CN106114792B

CN106114792B - The floating sinking mechanism of bionic machine fish

Info

Publication number: CN106114792B
Application number: CN201610521804.5A
Authority: CN
Inventors: 应佳伟; 陈辉
Original assignee: Hangzhou Chang Intelligent Technology Co Ltd
Current assignee: Pizhou Jingpeng Venture Capital Co Ltd
Priority date: 2016-07-05
Filing date: 2016-07-05
Publication date: 2018-07-24
Anticipated expiration: 2036-07-05
Also published as: CN106114792A

Abstract

The invention discloses a kind of floating descending mechanisms of bionic machine fish, include floating for controlling fish head and the first storage displacement can of dive, for controlling floating the second storage displacement can with dive and the first storage displacement can and the second storage with fish draining tank connected air accumulator and for controlling air accumulator and the second storage displacement can and first storing up the air pump of progress gas exchanges between displacement can, first storage displacement can is mounted on the front of fish body, and the second storage displacement can is mounted on the middle part of fish body.The floating of the bionic machine fish of the present invention is connect by the way that fish body front is arranged with the second storage displacement can in the first storage displacement can in the middle part of fish body and with air accumulator with sinking mechanism, the gas between air accumulator and the first storage displacement can and the second storage displacement can is controlled by air pump to transmit, realize water storage and the draining of the first storage displacement can and the second storage displacement can, and then realize that the fish of bionic machine fish is floating with it and sinks and fish head floats and sinking, it is simple in structure.

Description

The floating sinking mechanism of bionic machine fish

Technical field

The invention belongs to bio-robot technical fields, and in particular to a kind of floating sinking mechanism of bionic machine fish.

Background technology

The 1990s focuses primarily upon theoretical side previously for the bionic research of fish, with fish pusher Reason research is goed deep into, the new development of robot technology, bionics, electronic technology, material science and control technology, simulation fish trip Motivation reason underwater robot --- bionic machine fish receives extensive concern both domestic and external.The rope made of hemp Institute of Technology of U.S. root " flux driving is theoretical " promoted according to the fish tail of proposition, develops long 1.2 meters of bionical tuna and long 0.8 meter of bionical shuttle Fish.Marine Science Center of Northeast USA university develops the machine eel of undulatory propulsion using marmem and link mechanism Fish.University of New Mexico of the U.S. utilizes polyelectrolyte amberplex IEM, is plated in the sheet metal of bionic machine fish fin On, artificial myokinesis is realized by extra electric field, generates the travelling method of similar sea eel.Essex universities of Britain, which devise, to be had The machine fish of three-dimensional motion ability.Tokyo Univ Japan has developed the robotic dolphin of two joint propulsion.Kato etc. has studied to fish The control of fin propulsive mechanism simultaneously develops machine fish model machine sea bass.It is micro- that Japan Nagoya university develops marmem driving The dipterus type microrobot of type physical undulations formula underwater propeller and Piezoelectric Ceramic.At home, Harbin Institute of Engineering work Cheng great Xue has carried out the research work of bionic machine Zhang Yu.The had developed machine eel of BJ University of Aeronautics ＆ Astronautics's robot research Fish, robotic dolphin and the SPC series bionic machine fish using flat roomy Ax-shaped hydrodynamic force external form.Chinese Academy of Sciences Shenyang is automatic Change the diarticular bionic machine fish model of Research Institute.Peking University's mechanics has developed bionical dolphin sample with engineering science system Machine.The developed microminiature machine fish of Chinese Academy of Sciences's Beijing automation research, multisensor bionic machine fish etc..

However, the floating of bionic machine fish is complicated with sinking mechanism structure both at home and abroad at present, manufacturing cost is high.

Invention content

The purpose of the present invention is to provide a kind of bionic machine fish for solving above-mentioned technical problem.

The embodiment of the present invention provides a kind of floating sinking mechanism of bionic machine fish, including is used to control fish head and floats under Latent first stores up displacement can, for controlling floating and dive the second storage displacement can and the first storage displacement can and the second storage with fish It drains tank connected air accumulator and carries out gas between air accumulator and the second storage displacement can and the first storage displacement can for controlling The air pump of exchange, the first storage displacement can are mounted on the front of fish body, and the second storage displacement can is mounted on the middle part of fish body； The fish body includes the trunk skeleton being connect with fish head and the tail portion skeleton that is connect with the trunk skeleton, and trunk skeleton includes more It is a to be hingedly engaged to each other to form the joint of trunk of trunk skeleton, electric-controlled box is provided on the trunk skeleton, it is described automatically controlled Trunk skeleton is divided into front trunk skeleton and rear portion trunk skeleton, the trunk positioned at front end of the rear portion trunk skeleton by box Joint is connect with the electric-controlled box, and the trunk positioned at front end of portion's trunk skeleton in the rear is arranged in the second storage displacement can It is intra-articular.

Further, the fish body includes the fish neck frame being fixedly connected with the fish head, the first storage displacement can peace In the fish neck frame.

Further, joint of trunk takes the shape of the letter U, including in the form of sheets and be laterally arranged first, be located at first lower section and Flaky second and both ends respectively with first and second interconnecting piece connecting, wherein two adjacent trunks close Two first connections of section, two second connections of adjacent two joint of trunk, the second storage displacement can setting exist Between first and second of the joint of trunk positioned at front end of the rear portion trunk skeleton.

Further, the floating descending mechanism further includes the first solenoid valve, second solenoid valve and third solenoid valve, and first Solenoid valve, second solenoid valve and third solenoid valve include respectively respectively two the first air guide ports, the second air guide port, are led with first Gas port and the third air guide port of the second air guide port connection, the first valve that the first air guide port of control is connected with third air guide port are opened Close, and the second valve switch for being connected with third air guide port of the second air guide port of control, the first air guide port of the first solenoid valve and Second air guide port is connect with the first storage displacement can and the second storage displacement can respectively, the first air guide port of second solenoid valve and second is led Gas port corresponds to the second air guide port and the connection of the first air guide port of third solenoid valve, and what air accumulator was connected to second solenoid valve first leads Between gas port and the second air guide port of third solenoid valve, the third air guide port of the first solenoid valve is connected to the second of second solenoid valve Between air guide port and the first air guide port of third solenoid valve, the third air guide port of third solenoid valve passes through air pump and second solenoid valve Third air guide port connection.

Further, the first air bag that the first storage displacement can includes the first tank body and is arranged in first tank body, The first water inlet is offered on wherein described first tank body, and is connected to extraneous water phase by first water inlet, the first electricity First air guide port of magnet valve is connect with the first air bag of the first storage displacement can.

Further, the second air bag that the second storage displacement can includes the second tank body and is arranged in second tank body, The second water inlet is offered on wherein described second tank body, the second air guide port of the first solenoid valve and second store up the first of displacement can Air bag connects.

Due to the application of above-mentioned technical proposal, the invention has the advantages that：

The floating sinking mechanism of the bionic machine fish of the present invention is by the way that the first storage displacement can and the second storage displacement can be arranged The middle part of fish body front and fish body, and connect with air accumulator, air accumulator and the first storage displacement can and the second storage are controlled by air pump Gas transmission between displacement can, realizes water storage and the draining of the first storage displacement can and the second storage displacement can, and then realizes bionical Floating and sinking and fish head float and sink with the fish of machine fish, simple in structure, and have bionical effect true to nature.

Description of the drawings

Fig. 1 is provided the dimensional structure diagram of bionic machine fish by present pre-ferred embodiments.

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

Fig. 3 is the decomposition diagram of the fish head in Fig. 1.

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

Fig. 5 is the partial exploded view of the fish body in Fig. 1, the specially decomposition diagram of fish trunk front and fish neck.

Fig. 6 is the partial exploded view of the fish body in Fig. 1, the specially decomposition diagram after 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 the trunk skeleton of fish body to swing.

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.

Specific implementation mode

In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not For limiting the present invention.

Present pre-ferred embodiments provide bionic machine fish can be true to nature simulate fish head float and dive, The mouth opening and closing of fish can also be realistically simulated simultaneously.

Incorporated by reference to referring to Fig.1, Fig. 2, Figure 14 and Figure 15, bionic machine fish of the invention, including fish head 1, fish body 3, float Descending mechanism 6 and control system 7.First of all for convenient for the bionic mechanical machine fish is described, initially sets up and give advice coordinate System, it is respectively first direction, second direction and third direction to define X, Y, Z-direction, first direction horizontal direction and for before fish Line direction, second direction are that it is vertical with first direction for horizontal direction, third direction be it is vertical, fish along third direction rising and Dive.

Fig. 3 and Fig. 4 are specifically please referred to, in the present embodiment, the fish head 1 includes the upper jaw 11, lower jaw 12 and opening and closing machine Structure 13, the upper jaw 11 are connect by open/close mechanism 13 with lower jaw 12, and open/close mechanism 13 is for driving lower jaw 12 relative to the upper jaw 11 carry out opening and closing campaign, the opening and closure at face position in the bionic machine fish is presented.In the present embodiment, the opening and closing Mechanism 13 is arranged in the upper jaw 11 and lower jaw 12 close to one end of fish body 3, in order to the face position of bionic machine fish opening and It is closed.

In the present embodiment, the open/close mechanism 13 includes opening and closing motor 14, first gear 15 and second gear 16, opening and closing Motor 14 and the upper jaw 11 are affixed, and first gear 15 is connect with the shaft of opening and closing motor 14, and second gear 16 is nibbled with first gear 15 It closes, and second gear 16 is affixed with lower jaw 12 and hinged with the upper jaw 11.In this way the open/close mechanism 13 at work, opening and closing motor 14 drive second gear 16 to be rotated around second gear 16 and the hinge joint of the upper jaw 11 by first gear 15 so that the second tooth The 16 drive progress of lower jaw 12 of wheel is rotated around second gear 16 and the hinge joint of the upper jaw 11, and then it is opposite to realize the lower jaw 12 Opening and closing campaign is carried out in the upper jaw 11.It should be noted that first gear 15 is circular gear, second gear 16 is sector gear.

Specifically, when driving first gear 15 rotates opening and closing motor 14 clockwise, the second gear 16 is in the first tooth It is rotated counterclockwise under the transmission of wheel 15, second gear 16 drives lower jaw 12 to do the movement opened relative to the upper jaw 11；Conversely, the Two gears 16 drive lower jaw 12 to do the movement being closed relative to the upper jaw 11.Further, second gear 16 is located at first gear 15 Rear, in order to realistically simulate the mouth opening and closing of fish, it should be noted that second gear 16 is located at first gear 15 Rear refer to that for first gear 15, second gear 16 is closer to fish body.Preferably, second gear 16 is straight Diameter is more than the diameter of first gear 15, in order to control the opening and closing degree of fish mouth.In the present embodiment, pivot 171 and second gear 16 center of circle is hinged, and the center of circle of second gear 16 relative to second gear 16 teeth portion closer to fish body 3, it is true to nature to ensure Simulation goes out to realize the quick opening and closing of fish mouth while the mouth opening and closing of fish.

In the present embodiment, the open/close mechanism 13 further includes fixed frame 17, and the fixed frame 17 is arranged in the upper jaw Between 11 and lower jaw 12 and affixed with the upper jaw 11, the fixed frame 17 includes the first longitudinally disposed fixed plate 170, in level side Upwards, the first fixed plate 170 extends along a first direction, and opening and closing motor 14 is arranged on fixed frame 17, and opening and closing motor 14 Shaft be vertically pierced by the first fixed plate 170 after connect with first gear 15.First fixed plate 170 be equipped with pivot 171, second Gear 16 passes through the connection that pivot 171 and the first fixed plate 170 pivot so that second gear 16 is affixed with lower jaw 12 and and the upper jaw 11 is hinged, and while ensureing the upper jaw 11 by open/close mechanism 13 and hinged lower jaw 12 with this, open/close mechanism 13 can also drive down Jaw 12 carries out opening and closing campaign with the upper jaw 11.

In the present embodiment, fixed frame 17 further includes the second fixed plate 172 being laterally arranged, the first fixed plate 170 and Two fixed plates, 172 vertical connection, the second fixed plate 172 is affixed by the fixing pieces such as screw and the upper jaw 11, and opening and closing motor 14 Main body be fixed in the second fixed plate 172, i.e., opening and closing motor 14 is affixed by the second fixed plate 172 and the upper jaw 11.Setting the Two fixed plates 172 can ensure that fixed frame 17 can be tightened together by fixing pieces such as screws with the upper jaw 11, enhance bionical machine The structural strength of device fish.

In the present embodiment, fixed frame 17 further includes longitudinally disposed third fixed plate 173, third fixed plate 173 and second 170 equal vertical connection of fixed plate 172 and the first fixed plate, the medial surface of third fixed plate 173 is equipped with to be connect with pivot 171 Anti- flake 174, to protect second gear 16 not to be detached from from pivot 171.

In the present embodiment, the open/close mechanism 13 further includes fixation plate 18, and fixation plate 18 and lower jaw 12 are affixed, fixation plate 18 is affixed with second gear 16, i.e., second gear 16 is affixed by fixation plate 18 and lower jaw 12.Wherein, the fixation plate 18 and It can be attached fixation by way of rivet, spot welding, soldering between two gears 16.Further, fixation plate 18 is in tongue Shape, to ensure the head of realistic simulation fish.Further, fixation plate 18 and pivot 171 are hinged, to enhance bionic machine fish Structural strength does opening and closing campaign convenient for lower jaw 12 relative to the upper jaw 11 simultaneously.

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

Continuing in conjunction with reference to Fig. 3 and Fig. 4, symmetrically opening up in the present embodiment, on the upper jaw 11, there are two flakes Mounting hole 110, and a flake 19 is respectively set on each flake mounting hole 110, in order to which bionic machine fish simulation is presented The appreciation effect that flake rotates in fish, the fish head of the present embodiment further include being set between the upper jaw 11 and lower jaw 12 for driving The eye driving mechanism 2 that flake 19 is rotated in the flake mounting hole 110 of the upper jaw 11.In the present embodiment, the eye Driving mechanism 2 can drive flake 19 to synchronize rotation in the flake mounting hole 110 of the upper jaw 11.

Specifically, the eye driving mechanism 2 includes eye driving motor 21, crank and rocker mechanism 22 and parallelogram Mechanism 23, the eye driving motor 21 are assemblied on the upper jaw 11, and specifically, eye driving motor 21 is mounted on the second fixed plate On 172, in other words, that is, eye driving motor 21 is assemblied in by the second fixed plate 172 on the upper jaw 11.Eye driving electricity Machine 21 is connect by crank and rocker mechanism 22 with parallelogram mechanism 23, and parallelogram mechanism 23 is connect with flake 19, eye Portion's driving motor 21 drives flake 19 in the upper jaw 11 by crank and rocker mechanism 22 drives parallelogram mechanism 23 to rotate Flake mounting hole 110 in rotated.

Wherein, the crank and rocker mechanism 22 includes the eye turntable being set on the shaft of eye driving motor 21 220, the eye crank 221 being fixed in hinged way in 220 disk of eye turntable, wherein the eye crank 221 is another End extends outwardly from eye turntable 220, and is articulated and connected with parallelogram mechanism 23, to drive parallelogram mechanism 23 carry out rotation operation.Also that is, eye driving motor 21 at work, can be parallel to drive by the crank and rocker mechanism 22 Quadrangular mechanism 23 carries out rotation operation.

The parallelogram mechanism 23 includes being articulated and connected with the eye crank 221 in crank and rocker mechanism 22 First connecting rod 230, the second connecting rod 231 for being connected to 230 both side ends of first connecting rod in hinged way, and flake 19 is filled respectively Two flake pallets 232 on flake mounting hole 110 in the upper jaw 11 are fitted over, and are respectively used to connection flake pallet 232 and the Two montants 233 of two connecting rods 231.Wherein, first connecting rod 230 and second connecting rod 231 are horizontally disposed, and first connecting rod 230 length extending directions are parallel with two 19 line directions of flake, and second connecting rod 231 is vertical relative to first connecting rod 230.Into one Step ground, one end of the montant 233 are fixed on a side end of the second connecting rod 231 far from first connecting rod 230, and the other end is with vertical Mode be fixed on flake pallet 232, the flake pallet 232 can be done with second connecting rod 231 relative to first in use in this way The rotation of connecting rod 230, and then the corresponding flake 19 being fixed on flake pallet 232 is driven to carry out rotation operation.In the present embodiment In, it is to be fixedly connected by connecting pin 26 between the flake 19 and flake pallet 232, specifically, on the flake 19 The first pin hole 190 is offered, the second pin hole 235 is offered on the flake pallet 232, the both ends of the connecting pin 26 are inserted respectively It is located at the first pin hole 190 of flake 19 and the second pin hole 235 of flake pallet 232 and is fixedly connected.It is understood that this hair Its flake of bright bionic machine fish drives crank and rocker mechanism 22 to be rotated with parallelogram mechanism 23 by eye driving mechanism 2 Then it drives flake 19 to rotate, there is the bionical effect of flake true to nature and simple in structure.

Incorporated by reference to referring to Fig.1, Fig. 2, Fig. 5 and Fig. 6, in the present embodiment, fish body 3 include trunk skeleton 30 and and bone of body The tail portion skeleton 40 that frame 30 connects.

Trunk skeleton 30 includes multiple is hingedly engaged to each other to form the joint of trunk 31 of trunk skeleton 30.Joint of trunk 31 take the shape of the letter U, including in the form of sheets and be laterally arranged first 310, are located at first 310 lower section and second 311 flaky, And both ends respectively with first 310 and second 311 interconnecting piece 312 connected vertically.Wherein, two adjacent joint of trunk Two first about 310 of 31 is stacked and hinged by vertically arranged axis pin, two of two adjacent joint of trunk 31 Second about 311 stacked and hinged by vertically arranged axis pin.

Specifically, in the present embodiment, interconnecting piece 312 offered mouth 313 in neighbouring first 310 end, adjacent First 310 interconnecting piece 312 for being inserted into another joint of trunk 31 in one of two joint of trunk 31 joint of trunk 31 On cross in mouth 313 and two first 310 leans and, two adjacent joint of trunk hinged by vertically arranged axis pin Two second about 311 of 31 is distributed and contacts with each other and be hinged by vertically arranged axis pin, thereby realizes two Articulated connection between joint of trunk 31, and two joint of trunk 31 are swung using the axis pin between them as shaft.

In the present embodiment, fish body 3 further includes that affixed with fish head 1 and with trunk skeleton 30 the trunk positioned at forefront closes Save 31 hinged fish neck framves 32.Specifically, fish neck frame 32 takes the shape of the letter U, including be laterally arranged the first mounting plate 320, be located at Second mounting plate 321 of 320 lower section of the first mounting plate and both ends are vertical with the second mounting plate 321 with the first mounting plate 320 respectively It is connected and fixed piece 322.Specifically, in the present embodiment, fixinig plate 322 is fixedly connected with fish head 1.In the present embodiment, fixinig plate 322 screw pin with third fixed plate 173 such as by being fixedly connected, so that fish body 3 is connect with fish head 1.Wherein, fish Neck frame 32 is used to install the rising of control fish head and the storage displacement can of dive sees below detailed description.

In the present embodiment, a pin-joint piece is respectively extended in the free end of the first mounting plate 320 and the second mounting plate 321 323, the pin-joint piece 323 of the first mounting plate 320 be inserted into the joint of trunk 31 positioned at front end cross in mouth 313 and with first 310 Against and by vertically arranged axis pin it is hinged, pin-joint piece 323 on the second mounting plate 321 with second 311 against and lead to It is hinged to cross axis pin, and then realizes being pivotally connected between joint of trunk 31 and fish neck frame 32, trunk skeleton 30 is relative to fish Neck frame 32 is put by shaft or so of the axis pin between them.

In the present embodiment, tail portion skeleton 40 is pivotally connected with trunk skeleton 30, including it is multiple be hingedly engaged to each other with The caudal articular process 41 in fish tail portion is formed, caudal articular process 41 includes the first connection sheet 410 being laterally arranged, and is located at the first connection sheet 410 lower section the second connection sheet 412 and both ends respectively with the first connection sheet 410 and the third connection sheet of the second connection sheet 412 413.The third connection sheet 413 offers in the end of neighbouring first connection sheet 410 and wears mouth 414.Two neighboring caudal articular process The first connection sheet 410 in one of 41 caudal articular processes 41 is inserted into the third connection sheet 413 of another caudal articular process 41 It wears in mouth 414 and two the first connection sheet 410 lean and, two adjacent tail portions joints 41 hinged by vertically arranged axis pin Two the second about 412 connection sheets be distributed and contact with each other and hinged by vertically arranged axis pin, thereby realize two Articulated connection between a caudal articular process 41, and two caudal articular processes 41 are put by shaft or so of the axis pin between them.

The joint of trunk 31 of the caudal articular process 41 and trunk skeleton 30 positioned at front end in tail portion skeleton 40 is hinged.It can be with Understand, the caudal articular process 41 of tail portion skeleton 40 and the structure of the joint of trunk 31 of trunk skeleton 30 are essentially identical, only fish Tail portion and trunk it is of different sizes, therefore for the form that realistic simulation goes out fish, the size ratio trunk of caudal articular process 41 closes The size of section 31 is small, and further, the caudal articular process 41 hinged with joint of trunk 31 is transition joints, the tail as transition joints Second connection sheet 412 in portion joint 41 extend obliquely downward be formed with oblique connection sheet 415 and from the oblique connection sheet 415 from Extended by end and the lateral connection piece 416 hinged with second 311 of joint of trunk 31 bottom end, with tail portion skeleton 40 with When trunk skeleton 30 connects, the variation between two skeleton size differences, and then the form true to nature for imitating out fish are realized.

Please gather referring to Fig.1, Fig. 2 and Fig. 7, in the present embodiment, fish body 3 further includes fish body pendulous device 33.Fish body is put Dynamic device 33 is divided into the tail swing device for driving tail portion skeleton 40 to swing and the body for driving trunk skeleton 30 to swing Dry pendulous device.Each fish body pendulous device 33 includes fish body oscillating motor 34, reel 35 and is wrapped on reel 35 The wherein reel 35 of drawstring 36 is set on the shaft of fish body oscillating motor 34, and the both ends of the drawstring 36 are from reel 35 is protruding.The fish body oscillating motor 34 of trunk pendulous device is mounted in the joint of trunk 31 of trunk skeleton 30 and specific position Between first 310 and second 311, the drawstring 36 corresponding to the fish body oscillating motor 34 of 30 swing of trunk skeleton is driven Both ends extend and along the arragement direction of multiple joint of trunk 31 after wearing multiple joint of trunk 31 successively forward or backward simultaneously With the fixation of joint of trunk 31 positioned at front end or rearmost end.At work, fish body swings electricity to the fish body oscillating motor 34 in this way Machine 34 drives reel 35 to be rotated, and pull the drawstring 36 that is wrapped on reel 35 make its both ends do corresponding retracting with Relaxing exercise, and then realize the fish body oscillating motor 34 driving trunk skeleton 30 and swing, to imitate out fish The action that trunk is swung.

In the present embodiment, the electric-controlled box 301 for loading control system 7, electric-controlled box 301 are provided on trunk skeleton 30 Trunk skeleton 30 is divided into front trunk skeleton and rear portion trunk skeleton, the joint of trunk 31 positioned at rear end of front trunk skeleton First 310 be for example fixedly connected by screw with second 311 free end towards electric-controlled box 301 and with electric-controlled box 301, First 310 and second 311 free end of the joint of trunk 31 positioned at front end of rear portion trunk skeleton is towards electric-controlled box 301 It is arranged and is for example fixedly connected by screw with electric-controlled box 301.The quantity of trunk pendulous device is two, the trunk pendulous device Fish body oscillating motor 34 be separately positioned in the joint of trunk 31 of front trunk skeleton and rear portion trunk skeleton, to drive front Trunk skeleton and rear portion trunk skeleton, with the vivider action for simulating the swing of fish trunk.It should be noted that setting exists 34 corresponding drawstring 36 of fish body oscillating motor on the trunk skeleton of front, both ends along multiple joint of trunk 31 arragement direction Extend forward simultaneously and is fixed with the joint of trunk 31 positioned at front end after wearing multiple joint of trunk 31 successively；It is arranged at rear portion 34 corresponding drawstring 36 of fish body oscillating motor on trunk skeleton, both ends along multiple joint of trunk 31 arragement direction simultaneously It extends back and is fixed with positioned at rear end volume joint of trunk 31 after wearing multiple joint of trunk 31 successively.

As shown in Fig. 8 to Figure 10, driving front trunk skeleton swing fish body oscillating motor 34 in start, with this When 34 corresponding 35 coiling of reel of oscillating motor of fish body, reel 35 only will be positioned at the drawing of 35 side of reel in coiling Rope 36 is wrapped on reel 35, and the drawstring 36 of the side is made to be furled, such as fish body oscillating motor 34 drives 35 up time of reel When needle turns, the drawstring 36 on 35 right side of reel is furled on reel 35, and the drawstring 36 on 35 right side of reel shortens, front Trunk skeleton is swung to the right, otherwise front trunk skeleton is then swung to the left, and the swing principle of rear portion trunk skeleton is same as described above, Details are not described herein.The swing of front trunk skeleton and rear portion trunk skeleton, can make bionic machine fish turn, and this is bionical Effect is true to nature.

In the present embodiment, the top of interconnecting piece 312 is symmetrically opened up there are two perforation 313, this two are perforated 313 for driving The drawstring 36 corresponding to fish body oscillating motor 34 that dynamic trunk skeleton is swung passes through.The fish body that trunk skeleton is swung is driven to swing electricity When drawstring 36 corresponding to machine 34 is tightened up, force effect can be made into body on joint of trunk 31 by corresponding perforation 313 Dry joint 31 is swung.In the present embodiment, interconnecting piece 312 includes the first connection plate body of triangular shape and connects plate body from first The second connection plate body that bottom end vertically extends, interconnecting piece 312, which is arranged such, can rationally utilize space, avoid between element It interferes, and mitigates the overall weight of fish body.Further, in the present embodiment, it crosses mouth 313 and is opened in the first connection On plate body.

Fish body oscillating motor 34 in tail swing device is mounted on the joint of trunk positioned at rearmost end of trunk skeleton 30 It is specific between first 310 and second 311 of the joint of trunk 31 positioned at rearmost end of trunk skeleton 30 in 31, Drive the both ends of the drawstring 36 corresponding to the fish body oscillating motor 34 of the swing of tail portion skeleton 40 along the row of multiple caudal articular processes 41 Cloth direction extends back and is fixed with the last one caudal articular process 41 after wearing multiple caudal articular processes 41 successively simultaneously.Trunk skeleton 30 joint of trunk 31 positioned at rearmost end refers to that joint of trunk skeleton 30 being connect with tail portion skeleton 40.It puts tail portion At work, the fish body oscillating motor 34 that driving tail portion skeleton 40 is swung drives fish body pendulum to the fish body oscillating motor 34 of dynamic device Dynamic 34 corresponding reel 35 of motor is rotated, and pulls the drawstring 36 being wrapped on reel 35 that its both ends is made to roll up accordingly It receives and loosens, and then realize fish body oscillating motor 34 and tail portion skeleton 40 is driven to swing, to imitate out fish tail The action that portion is swung.

In the present embodiment, the third connection sheet 413 of caudal articular process 41 offers two mistakes being symmetrically distributed in top String holes 416 drives the drawstring 36 corresponding to the fish body oscillating motor 34 of the swing of tail portion skeleton 40 to pass through caudal articular process 41 in this way Cable-through hole 416 in third connection sheet 413 and with the fixation of caudal articular process 41 positioned at rear end.

In the present embodiment, fish body 3 further includes the elastic element 37 and multiple lugs 38 of strip, is provided on lug 38 logical Hole 380.Lug 38 is distributed in each joint of trunk 31 on caudal articular process 41, is particularly located at joint of trunk 31 and caudal articular process 41 Top, be more particularly located at first 310 of backbone joint 31 and the top in the first connection sheet 410 of caudal articular process 41 Portion.Elastic element 37 wears through-hole 380 and the both ends of elastic element 37 are fixed on fish body 3, such fish body 3 swing when, The flexibility of fish body 3 is strong.In the present embodiment, elastic element 37 is, for example, Elastic Steel cord.

Further, a lug 38 in multiple lugs 38 is distributed on fish neck frame 32, specially with fish neck frame 32 top is more specifically located on the top of the first mounting plate 320 of fish neck frame 32.Elastic element 37 wears fish neck frame Through-hole 380 on 32 lug 38, when trunk skeleton 30 is rotated relative to fish neck frame 32, to enhance trunk skeleton 30 and fish neck Flexibility between skeleton 32.In the present embodiment, trunk skeleton 30 is divided into after by front trunk skeleton due to electric-controlled box 301 Portion's trunk skeleton, therefore, 37 quantity of elastic element are two, and one of elastic element 37 passes through front trunk skeleton and fish neck The through-hole 380 on lug 38 on skeleton 32, the both ends of the elastic element 37 respectively with front trunk skeleton and fish neck frame 32； Another elastic element 37 passes through rear portion trunk skeleton and the through-hole 380 on the lug 38 on tail portion skeleton 40, the elastic element 37 both ends are fixed with rear portion trunk skeleton and tail portion skeleton 40 respectively.

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

The fin 5 includes fin skeleton 50 and the fin holder 51 being connect with fin skeleton 50, fin holder 51 and fish Body 3 connects.Wherein, fin skeleton 50 includes skeleton substrate 501 and be positioned apart from skeleton substrate 501 multiple be hinged Flexible joint 502, wherein the length extending direction of skeleton substrate 501 is vertical with the length extending direction of fish body 3, flexibility close The length extending direction of section 502 is parallel with the length extending direction of fish body 3.

One end of each flexible joint 502 is fixed with skeleton substrate 501 and is set along the length extending direction of fish body 3 It sets.Each soft energy property joint 502 includes the sub- joint 503 of multiple sheets, and two sub- joints 503 of adjacent company, which pass through, connects shaft 505 connections, connect torsional spring 504 there are one being arranged in shaft 505, the both ends of each torsional spring 504 are respectively held against two sub- joints 503, the flexibility of fin skeleton 50 can be kept when fin skeleton 50 is swung, fin skeleton will not be allowed because of the variation of hydraulic pressure 50 occur moderate finite deformation, and are restored under the action of after fin skeleton 50 deforms in torsional spring 504.

In the present embodiment, fin 5 further includes fin pendulous device 52 and fin motor box 58.Fin pendulous device 52 wraps Include fin oscillating motor 520, fin turntable 521 and fin crank 522.Wherein, fin oscillating motor 520 is arranged in fin motor In box 58 and the shaft of fin oscillating motor 520 is pierced by fin motor box 58.The fin turntable 521 is set in fin pendulum On the shaft of dynamic motor 520, the both ends of the fin crank 522 are pivoted with fin turntable 521 and fin holder 51 respectively to be connected It connects, the medium position of fin holder 51 is pivotally connected by connecting shaft 581 and the front end face of fin motor box 58, needs to illustrate It is that the front end face of fin motor box 58 refers to fin motor box 58 towards the face of fish head 1.It is understood that fin turntable 521, fin crank 522 and fin holder 51 constitute a double leval jib linkage structure, and the fin oscillating motor 520 in this way is working When, can be swung up and down operation by fin turntable 521 and the transmission of fin crank 522, fin holder 51.In the present embodiment In, fin motor box 58 is arranged in the joint of trunk 31 of trunk skeleton 30, and the joint of trunk is arranged in specific fin motor box 58 Between first 310 of 31 and second 311, and specifically it is fixed on second 311 such as by fixing piece screw, it can be with Understand, fin holder 51 is connect by fin motor box 58 with the trunk skeleton 30 of fish body 3.

In the present embodiment, it is mounted on the same fin motor box with two fin oscillating motors 520 in a pair of of fin 5 In 58, fin motor box 58 is fixed between first 310 and second 311 of 30 scheduled joint of trunk 31 of trunk skeleton. Cover board 59 is arranged in the front of the fin motor box 58, and the pivot that fin crank 522 links together is arranged in fin motor box 58 On.The cover board 59 of fin motor box 58 is equipped with the perforation 591 worn for the shaft of two fin oscillating motors 520, connection Axis 581 is arranged on cover board 59.

In the present embodiment, fin 5 further includes the fin tumbler 53 for driving fin skeleton 50 to swing.Fin turns Dynamic device 53 includes fin rotary electric machine 531, shaft coupling 532 and connecting rod 533, and the shaft of the fin rotary electric machine 531 is axial Vertical with the length extending direction of fish body 3, fin rotary electric machine 531 is fixedly connected with fin holder 51, fin rotary electric machine 531 It is connect with connecting rod 533 by shaft coupling 532, connecting rod 533 is fixedly connected with skeleton substrate 501, fin tumbler 53 Fin rotary electric machine 531 drives connecting rod 533, connecting rod 533 to rotate and then fin skeleton 50 is driven to rotate in rotation.

It is understood that fin 5 can be divided into front fin and rear portion fin, for example above-mentioned institute of structure of front fin State, rear portion fin can only swing up and down will not swing, in other words, that is, rear portion fin include fin rotation dress Set 53.It is understood that fin 5 is when including fin tumbler 53, the fin holder 51 of fin 5 and fin skeleton 50 Such as it can be fixed together by way of the fixing pieces such as screw or welding.More particularly, the fin motor of front fin Box 58 is fixed in the joint of trunk 31 of front trunk skeleton being connect with electric-controlled box 301, the fin motor box 58 of rear portion fin It is fixed in the joint of trunk 31 of rear portion trunk skeleton.

It should be noted that 5 swing of fin can fish rise with dive during in horizontal plane at forward or to Between rear-inclined certain angle, such as 15 ° to 30 °, such fish will by the opposition of water during rising and dive Become smaller, is conducive to fish rising and dive.

In the present embodiment, the bionic machine fish further includes for realizing under bionic machine fish floating and the floating of dive Latent mechanism 6, floating descending mechanism 6 include the first storage displacement can 61 and the first storage draining for controlling the floating of fish head 1 and dive The air accumulator 62 of the connection of tank 61 and the air pump that progress gas exchanges between displacement can 61 are stored up for controlling air accumulator 62 and first 63.When needing fish head 1 to float, the gas in air accumulator 62 is discharged into the first storage displacement can 61 by air pump 63, and then by first Store up the water discharge in displacement can 61 so that the weight of fish head 1 realizes that fish head 1 floats；Conversely, then realizing that fish head 1 is sunk. Specifically, air pump 63 turns to be discharged into the gas in air accumulator 62 in first storage displacement can 61 clockwise, and air pump 63 is counterclockwise The gas in displacement can 61 can be stored up by first by, which turning, is discharged into air accumulator 62.In the present embodiment, being provided in electric-controlled box 301 will be electric Control box 301 is divided into the partition board of Liang Ge chamber resettling, and one of chamber installation control system 7, another chamber resettling installs Air pump 63 in floating descending mechanism 6, and air pump 63 is fixed on partition board, it should be noted that and in the present embodiment, partition board will Electric-controlled box 301 is divided into spaced Liang Ge chamber resettling up and down.The joint of trunk 31 in trunk skeleton 30 is arranged in air accumulator 62 It is interior.Specifically, the quantity of air accumulator 62 can be for example two in this embodiment, two air accumulators 62 are arranged at front trunk In the joint of trunk 31 of skeleton, be specifically located in the joint of trunk 31 that is connect with fish neck frame 32 and front trunk skeleton with In the joint of trunk 31 that electric-controlled box 301 connects, the air accumulator 62 being located in the joint of trunk 31 being connect with electric-controlled box 301 is located at fin The top of portion's motor box 58 rationally utilizes space to reach, and can be that the first storage displacement can 61 and second stores up displacement can 65 Gas in two storage displacement cans of sufficient gas and sucking is provided, realizes floating and the sinking of fish head 1 and fish body 3.

Specifically, first storage displacement can 61 be mounted on fish neck frame 32 the first mounting plate 320 and the second mounting plate 321 it Between, the first mounting plate 320 is equipped with opening 324, so that the gas nozzle on the first storage displacement can 61 passes through, to facilitate gas nozzle by leading Tracheae is connect with air accumulator 62, and then is conveniently arranged to the gas circuit in bionic mechanical machine fish.It is set on second mounting plate 321 The bottom of flexible component 325, the first storage displacement can 61 abuts elastomeric element 325, in order to facilitate installation the first storage displacement can 61 and by elastomeric element 325 elastic-restoring force prevent the first storage displacement can 61 loosen.In the present embodiment, elastomeric element 325 be, for example, the arch piece of elasticity, in order to install the first storage displacement can 61.In the present embodiment, air accumulator 62 is for example arranged In fish neck frame 32, in other embodiments, the first storage displacement can 61 can be directly arranged in fish head 1.

In the present embodiment, the first storage displacement can 61 include the first tank body 610 and be arranged in first tank body 610 the One air bag 612 wherein offering the first water inlet on first tank body 610, and passes through first water inlet and extraneous water It is connected.It is understood that when fish head 1 needs floating or dive, the gas in air accumulator 62 is discharged into first by air pump 63 In air bag 612, the water in the first tank body 610 is discharged into the external world by the expansion of the first air bag 612, mitigates the first storage 61 weight of displacement can, And then mitigate the weight of fish head 1 so that fish head 1 floats；Weight that is on the contrary then increasing fish head 1, makes fish head sink.In fish head 1 After latent dive receives.

In the present embodiment, floating descending mechanism 6 further includes the second storage displacement can for controlling the floating of fish body 3, dive 65, air pump 63 with second storage displacement can 65 connect, since control air accumulator 62 and second store up displacement can 65 between progress gas friendship It changes.When fish body 3 being needed to float, the gas in air accumulator 62 is discharged into the second storage displacement can 65 by air pump 63, and then second is stored up Water discharge in displacement can 65 so that the weight of fish body 3 realizes that fish body 3 floats；Conversely, then realizing that fish body 3 sinks.

In the present embodiment, the second storage displacement can 65 include the second tank body 650 and be arranged in second tank body 650 the Two air bags 652 wherein offering the second water inlet on second tank body 650, and pass through second water inlet and extraneous water It is connected.It is understood that when fish body 3 needs floating or dive, the gas in air accumulator 62 is discharged into second by air pump 63 In air bag 652, the water in the second tank body 650 is discharged into the external world by the expansion of the second air bag 652, mitigates the second storage 65 weight of displacement can, And then mitigate the weight of fish body 3 so that fish body 3 floats；Weight that is on the contrary then increasing fish body 3, makes 3 dive of fish body.On fish body 3 After latent dive.

Specifically, in the present embodiment, the second storage displacement can 65 is arranged at the middle part of trunk skeleton 30, and is specifically located at fish In the joint of trunk 31 of rear portion trunk being connect with electric-controlled box.The second storage displacement can 65 is applied in the bionic machine fish, Be for driving fish body 3 to carry out floating dive, since the total quality of fish body 3 is greater than the total quality of fish head 1, for this purpose, The quantity of the present embodiment is two, and is symmetrically distributed in the both sides of trunk skeleton 30, and is arranged in rear portion trunk skeleton and electricity Between control the skeleton joint 41 that box 301 connects first 410 and second 411.

Further, in the present embodiment, floating descending mechanism 6 includes the first solenoid valve 66, second solenoid valve 67 and the Three solenoid valves 68, the first solenoid valve 66, second solenoid valve 67 and third solenoid valve 68 include respectively two the first air guides respectively Mouthful A, the second air guide port B, third air guide port C connect with the first air guide port A and the second air guide port B, control the first air guide port A and First valve switch of third air guide port C conductings, and control the second valve that the second air guide port B is connected with third air guide port C Switch.The the first air guide port A and the second air guide port B of first solenoid valve 66 store up displacement can with the first storage displacement can 61 and second respectively 65 connections, the first air guide port A and the second air guide port B of second solenoid valve 67 correspond to third solenoid valve 68 the second air guide port B and First air guide port A connections, air accumulator 62 are connected to the first air guide port A of second solenoid valve 67 and the second of third solenoid valve 68 and lead Between gas port B, the third air guide port C of the first solenoid valve 66 is connected to the second air guide port B and third electromagnetism of second solenoid valve 67 Between first air guide port A of valve 68, the third air guide port C of third solenoid valve 68 is led by air pump 63 and the third of second solenoid valve Gas port C connections.When needing fish body 3 to float, such as pumping, and the second valve switch of three solenoid valves clockwise of air pump 63 It opens, the gas in air accumulator 62 is made to be discharged into the first storage displacement can 61, storing up water in displacement can 61 by first is discharged, to real Existing fish head 1 floats, and on the contrary then fish head 1 is sunk.When needing fish body 3 to float, such as pumping, and three electricity clockwise of air pump 63 Second valve switch of magnet valve is opened, and the gas in air accumulator 62 is made to be discharged into the second storage displacement can 65, and displacement can is stored up by second Water discharge in 65, to realize that fish body 3 floats, on the contrary then fish body 3 sinks.

Control system 7 includes microprocessor 701, and the fish body that microprocessor 701 is swung with driving trunk skeleton 30 swings electricity Machine 34 connects, with the start for the fish body oscillating motor 34 that control driving trunk skeleton 30 is swung, to realize 30 position of trunk skeleton Swing, and then realize bionic machine fish turning.When that need to turn, what the control driving trunk of microprocessor 701 skeleton 30 was swung Fish body oscillating motor 34 drives corresponding reel 35 to carry out coiling to drawstring 36, and trunk skeleton 30 is driven to be rotated to side, real Existing bionic machine fish turning, after turning, the fish body oscillating motor 34 that driving trunk skeleton 30 is swung drives reel 35 Rotation makes 36 return of trunk drawstring, that is, stops operating after returning to initial position.

The fish body oscillating motor 34 that microprocessor 701 is also swung with driving tail portion skeleton 40 is connect, to control driving tail portion The start for the fish body oscillating motor 34 that skeleton 40 is swung realizes the swing of tail portion skeleton 40, driving force is provided for bionic machine fish, And then realize that bionic machine fish advances.When needing bionic machine fish to advance, the control driving trunk of microprocessor 701 skeleton 30 is swung Fish body oscillating motor 34 rotate and reverse, make corresponding reel 35 respectively to positioned at left side drawstring 36 and positioned at right side Drawstring 36 carries out coiling, drives trunk skeleton 30 to swing, driving force is provided for bionic machine fish, stops in bionic machine fish After advance, the fish body oscillating motor 34 that control driving tail portion skeleton 40 is swung is stopped operating, bionic machine fish is made to halt.

Microprocessor 701 is also connect with the fin oscillating motor 520 in fin pendulous device 52.Electricity is swung to control fin The start of machine 520, when bionic machine fish advances swing, the fin 5 of bionic machine fish, with when bionic machine fish advances It moves about steady and bionical better true to nature.

Microprocessor 701 is also connect with fin rotary electric machine 531, to control the start of fin rotary electric machine 531, is During floating or dive, microprocessor 701 controls fin rotary electric machine 531 and rotates, to drive fin 5 to turn to forward or backward Be conducive to floating and the dive of bionic machine fish in set angle to reduce opposition of the water to fin 5.

Control system 7 further includes fish body positional detecting device 71, and fish body positional detecting device 71 divides for for acquiring tail portion The position signal of skeleton 40 and the tail position detection device for being transmitted to microprocessor 701, and for acquiring trunk skeleton 30 Position signal and be sent to the trunk position detection device of microprocessor 70.

Microprocessor 701 is used to judge the position of tail portion skeleton 40 simultaneously according to the position signal of the tail portion skeleton 40 received Control is for driving the fish body oscillating motor 34 of tail swing to carry out corresponding start.Specifically, the position letter of tail portion skeleton 40 Number include tail portion maximum left avertence position signal, tail portion maximum right avertence position signal and tail portion initial position signal, when tail portion deflect When amount reaches maximum value, microprocessor 701 is controlled for driving the fish body oscillating motor 34 of tail swing to rotate round about And then tail portion skeleton 40 is driven to swing, when in tail portion, skeleton 40 swings to initial position, microprocessor 701 can be controlled for The fish body oscillating motor 34 that driving tail portion skeleton 40 is swung stops operating.It is understood that in microprocessor 701 by wireless Signal receive 702 receive externally input control instruction for example stop swinging fish tail when, microprocessor 701 i.e. control for driving The fish body oscillating motor 34 of dynamic tail swing drives tail portion skeleton 40 to be swung to initial position, and is swung to just in tail portion skeleton 40 Beginning, position control was for driving the fish body oscillating motor 34 of tail swing to stop operating；Certainly, microprocessor 701 can also basis The operation program of its storage inside, control is for driving the fish body of tail swing to swing electricity after tail swing reaches setting time Machine 34 drives tail portion skeleton 40 to be swung to initial position, and swings to initial position control for driving tail portion in tail portion skeleton 40 The fish body oscillating motor 34 of swing stops operating.

Microprocessor 70 is additionally operable to according to the control of the position signal of trunk skeleton 30 for driving trunk skeleton 30 to swing Fish body oscillating motor 34 carries out corresponding start.Specifically, the position signal of trunk skeleton 30 includes trunk maximum left avertence position Signal, trunk maximum right avertence position signal and trunk initial position signal, after the deflection of trunk skeleton 30 reaches peak excursion position, The control of microprocessor 701 is for driving the fish body oscillating motor 34 that trunk skeleton 30 is swung to be rotated to negative direction and then driving trunk Skeleton 30 swings, and when trunk skeleton 30 returns to initial position, the control of processor 701 is for driving trunk skeleton 30 to swing Fish body oscillating motor 34 stop operating so that trunk skeleton 30 is parked in home position.It is understood that in microprocessor 701 by reception of wireless signals 702 receive externally input control instruction for example stop swinging trunk skeleton 30 when, microprocessor The fish body oscillating motor 34 that device 701 controls for driving trunk to swing drives trunk skeleton 30 to be swung to initial position, and Trunk skeleton 30 swings to fish body oscillating motor 34 of the initial position control for driving trunk to swing and stops operating；Certainly, micro- Processor 701 can also be according to the operation program of its storage inside, and control is for driving after trunk swing reaches setting time The fish body oscillating motor 34 that trunk is swung drives trunk skeleton 30 to be swung to initial position, and is swung to initially in trunk skeleton 30 Fish body oscillating motor 34 of the position control for driving trunk to swing stops operating.

Specifically, each fish body positional detecting device 71 includes the first fish body Hall sensor 711, the second fish body hall sensing Device 712, third fish body Hall sensor 713 and fish body magnet 714.First fish body Hall sensor 711, the second fish body Hall pass Sensor 712, third fish body Hall sensor 713 are used for the corresponding generation maximum left avertence position letter when being aligned with fish body magnet 714 Number, initial position signal and maximum right avertence position signal.Specifically, the first fish body hall sensing in tail position detection device Device 711, the second fish body Hall sensor 712, third fish body Hall sensor 713 are arranged on the caudal articular process 41 of front end, Fish body magnet 714 is arranged in the fish body oscillating motor 34 for driving tail portion skeleton 40 to swing, such tail position detection dress The first fish body Hall sensor 711 in setting, the second fish body Hall sensor 712, third fish body Hall sensor 713 will be with Caudal articular process 41 swings and swings, and fish body magnet 714 will not be swung, such first fish body Hall sensor 711, the second fish body Hall sensor 712, third fish body Hall sensor 713 are aligned with fish body magnet 714 respectively as tail portion skeleton 40 is swung, right Tail portion maximum right avertence position signal, tail portion initial position signal and tail portion maximum right avertence position signal should be generated.

First fish body Hall sensor 711 of trunk position detection device, the second fish body Hall sensor 712, third fish Body Hall sensor 713 is arranged to be faced with the joint of trunk 31 for being equipped with the fish body oscillating motor 34 that driving trunk skeleton 30 is swung On close joint of trunk 31, fish body magnet 714 is arranged in the fish body oscillating motor 34 for driving trunk skeleton 30 to swing, this Sample is used for the first fish body Hall sensor 711 of the fish body positional detecting device 71 in trunk position detection device, the second fish body Hall sensor 712, third fish body Hall sensor 713 will be swung with the swing of joint of trunk 31, and fish body magnet 714 will It will not swing, such first fish body Hall sensor 711, the second fish body Hall sensor 712, third fish body Hall sensor 713 are aligned with fish body magnet 714 respectively with the swing of trunk skeleton 30, corresponding to generate trunk maximum right avertence position signal, trunk Initial position signal and trunk maximum right avertence position signal.

In the present embodiment, fish body positional detecting device 71 further includes mounting bracket 715.Mounting bracket 715 includes the first installation Block 716, the second mounting blocks 717 and connecting bracket 718, the first mounting blocks 716 are stacked with the second about 717 mounting blocks and are hinged on Together, the bottom of the second mounting blocks 717 is fixed together with connecting bracket 718.First fish body Hall sensor 711, the Two fish body Hall sensors 712, third fish body Hall sensor 713 are mounted on the first mounting blocks 716, and fish body magnet 714 is set It sets on the second mounting blocks 717.Acquire fish body positional detecting device 71 and the acquisition tail portion of 31 swing position information of trunk skeleton The fish body positional detecting device 71 of the swing position information of skeleton 40, the first mounting blocks 716 in them are separately positioned on and pacify On the joint of trunk 31 that the joint of trunk 31 of fish body oscillating motor 34 equipped with the driving swing of trunk skeleton 30 closes on and front end Caudal articular process 41 on be particularly located in first 310 of the joint of trunk 31 and the first connection sheet 410 of the caudal articular process, it In the second mounting blocks 717 by connecting bracket 715 be arranged driving trunk skeleton 31 fish body oscillating motor 34 and driving On the fish body oscillating motor 34 that tail portion skeleton 40 is swung.In this way, trunk skeleton 31 and tail portion skeleton 40 are when swinging, it is corresponding The first fish body Hall sensor 711 in fish body positional detecting device 71, the second fish body Hall sensor 712 and third fish body are suddenly Position offset can occurs with respect to fish body magnet 714 by sensor 713 in you so that the first fish body Hall sensor 711, the second fish body Hall sensor 712 and third fish body Hall sensor 713 can be aligned with fish body magnet 714, and then generate fish body position letter Number.

In the present embodiment, connection shaft 719, the installation of the first mounting blocks 716 and second are additionally provided in connecting bracket 715 Block 717 is in triangular shape, and the first mounting blocks 716 two vertex opposite with the second mounting blocks 717 are rotated by connecting shaft 719 Link together so that the first mounting blocks 716 can relatively rotate with the second mounting blocks 717.

In the present embodiment, control system 7 further includes fin positional detecting device, and fin positional detecting device is for obtaining Fin is located at initial position signal, and controls fin oscillating motor according to fin initial position message and return to initial position in fin Afterwards, stop control fin to swing up and down.Wherein, fin positional detecting device includes fin Hall sensor (not shown) and fin Portion's magnet (not shown), fin Hall sensor are arranged on fin holder 51, and fin magnet is arranged on cover board 59, in fin When portion's holder 51 is located at initial position, fin magnet is aligned with fin Hall sensor, and fin Hall sensor senses fin Magnet simultaneously generates fin and is located at initial position signal and be sent to microprocessor 701, when not needing fin and swinging, microprocessor 701 receive fin return to initial position signal stop driving fin swing.It is understood that fin swing when, fin Holder 51 opposing cover plates 59 in portion's rotate, and such fin Hall sensor will be staggered with fin magnet, and fin Hall sensor will not It will produce fin and be located at initial position signal.The main purpose that fin positional detecting device is arranged is that fin is facilitated to return to initial bit It sets.

Microprocessor 701 is also connect with air pump 63, the first solenoid valve 66, second solenoid valve 67 and third solenoid valve 68, with Control opening and closing and the first valve on the first solenoid valve 66, second solenoid valve 67 and third solenoid valve 68 and the of air pump 63 The opening and closing of two valves, when bionic machine fish needs to float or sink, bionic machine fish to be made to float or sink.Bionic machine fish Float and sink principle and be described in detail in the above content, details are not described herein.

In the present embodiment, the control system 7 in the present invention further includes first depth of water sensing being connect with microprocessor 701 Device 74 and the second water depth sensor 75, the first water depth sensor 74 and the second water depth sensor 75 are separately mounted to fish head 1 and fish On body 3, the fish head 1 and fish body 3 of the first water depth sensor 74 and the second water depth sensor 75 for acquiring bionic machine fish are located at It depth and the depth of water is converted into digital signal is sent to microprocessor 701 in water, microprocessor 701 is according to the first water depth sensor 74 and 75 collected water signal of the second water depth sensor control start, the first, second and third solenoid valve of air pump 63 66, the opening and closing of 67,68 valve switch.

Specifically, when microprocessor 701 judges fish head 1 according to 74 collected water signal of the first water depth sensor When the first set depth, the first valve switch of the first, second and third solenoid valve 66,67,68 is closed, no longer by air accumulator Gas in 62 is discharged into the first air bag 612, and the water no longer stored up first in displacement can 61 is discharged, the weight of the first storage displacement can 61 No longer mitigate, fish head 1 stops floating；When microprocessor 701 judges according to 75 collected water signal of the second water depth sensor When fish body 3 floats up to the first set depth, air pump 63 is closed while closing the first, second and third electromagnetism by microprocessor 701 Gas in air accumulator 62 is no longer discharged into the second air bag 652 by the second valve switch of valve 66,67,68, the first storage displacement can 65 no longer drain, and the weight of fish body 3 no longer mitigates, and fish body no longer floats.

Microprocessor 701 collects water signal according to the first water depth sensor 74 and judges that fish head 1 is located at the second setting When depth, the first valve switch of the first, second and third solenoid valve 66,67,68 is closed, it no longer will be in the first air bag 612 Gas is discharged into air accumulator 62, and the first storage displacement can 61 is no longer poured water, and the weight of fish head 1 no longer increases, the no longer dive of fish head 1；When When microprocessor 701 judges that fish body 3 is located at the second set depth according to 75 collected water signal of the second water depth sensor, Air pump 63 is closed the second valve switch for simultaneously closing off the first, second and third solenoid valve 66,67,68 by microprocessor 701, no The gas in the second air bag 652 is discharged into cylinder air accumulator 62 again, the first storage displacement can 65 is no longer poured water, and the weight of fish body 3 is not It increases again, fish body no longer sinks.

It should be noted that the first set depth and the second set depth are stored in microprocessor 701, microprocessor 701 cease with 75 collected depth of the second water depth sensor according to the first water depth sensor 74 to judge that bionic machine fish is floating Whether it is located at the first set depth in the process, whether is located at the second set depth in sinking watching, during the two, such as Fruit result be microprocessor 701 control air pump 63 carry out above-mentioned start.

In the present embodiment, microprocessor 701 is also connect with the opening and closing motor 14 in open/close mechanism 13, for controlling opening and closing The start of motor 14 is to control the opening and closure of fish mouth.Specifically, when needing fish mouth opening and closing, microprocessor 701 controls opening and closing Motor 14 drives first gear 15 to rotate forward and drives the reversion of second gear 16 first, drive 12 around the pivot 171 of lower jaw of second gear 16 It rotates down, so that fish mouth is opened, then microprocessor 701 controls opening and closing motor 14 and drives the reversion drive of first gear 15 Second gear 16 rotates forward, and second gear 16 drives lower jaw 12 to be rotated up around hinge axis 171, so that fish mouth is closed, to Complete fish mouth opening and closing.

In the present embodiment, processor 701 is also connect with eye driving motor 21, for controlling eye driving motor 21 Start, when needing to rotate flake 19, eye driving motor 21 to be made to work, driving crank and rocker mechanism 22 drives parallel four side 23 start of shape mechanism, and then flake 19 is driven to rotate.

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

Motor pattern specified by wireless remote control signals includes multiple monomer motor patterns and free cruise mode.Multiple lists Body motor pattern include fish head float, floating, fish head sinking with fish, the sinking of fish body, fish mouth opening, fish mouth closure, eye rotation, Trunk is swung, fin is swung up and down, the rotation of fish tail swing and fin.It is understood that fish head floats and floating synthesis with fish Bionic machine fish floats.Fish head is sunk and fish body sinking synthesizing bionic machine fish dive.Fish mouth, which opens to be closed to synthesize with fish mouth, imitates Raw machine fish fish mouth opening and closing.Trunk swings to form bionic machine turning.Fish tail swing provides motive force for bionic machine fish advance, Form bionic machine fish swimming.Fin swings the balance for ensureing bionic machine fish.Fin rotation with fish for floating Or the fin skeleton 50 of fin 5 is turned to the angle of inclination of setting when the sinking of fish body, to reduce the resistance of water, it is convenient for fish body It floats and fish body sinks.When the water surface moves about, bionic machine fish floats bionic machine fish first, after bionic machine fish floats, Fish tail swing is carried out, the travelling of the bionic machine fish water surface is formed, in other words, that is, bionic machine fish floats and fish tail swing shape It moves about at the bionic machine fish water surface；When wet concentration moves about, bionic machine fish sinks raw machine fish first, and bionic machine fish sinks Afterwards, carry out fish tail swing, formed bionic machine fish move about under water namely bionic machine fish sinking formed with fish tail swing it is bionical Machine fish and water middle reaches are dynamic.

Free cruise mode includes at least two monomer motor patterns in multiple monomer motor patterns.It is specifically for example, imitative Raw machine fish carries out the bionic machine fish water surface and moves under water first, and bionic machine fish fish mouth opening and closing, bionical machine are carried out during moving under water Device fish is moved under water after a certain period of time in the water surface, is moved under water under water, and bionic machine fish fish mouth is carried out during moving under water under water It closes.

Above-mentioned monomer movement, motion process and principle, and be described in detail in above process, details are not described herein.

It should be noted that the fish body 3 of the bionic machine fish of the present invention is also the of the joint of trunk 31 of trunk skeleton 31 Multiple battery cases 101 are set between one 310 and second 312, accumulator is installed in battery case 101, in the present invention With electric device provide electric energy.

The structure of the bionic machine fish of the present invention is simple, at low cost, in addition, bionic machine fish of the present invention has true to nature imitate It comes into force fruit.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.

Claims

1. a kind of floating sinking mechanism of bionic machine fish, which is characterized in that float and dive including being used to control fish head (1) First storage displacement can (61) floats and the second storage displacement can (65) of dive and the first storage displacement can for controlling fish body (3) (61) and second stores up the air accumulator (62) and store up displacement can with second for controlling air accumulator (62) that displacement can (65) connects (65) and between the first storage displacement can (61) air pump (63) of gas exchanges is carried out, the first storage displacement can (61) is mounted on fish The front of body (3), the second storage displacement can (65) are mounted on the middle part of fish body (3)；The fish body (3) includes and fish head (1) The trunk skeleton (30) of connection and the tail portion skeleton (40) being connect with the trunk skeleton (30), trunk skeleton (30) includes multiple It is hingedly engaged to each other to form the joint of trunk (31) of trunk skeleton (30), electric-controlled box is provided on the trunk skeleton (30) (301), trunk skeleton (30) is divided into front trunk skeleton and rear portion trunk skeleton, the rear portion body by the electric-controlled box (301) The joint of trunk (31) positioned at front end of dry skeleton is connect with the electric-controlled box (301), and the second storage displacement can (65) is set In the joint of trunk (31) positioned at front end for setting portion's trunk skeleton in the rear；The floating descending mechanism (6) further includes One solenoid valve (66), second solenoid valve (67) and third solenoid valve (68), the first solenoid valve (66), second solenoid valve (67) and Three solenoid valves (68) include respectively respectively the first air guide port (A), the second air guide port (B), are led with the first air guide port (A) and second The third air guide port (C) of gas port (B) connection, the first valve that the first air guide port of control (A) is connected with third air guide port (C) are opened Close, and the second air guide port of control (B) and third air guide port (C) conducting the second valve switch, the of the first solenoid valve (66) One air guide port (A) is connect with the first storage displacement can (61) and the second storage displacement can (65) respectively with the second air guide port (B), the second electricity The second air guide port (B) and first of the corresponding third solenoid valve (68) of the first air guide port (A) and the second air guide port (B) of magnet valve (67) Air guide port (A) connects, and air accumulator (62) is connected to the first air guide port (A) and third solenoid valve (68) of second solenoid valve (67) Between second air guide port (B), the third air guide port (C) of the first solenoid valve (66) is connected to the second air guide of second solenoid valve (67) Between mouth (B) and the first air guide port (A) of third solenoid valve (68), the third air guide port (C) of third solenoid valve (68) passes through gas Pump (63) is connect with the third air guide port (C) of second solenoid valve (67).

2. the floating sinking mechanism of bionic machine fish as described in claim 1, which is characterized in that the fish body (3) include with The fish neck frame (32) that the fish head (1) is fixedly connected, the first storage displacement can (61) are mounted on the fish neck frame (32) It is interior.

3. the floating sinking mechanism of bionic machine fish as described in claim 1, which is characterized in that joint of trunk (31) takes the shape of the letter U, It is below first (310) and flaky second (311) including first (310) being arranged in the form of sheets and laterally, with And the interconnecting piece (312) that both ends are connect with first (310) and second (311) respectively, wherein two adjacent joint of trunk (31) two first (310) connection, two second (311) connection of adjacent two joint of trunk (31), described the Two storage displacement cans (65) be arranged in the rear first (310) of the joint of trunk (31) positioned at front end of portion's trunk skeleton and Between second (311).

4. the floating sinking mechanism of bionic machine fish as described in claim 1, which is characterized in that the first storage displacement can (61) the first air bag (612) for including the first tank body (610) and being arranged in first tank body (610), wherein first tank The first water inlet is offered on body (610), and is connected to extraneous water phase by first water inlet, the first solenoid valve (66) First air guide port (A) is connect with the first air bag (612) of the first storage displacement can (61).

5. the floating sinking mechanism of bionic machine fish as described in claim 1, which is characterized in that the second storage displacement can (65) the second air bag (652) for including the second tank body (650) and being arranged in second tank body (650), wherein second tank Offer the second water inlet on body (650), the of the second air guide port (B) of the first solenoid valve (66) and the second storage displacement can (65) Two air bags (652) connect.