body oscillating motor 34 controlling to drive afterbody skeleton 40 to swing is stopped operating, makes bionic machine fish halt.

Microprocessor 701 is also connected with the fin oscillating motor 520 in fin pendulous device 52.To control the start of fin oscillating motor 520, with when bionic machine fish advances, the fin 5 of bionic machine fish is made to swing, steady and bionical better true to nature to move about when bionic machine fish advances.

Microprocessor 701 is also connected with fin rotary electric machine 531, to control the start of fin rotary electric machine 531, it is to float or during dive, microprocessor 701 controls fin rotary electric machine 531 and rotates, to drive fin 5 to rotate forward or backward as set angle, to reduce floating and the dive of the water opposition to fin 5, beneficially bionic machine fish.

Control system 7 also includes fish body positional detecting device 71, fish body positional detecting device 71 is divided into the position signalling for gathering afterbody skeleton 40 and transmits the tail position detection device to microprocessor 701, and for gathering the position signalling of trunk skeleton 30 and being sent to the trunk position detection device of microprocessor 70.

Microprocessor 701 is for judging the position of afterbody skeleton 40 according to the position signalling of the afterbody skeleton 40 received and control for driving the fish body oscillating motor 34 of tail swing to carry out corresponding start.Specifically, the position signalling of afterbody skeleton 40 includes afterbody maximum left avertence position signalling, afterbody maximum right avertence position signalling and afterbody initial position signal, when afterbody amount of deflection reaches maximum, microprocessor 701 controls for driving the fish body oscillating motor 34 of tail swing rotate round about and then drive afterbody skeleton 40 to swing, when afterbody skeleton 40 swings to initial position, the fish body oscillating motor 34 that microprocessor 701 can be controlled for driving afterbody skeleton 40 to swing stops operating.It is understandable that, microprocessor 701 by reception of wireless signals 702 receive the control instruction of outside input such as stop swinging fish tail time, microprocessor 701 i.e. controls for driving the fish body oscillating motor 34 of tail swing to drive afterbody skeleton 40 to swing to initial position, and swings to initial position control for driving the fish body oscillating motor 34 of tail swing to stop operating at afterbody skeleton 40；Certainly, microprocessor 701 can also be according to the operation program of its storage inside, control after tail swing reaches the setting time for driving the fish body oscillating motor 34 of tail swing to drive afterbody skeleton 40 to swing to initial position, and swing to initial position control for driving the fish body oscillating motor 34 of tail swing to stop operating at afterbody skeleton 40.

Microprocessor 70 is additionally operable to the position signalling according to trunk skeleton 30 and controls to carry out corresponding start for the fish body oscillating motor 34 driving trunk skeleton 30 to swing.Specifically, the position signalling of trunk skeleton 30 includes trunk maximum left avertence position signalling, trunk maximum right avertence position signalling and trunk initial position signal, after trunk skeleton 30 deflection reaches peak excursion position, microprocessor 701 controls to opposite direction rotation and then to drive trunk skeleton 30 to swing for the fish body oscillating motor 34 driving trunk skeleton 30 to swing, when trunk skeleton 30 returns to initial position, processor 701 controls to stop operating, so that trunk skeleton 30 is parked in home position for the fish body oscillating motor 34 driving trunk skeleton 30 to swing.It is understandable that, microprocessor 701 by reception of wireless signals 702 receive the control instruction of outside input such as stop swinging trunk skeleton 30 time, microprocessor 701 i.e. controls to drive trunk skeleton 30 to swing to initial position for the fish body oscillating motor 34 that drives trunk to swing, and swings to initial position control at trunk skeleton 30 and stop operating for the fish body oscillating motor 34 driving trunk to swing；Certainly, microprocessor 701 can also be according to the operation program of its storage inside, trunk swing reach the setting time after control the fish body oscillating motor 34 for driving trunk to swing drive trunk skeleton 30 to initial position swing, and trunk skeleton 30 swing to initial position control stop operating for the fish body oscillating motor 34 driving trunk to swing.

Specifically, each fish body positional detecting device 71 includes the first fish body Hall element 711, the second fish body Hall element the 712, the 3rd fish body Hall element 713 and fish body Magnet 714.First fish body Hall element 711, the second fish body Hall element the 712, the 3rd fish body Hall element 713 produces maximum left avertence position signalling, initial position signal and maximum right avertence position signalling for corresponding when aliging with fish body Magnet 714.nullSpecifically，The first fish body Hall element 711 in tail position detection device，Second fish body Hall element 712、3rd fish body Hall element 713 is arranged on caudal articular process 41 foremost，Fish body Magnet 714 is arranged on the fish body oscillating motor 34 for driving afterbody skeleton 40 to swing，So the first fish body Hall element 711 in tail position detection device，Second fish body Hall element 712、3rd fish body Hall element 713 will swing along with caudal articular process 41 and swing，Fish body Magnet 714 will not swing，Such first fish body Hall element 711，Second fish body Hall element 712、3rd fish body Hall element 713 aligns with fish body Magnet 714 respectively along with afterbody skeleton 40 swings，Corresponding generation afterbody maximum right avertence position signalling，Afterbody initial position signal and afterbody maximum right avertence position signalling.

nullFirst fish body Hall element 711 of trunk position detection device，Second fish body Hall element 712、On the joint of trunk 31 that the joint of trunk 31 of the fish body oscillating motor 34 that the 3rd fish body Hall element 713 was arranged on and was provided with driving trunk skeleton 30 swing closes on，Fish body Magnet 714 is arranged on the fish body oscillating motor 34 for driving trunk skeleton 30 to swing，So the first fish body Hall element 711 of the fish body positional detecting device 71 in trunk position detection device，Second fish body Hall element 712、Swing along with joint of trunk 31 is swung by the 3rd fish body Hall element 713，Fish body Magnet 714 will not swing，Such first fish body Hall element 711，Second fish body Hall element 712、3rd fish body Hall element 713 aligns with fish body Magnet 714 respectively along with trunk skeleton 30 swings，Corresponding generation trunk maximum right avertence position signalling，Trunk initial position signal and trunk maximum right avertence position signalling.

In the present embodiment, fish body positional detecting device 71 also includes installing rack 715.Installing rack 715 includes first mounting blocks the 716, second mounting blocks 717 and connects support 718, and the first mounting blocks 716 is stacked and hinged with the second mounting blocks about 717, and the bottom of the second mounting blocks 717 is fixed together with being connected support 718.First fish body Hall element 711, the second fish body Hall element the 712, the 3rd fish body Hall element 713 is arranged on the first mounting blocks 716, and fish body Magnet 714 is arranged on the second mounting blocks 717.The fish body positional detecting device 71 gathering trunk skeleton 31 swing position information and the fish body positional detecting device 71 of the swing position information gathering afterbody skeleton 40, the first mounting blocks 716 in them is separately positioned on and is provided with on caudal articular process 41 on the joint of trunk 31 that the joint of trunk 31 of fish body oscillating motor 34 driving trunk skeleton 30 to swing closes on and foremost and is particularly located on first 310 of this joint of trunk 31 and a connecting piece 410 of this caudal articular process, and the second mounting blocks 717 in them is arranged on the fish body oscillating motor 34 driving trunk skeleton 31 and the fish body oscillating motor 34 driving afterbody skeleton 40 to swing by connecting support 715.So, trunk skeleton 31 and afterbody skeleton 40 are when swinging, the first fish body Hall element 711 in the fish body positional detecting device 71 of its correspondence, second fish body Hall element 712 and the 3rd fish body Hall element 713 can occur position to offset relative to fish body Magnet 714, make the first fish body Hall element 711, second fish body Hall element 712 and the 3rd fish body Hall element 713 can align with fish body Magnet 714, and then produce fish body position signalling.

In the present embodiment, connect and on support 715, be additionally provided with connection axostylus axostyle 719, first mounting blocks 716 and the second mounting blocks 717 are all in triangular shape, two summits that first mounting blocks 716 is relative with the second mounting blocks 717 are linked together, so that the first mounting blocks 716 can relatively rotate with the second mounting blocks 717 by what connection axostylus axostyle 719 rotated.

In the present embodiment, control system 7 also includes fin positional detecting device, fin positional detecting device is used for obtaining fin and is positioned at initial position signal, and according to fin initial position message control fin oscillating motor after fin returns to initial position, stops controlling fin and swing up and down.Wherein, fin positional detecting device includes fin Hall element (not shown) and fin Magnet (not shown), fin Hall element is arranged on fin support 51, fin Magnet is arranged on cover plate 59, when fin support 51 is positioned at initial position, fin Magnet aligns with fin Hall element, fin Hall element sense fin Magnet and produce fin be positioned at initial position signal send to microprocessor 701, when need not fin swing time, microprocessor 701 receive fin return to initial position signal stop drive fin swing.It is understood that fin is when swinging, fin support 51 opposing cover plates 59 rotates, and such fin Hall element will stagger with fin Magnet, and fin Hall element will not produce fin and be positioned at initial position signal.The main purpose arranging fin positional detecting device is to facilitate fin to return to initial position.

Microprocessor 701 is also connected with air pump the 63, first electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electromagnetic valve 68, to control the opening and closing of air pump 63, and first the first valve on electromagnetic valve the 66, second electromagnetic valve 67 and the 3rd electromagnetic valve 68 and the opening and closing of the second valve, when bionic machine fish needs to float or sink, to make bionic machine fish float or to sink.Bionic machine fish float and sink principle and in foregoing describe in detail, do not repeat them here.

In the present embodiment, control system 7 in the present invention also includes the first water depth sensor 74 and the second water depth sensor 75 being connected with microprocessor 701, first water depth sensor 74 and the second water depth sensor 75 are separately mounted on fish head 1 and fish body 3, first water depth sensor 74 and the second water depth sensor 75 are in water the degree of depth the depth of water is converted into digital signal is sent to microprocessor 701 for the fish head 1 and fish body 3 gathering bionic machine fish, microprocessor 701 controls the start of air pump 63 according to the water signal that the first water depth sensor 74 and the second water depth sensor 75 collect, first, second and third electromagnetic valve 66, 67, the opening and closing of the valve switch of 68.

Concrete, when according to the water signal that the first water depth sensor 74 collects, microprocessor 701 judges that fish head 1 is positioned at the first set depth, close the first valve switch of first, second and third electromagnetic valve 66,67,68, no longer the gas in air accumulator 62 is entered the first air bag 612, no longer the water in the first storage displacement can 61 is discharged, the weight of the first storage displacement can 61 no longer alleviates, and fish head 1 stops floating；When according to the water signal that the second water depth sensor 75 collects, microprocessor 701 judges that fish body 3 floats up to the first set depth, air pump 63 cuts out the second valve switch simultaneously closing first, second and third electromagnetic valve 66,67,68 by microprocessor 701, no longer the gas in air accumulator 62 is entered in the second air bag 652, first storage displacement can 65 no longer draining, the weight of fish body 3 no longer alleviates, and fish body no longer floats.

Microprocessor 701 according to the first water depth sensor 74 collect water signal judge that fish head 1 is positioned at the second set depth time, close the first valve switch of first, second and third electromagnetic valve 66,67,68, no longer the gas in the first air bag 612 is entered air accumulator 62, first storage displacement can 61 is no longer poured water, the weight of fish head 1 no longer strengthens, fish head 1 no longer dive；When according to the water signal that the second water depth sensor 75 collects, microprocessor 701 judges that fish body 3 is positioned at the second set depth, air pump 63 cuts out the second valve switch simultaneously closing off first, second and third electromagnetic valve 66,67,68 by microprocessor 701, no longer the gas in the second air bag 652 is entered cylinder air accumulator 62, first storage displacement can 65 is no longer poured water, the weight of fish body 3 no longer strengthens, and fish body no longer sinks.

It should be noted that, first set depth and the second set depth are stored in microprocessor 701, the degree of depth breath that microprocessor 701 collects according to the first water depth sensor 74 and the second water depth sensor 75 judges whether bionic machine fish is positioned at the first set depth in floating-upward process, the second set depth whether it is positioned in sinking watching, during the two, if result is to be that microprocessor 701 controls air pump 63 and carries out above-mentioned start.

In the present embodiment, microprocessor 701 is also connected with the opening and closing motor 14 in open/close mechanism 13, for controlling the start of opening and closing motor 14 to control opening and Guan Bi of fish mouth.Specifically, when needs fish mouth opening and closing, microprocessor 701 controls opening and closing motor 14 and first drives the first gear 15 rotating forward to drive the second gear 16 to invert, second gear 16 drives lower jaw 12 to rotate down around pivot 171, so that fish mouth is opened, then microprocessor 701 control opening and closing motor 14 drive first gear 15 reversion drive the second gear 16 rotate forward, the second gear 16 drives lower jaw 12 to be rotated up around hinge axis 171, so that fish mouth Guan Bi, thus complete fish mouth opening and closing.

In the present embodiment, processor 701 also drives motor 21 to be connected with eye, drives the start of motor 21 for controlling eye, with when needs rotate flake 19, make eye drive motor 21 to work, drive crank and rocker mechanism 22 to drive parallel-crank mechanism 23 start, and then drive flake 19 to rotate.

The wireless signal receiver 702 that control system 7 is also connected with microprocessor 701, wireless signal receiver 702 is for receiving the wireless remote control signals of outside and sending wireless remote control signals to microprocessor 701, microprocessor 701 controls the start of float means 6 in each start driving motor and dive according to wireless remote control signals, so that bionic machine fish is according to the movement pattern specified by wireless remote control signals.In the present embodiment, microprocessor 701 and wireless signal receiver 702 are respectively provided with on circuit boards, and circuit board is sealed in electric-controlled box 301.

Motor pattern specified by wireless remote control signals includes multiple monomer motor pattern and free cruise mode.Multiple monomer motor patterns include that fish head floats, floating with fish, fish head sinks, fish body sinks, fish mouth is opened, fish mouth close, eye rotation, trunk swing, fin swings up and down, fish tail swing and fin rotation.It is understood that fish head floats floats synthesizing bionic machine fish floating with fish.Fish head sinks and fish body sinking synthesizing bionic machine fish dive.Fish mouth is opened and is closed synthesizing bionic machine fish fish mouth opening and closing with fish mouth.Trunk swings and forms bionic machine turning.Fish tail swing advances for bionic machine fish provides motive force, forms bionic machine fish swimming.Fin swings the balance for ensureing bionic machine fish.When fin rotation is for floating or fish body sinks with fish, the fin skeleton 50 of fin 5 is turned to the angle of inclination set, to reduce the resistance of water, it is simple to float with fish and fish body sinks.Bionic machine fish is when the water surface moves about, and first bionic machine fish floats, and after bionic machine fish floats, is carrying out fish tail swing, forms the bionic machine fish water surface and moves about, and in other words, namely bionic machine fish floats and fish tail swing forms the bionic machine fish water surface and moves about；Raw machine fish is when wet concentration moves about, and first bionic machine fish sinks, and after bionic machine fish sinks, is carrying out fish tail swing, forms bionic machine fish and moves about under water, namely bionic machine fish sinks and fish tail swing forms bionic machine fish and water middle reaches and moves.

Free cruise mode includes at least two monomer motor pattern in multiple monomer motor pattern.The most such as, first bionic machine fish carries out the bionic machine fish water surface and moves under water, and carries out bionic machine fish fish mouth opening and closing during moving under water, and bionic machine fish moves under water after certain time at the water surface, move under water under water, during moving under water under water, carry out bionic machine fish fish mouth opening and closing.

Above-mentioned monomer moves, its motor process and principle, and has described in detail, does not repeats them here.

It should be noted that, the fish body 3 of the bionic machine fish of the present invention also arranges multiple battery case 101 between first 310 of the joint of trunk 31 of trunk skeleton 31 and second 312, being provided with accumulator in battery case 101, thinking provides electric energy with electric device in the present invention.

The simple in construction of the bionic machine fish of the present invention, low cost, it addition, bionic machine fish of the present invention has bionical effect true to nature.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.

Claims

1. a bionic machine fish, it is characterized in that, including fish head (1), fish body (3), drive fish head (1) floating to float float with descending mechanism (6) driving fish head (1) and the control system (7) of dive with floating descending mechanism (6) and the control of dive；nullDescribed floating descending mechanism (6) includes the first storage displacement can (61) for controlling fish head (1) floating and dive、The air accumulator (62) being connected with the first storage displacement can (61)、And it is used for the air pump (63) controlling to carry out gas exchange between air accumulator (62) and the first storage displacement can (61)，Described first storage displacement can (61) is arranged on the front portion of fish body (3)，Described control system (7) includes the microprocessor (71) being connected with air pump (63) and the wireless signal receiver (72) being connected with microprocessor (71)，Wireless signal receiver (72) is used for receiving wireless remote control signals and wireless remote control signals being sent to microprocessor (71)，Microprocessor (71) is when judging that the motor pattern that wireless remote control signals represents is fish head dive motor pattern，Control air pump (63) to be entered in air reservoir (62) by the gas in the first storage displacement can (61)；When microprocessor (71) is when judging that the motor pattern that wireless remote control signals represents is fish head floating motor pattern, microprocessor (71) controls air pump (63) and the gas in air reservoir (62) enters the first storage displacement can (61).

2. bionic machine fish as claimed in claim 1, it is characterized in that, described fish body (3) includes that fish neck frame (32) that be connected fixing with described fish head (1), described first storage displacement can (61) are arranged in described fish neck frame (32).

3. bionic machine fish as claimed in claim 2, it is characterized in that, described fish head (1) includes the upper jaw (11), lower jaw (12) and is arranged between the described upper jaw (11) and lower jaw (12) and the fixed mount (17) affixed with the upper jaw (11), and described fixed mount (17) is fixing with described fish neck frame (32) to be connected.

4. bionic machine fish as claimed in claim 3, it is characterized in that, described fish head (1) also includes opening and closing motor (14), first gear (15) and the second gear (16), opening and closing motor (14) is affixed with the upper jaw (11), first gear (15) is connected with the rotating shaft of opening and closing motor (14), second gear (16) engages with the first gear (15), described fixed mount (17) includes the first fixed plate (170), first fixed plate (170) is provided with pivot (171), the connection that second gear (16) is pivoted by pivot (171) and the first fixed plate (170).

5. bionic machine fish as claimed in claim 4, it is characterized in that, described fish head (1) also includes fixation plate (18), fixation plate (18) is affixed with lower jaw (12), fixation plate (18) is affixed with the second gear (16), and fixation plate (18) is hinged with pivot (171).

6. bionic machine fish as claimed in claim 5, it is characterized in that, first fixed plate (170) is additionally provided with limit shaft (175), limit shaft (175) is positioned at the second gear (16) and the lower section of pivot (171) or the back lower place, with when lower jaw (12) rotates down, limit shaft (175) and fixation plate (18) against.

7. bionic machine fish as claimed in claim 2, it is characterized in that, fish neck frame (32) takes the shape of the letter U, the stator (322) that the second installing plate (321) including the first installing plate (320), being positioned at the first installing plate (320) lower section and two ends are connected with the second installing plate (321) with the first installing plate (320) respectively, described first storage displacement can (61) is arranged between first installing plate (320) of fish neck frame (32) and the second installing plate (321).

8. bionic machine fish as claimed in claim 7, it is characterised in that the second installing plate (321) is provided with elastomeric element (325), the bottom of the first storage displacement can (61) abuts elastomeric element (325).

9. the bionic machine fish as described in claim 1-8 any one, it is characterized in that, described first storage displacement can (61) includes the first tank body (610) and is arranged on the first air bag (612) in this first tank body (610), the first water inlet is offered on wherein said first tank body (610), and connected with extraneous aqueous phase by this first water inlet, described first gasbag (612) is connected with air pump (63) and described air accumulator (62) successively.

10. the fish head of the bionic machine fish as described in claim 1-9 any one floats and a sinking control method, comprises the following steps:

Receive wireless remote control signals；

Judge the motor pattern representated by wireless remote control signals；