Pectoral fin steering bionic fish based on double half gear mechanism

Abstract

The present invention discloses a pectoral fin steering bionic fish driven by a dual-half-gear mechanism. The head of the fish comprises an outer shell formed by two interlocking shells, which is an asymmetrical structure with a waterproof cavity formed inside. Pectoral fins are arranged on either side of the outer shell, and a pectoral fin control mechanism for controlling the rotation of the pectoral fins is located within the waterproof cavity. The tail is formed by assembling a multi-section skeleton. A dual-half-gear tail swing mechanism for controlling the swing of the tail fin is located within the skeleton. The skeleton is covered with waterproof fish skin. The dual-half-gear tail swing mechanism includes a main shaft, two spaced-apart half-gears connected to the main shaft, and a rocker arm. The rocker arm has a mating gear, which is connected to a sleeve arm that is inserted into the rocker arm to form a linear bearing structure. The sleeve arm extends rearwardly through a pin to connect to the skeleton. The dual-half-gear mechanism and the linear bearing structure transmit swinging power to control the swing of the fish tail. The present invention utilizes a dual-half-gear tail swing mechanism to control tail swinging, resulting in high mechanical transmission efficiency, high control accuracy, and the ability to perform relatively complex motions.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robotic fish, in particular to a pectoral fin steering bionic fish driven by a double-half gear mechanism. Background Art

[0002] The bionic fish-shaped robot has high propulsion efficiency, good maneuverability and good concealment performance, and has practical applications in military reconnaissance, marine life observation, water quality testing, underwater archaeology, underwater rescue and other fields.

[0003] Currently, the mainstream bionic fish drive system mainly relies on a series-connected servo system, which achieves tail swing through multiple servos in series. This simple structure facilitates control, but the servos are placed in the highly mobile tail, placing high demands on the fish's waterproofing and internal circuit stability. Furthermore, these bionic fish swing rather rigidly, bending only at the joints, resulting in a poor biomimetic effect. Some bionic fish requiring higher mobility use a flexible body drive system, which achieves swing by extending and contracting flexible filaments. This offers high control precision, but the drive power and operating life are not as good as those of electric motors. As bionic fish operations become more complex, the demands on the stability, drive efficiency, and operating life of the internal mechanical structure are increasing. Therefore, it is necessary to propose a new structural bionic fish. Summary of the Invention

[0004] The purpose of the present invention is to address the problems in the prior art, overcome the technical deficiencies of existing bionic fish, and provide a pectoral fin steering bionic fish driven by a double-half gear mechanism.

[0005] The technical solution adopted to achieve the purpose of the present invention is:

[0006] A pectoral fin steering bionic fish driven by a double-half gear mechanism comprises a bionic fish body, the bionic fish body comprising a head and a tail, the head having an outer shell, the outer shell being formed by buckling two shells, being an asymmetric structure and forming a waterproof cavity inside; pectoral fins are arranged on both sides of the outer shell, the interior of the waterproof cavity is provided with a pectoral fin control mechanism for controlling the rotation of the pectoral fins; the tail is formed by assembling a multi-section skeleton; the front end of the skeleton is connected to the rear end of the outer shell, and the rear end of the skeleton is connected to the caudal fin; the interior of the skeleton is provided with a double-half gear tail swinging mechanism for controlling the swing of the caudal fin; the outer side of the skeleton is wrapped with waterproof fish skin; the two pectoral fins are each connected via a transmission shaft and an external A waterproof bearing is arranged in the mounting hole of the shell to connect to a double gear mechanism, and the two double gear mechanisms are respectively connected to the main shaft of a servo, so as to realize the control of the rotation of the pectoral fin; the double half-gear tail swinging mechanism includes a main shaft, two separated half gears connected to the main shaft, and a rocker arm, and a matching gear is provided on the rocker arm, and the rocker arm is connected to the sleeve rod, and the sleeve rod is inserted into the sleeve of the rocker arm to form a linear bearing structure; the sleeve rod extends backward and is connected to the skeleton through a pin shaft; when the main shaft is driven to rotate, when one half gear contacts the matching gear on the rocker arm, the other half gear is disengaged from the matching gear on the rocker arm, and the swinging power is transmitted through the double half-gear mechanism and the linear bearing structure to control the swinging of the fish tail.

[0007] The main shaft is connected to the motor, and the motor is arranged in a waterproof cavity; a motor bracket is provided in the waterproof cavity; and a motor shaft hole and a motor positioning hole are provided on the motor bracket.

[0008] Among them, batteries are arranged in the waterproof cavity, and the batteries are respectively used as motor power supply and control board power supply. The waterproof cavity is provided with a battery slot, a drive board bracket for fixing the motor drive board and the core control board, and a pectoral fin gear box for positioning the two symmetrical lower gears of the double gear mechanism. A waterproof cover is provided at the skeleton connection; the waterproof cover is provided with a second waterproof bearing hole for the main shaft to pass through, the front side of the waterproof cover is provided with a drive board bracket base, and the rear side is provided with a rocker bracket, and the rocker bracket is provided with a rocker positioning hole for positioning the rocker.

[0009] Wherein, the pectoral fin is streamlined in shape.

[0010] The housing is connected by a plurality of screws and screw holes arranged at predetermined positions, and a rubber strip sealing groove is provided at the butt connection, and the rubber strip in the rubber strip sealing groove is compressed by the screws to achieve sealing.

[0011] Wherein, the fish body is equipped with a detection device, which includes a camera and a preset sensor; and the head of the shell is provided with a camera hole.

[0012] Wherein, the shell is connected to the frame through the upper shell connection hole and the lower shell connection hole by pins.

[0013] The waterproof fish skin is made of styrene-butadiene rubber foam material SBR foam by sewing, and the waterproof fish skin fits the fish body to ensure that the waterproof fish skin constrains the freedom of the fish tail skeleton.

[0014] The skeleton is connected to the tail fin by pins and / or rivets; multiple sections of the skeleton are connected to each other by inserting pins into connection holes arranged at the upper and lower ends of the skeleton.

[0015] The fish body, skeleton, tail fin and pectoral fin are made of liquid photosensitive resin material through 3D printing.

[0016] The pectoral-fin steering bionic fish, driven by a dual-half-gear mechanism, features a fully enclosed body with rubber strips sealing grooves and screw holes, which are tightened with screws. This effectively reduces waterproofing and ensures removability. The drive and control unit are centralized in the front half of the bionic fish, stabilizing the counterweight while minimizing its size.

[0017] The dual-half-gear tail-swing mechanism used in this invention offers high mechanical transmission efficiency and ease of control. Compared to traditional parallel servo mechanisms, it offers high control precision and the ability to perform more complex motions. While maintaining effective driving, it reduces control difficulty and risk. In the event of a problem, only the corresponding components need to be replaced, simplifying maintenance. The dual-half-gear mechanism allows for continuous speed changes without changing the motor's rotational direction, making it suitable for direct current motors.

[0018] The pectoral fins of the present invention are streamlined in shape and can reduce the resistance of water to the mechanism to the greatest extent when placed flat.

[0019] The pectoral fin control mechanism of the present invention combines steering assistance with buoyancy and descent control. Rotating the pectoral fins reduces control difficulty, and the altered resistance on both sides effectively facilitates steering, making the bionic fish more flexible and rapid in its movements. The pectoral fins' involvement in buoyancy and descent reduces the risk of buoyancy-gravity imbalance, increases movement consistency, and enhances natural movement.

[0020] The fish tail of the present invention is designed with a multi-segmented skeleton, which makes the bionic fish tail more flexible when swinging, reducing the swing amplitude of the skeleton. The swinging tail fin has a larger water-striking area, providing the bionic fish with propulsion. Overall, the multi-segmented skeleton fish tail can make swimming more efficient.

[0021] The present invention adopts liquid photosensitive resin material for 3D formation, and the overall structural material and production cost are low.

[0022] The present invention can optionally be equipped with different detection equipment to realize a variety of practical functions, such as marine life observation, water quality testing, underwater archaeology, underwater rescue, etc., which has practical social benefits; the bionic fish can also optionally be equipped with cameras, thermometers, sonars, pH meters and other sensing equipment to realize specific detection functions, and has certain development potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is the overall appearance of the bionic fish according to an embodiment of the present invention;

[0024] Figure 2 A cross-sectional view of the internal structure of a bionic fish according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the head shell shape of a bionic fish according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the internal support structure of the bionic fish head shell according to an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the electrical components and their positions inside the bionic fish head housing according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the skeleton and tail fin structure of an embodiment of the present invention;

[0029] Figure 7 Schematic diagram of a double-half-gear tail swing mechanism according to an embodiment of the present invention;

[0030] Figure 8 Schematic diagram of the speed-time curve of the driving motor of the double-half-gear tail drive mechanism according to an embodiment of the present invention;

[0031] Figure 9 Schematic diagram of the cooperation between the skeleton and the linear bearing mechanism according to an embodiment of the present invention;

[0032] Figure 10 Schematic diagram of the pectoral fin and its control mechanism according to an embodiment of the present invention.

[0033] In the picture:

[0034] 1-head shell;

[0035] 101 - Rubber strip sealing groove; 102-1 - First screw through hole; 102-2 - First screw through hole; 103 - Waterproof bearing hole; 104 - Upper connecting hole of the housing; 105 - Lower connecting hole of the housing; 106 - Rocker positioning hole; 107 - Camera hole; 108 - Battery slot; 109 - Motor bracket; 110 - Pectoral fin gearbox; 111 - Waterproof cover; 112 - Drive plate bracket;

[0036] 2-skeleton;

[0037] 201 - tail fin; 202 - first skeleton; 203 - second skeleton; 204 - third skeleton; 205 - fourth skeleton; 206 - waterproof fish skin; 207 - upper connecting hole of skeleton; 208 - lower connecting hole of skeleton;

[0038] 3-Double half gear tail swing mechanism;

[0039] 301-main shaft; 302-first half gear; 303-second half gear; 304-waterproof bearing; 305-rocker; 306-pin shaft; 307-sleeve rod;

[0040] 4- pectoral fin control mechanism;

[0041] 401 - right pectoral fin, 414 - left pectoral fin; 402 - right pectoral fin rotation axis, 413 - left pectoral fin rotation axis; 403 - right pectoral fin fastening screw, 412 - left pectoral fin fastening screw; 404 - right waterproof bearing, 411 - left waterproof bearing; 405 - right lower gear, 410 - left lower gear; 406 - right upper gear, 409 - left upper gear; 407 - right servo, 408 - left servo; 415 - bushing;

[0042] 5-Electrical components;

[0043] 501 - first lithium battery; 502 - second lithium battery; 503 - motor; 504 - camera. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0045] The bionic fish of this embodiment can achieve all the basic functions of a bionic robotic fish, including free underwater movement and steering, the ability to ascend and descend within a certain depth range, and complete corresponding motions according to commands from shore operators, while maintaining convenient and stable control and efficient and energy-efficient movement. The bionic fish of this embodiment utilizes a dual-half gear mechanism to achieve its motion functions, coupled with easily controlled movable pectoral fins to assist with steering and snorkeling, resolving the complex drive control issues of existing bionic fish.

[0046] Reference Figure 1As shown, the bionic fish shell in the embodiment of the present invention includes a head and a tail. The head shell 1 adopts a fully enclosed design and is formed by buckling two half shells. The docking position of the half shells is provided with a rubber strip sealing groove 101, and docking ears are provided at the upper and lower ends of the shells. The docking ears are provided with second screw through holes 102-2. The front of the head shell is provided with a first screw through hole 102-1. In this way, the sealing strip in the rubber strip sealing groove 101 is compressed by screws to tightly close the two halves of the bionic fish shell to achieve a sealing and waterproof effect; the fish tail 2 is designed as a multi-section skeleton, which includes a first skeleton 202, a second skeleton 203, a third skeleton 204, and a fourth skeleton 205 in sequence from the tail to the head. The first skeleton 202 as the last section of the skeleton is connected to the tail fin 201. The outside of the entire multi-section skeleton is tightly wrapped with a layer of waterproof fish skin 206. The right pectoral fin 401 and the left pectoral fin 414 are provided on the outside of the head shell, located on both sides of the bionic fish. When the bionic fish swims, it can float up and dive by changing its water-facing area.

[0047] Reference Figure 2 As shown, a double-half-gear tail-swinging mechanism 3 and a pectoral fin control mechanism 4 are provided inside the fish body; the double-half-gear tail-swinging mechanism 3 is a mechanical structure for realizing the tail-swinging of a bionic fish, and the pectoral fin control mechanism 4 is a mechanical structure for realizing the rotation of the pectoral fins of a bionic fish. Electrical components 5 such as a first lithium battery 501, a second lithium battery 502, a motor 503, a right servo 407, a left servo 408, a control panel, etc. are fixed in a waterproof head shell 1 through a bracket. In addition, functional components such as a camera 504 can also be installed in the waterproof shell according to functional requirements.

[0048] Reference Figure 3 As shown in the embodiment of the present application, the bionic fish head shell is about Figure 2 The reference plane is symmetrical, Figure 3 Taking the left side as an example, the bionic fish head housing has screw holes and a waterproof bearing hole 103. The waterproof bearing hole is used to install the right pectoral fin 401. The first screw hole 102-1 is used to tighten the sealing strip near the head end, and the second screw hole 102-2 is used to tighten the sealing strip at the waist of the bionic fish to ensure waterproofness.

[0049] In addition, in this application, an upper shell connection hole 104 and a lower shell connection hole 105 are provided on the rear side of the bionic fish's head shell for connecting to the first section of the fish skeleton. A rocker rod positioning hole 106 for positioning the rocker rod of the double-half-gear tail swinging mechanism 3 is located between the upper shell connection hole 104 and the lower shell connection hole 105. Furthermore, a camera hole 107 can optionally be added to the front end of the bionic fish's head shell, near the upper side, to accommodate a camera or other detector that needs to extend out of the shell.

[0050] Reference Figure 4As shown, in the embodiment of the present application, a corresponding electrical equipment mounting mechanism is provided inside the head shell of the bionic fish, and the electrical equipment mounting mechanism includes a battery slot 108, a motor bracket 109, a pectoral fin gear box 110, a waterproof cover 111 and a drive plate bracket 112;

[0051] Among them, the driving plate bracket 112 is Figure 5 In the embodiment, the battery slot 108 is located near the fish head and is used to fix the first lithium battery 501 and the second lithium battery 502 (see Figure 5 As shown), they are the motor power supply and the control board power supply respectively; the motor bracket 109 is located between the waterproof cover 111 and the battery slot 108, and is provided with a motor positioning hole 109-1 and a motor shaft hole 109-2 for installing the bionic fish head motor 503 and the motor shaft of the bionic fish head motor 503 extending out.

[0052] There are two pectoral fin gearboxes 110, which are arranged opposite to each other ( Figure 4 Only the right pectoral fin gearbox is shown. It is located between the waterproof cover 111 and the battery compartment 108, adjacent to the motor bracket. The two pectoral fin gearboxes 110 are used to position the two oppositely arranged gears (the left lower gear 410 and the right lower gear 405) in the pectoral fin control mechanism 4, and respectively secure the right servo 407 and the left servo 408 to the motor in a mirror-image manner through the servo positioning holes 110-1 arranged thereon. The waterproof cover 111 is located on the rear side of the fish head. A rocker arm bracket 111-1 extends toward the tail of the fish. The rocker arm positioning hole 106 is provided thereon. A second waterproof bearing hole 111-2 is provided thereon for the main shaft 301 of the double-half-gear swing mechanism 3 to pass through. A drive plate bracket base 111-3 extends toward the fish head to secure the drive plate bracket 112. The drive plate bracket 112 is located above the pectoral fin gearbox 110 and is used to secure the motor drive board and the core control board.

[0053] in, Figure 5 This is a schematic diagram of the electrical components and their locations inside the bionic fish head shell, which can be used as Figure 4 's comparative reference.

[0054] Reference Figure 6 As shown, in the embodiment of the present application, in the tail structure of the bionic fish, the tail fin 201 of the bionic fish is assembled into one with the double-half-gear tail swinging mechanism 3 through a pin shaft 306, and the first skeleton 202 to the fourth skeleton 205 are connected to each other by inserting pins into the connecting holes arranged at the upper and lower ends of the skeleton, such as the upper skeleton connecting hole 207 and the lower skeleton connecting hole 208 arranged at the upper and lower ends of the skeleton.

[0055] In addition, the material of the waterproof fish skin 206 tightly covering the outside of the fish skeleton can be styrene-butadiene rubber foam material SBR foam, and fits the fish body as closely as possible to ensure that the fish skin constrains the freedom of the fish tail skeleton.

[0056] In the embodiments of the present application, the multi-segmented fishtail design allows for more flexible swinging of the bionic fish's tail, reducing the swing amplitude of the tail fin 201 and increasing the surface area of ​​the tail fin 201, thus providing propulsion for the bionic fish. Overall, a multi-segmented fishtail allows for more efficient swimming. To ensure proper function of the tail fin, the individual segments of the tail should avoid geometric interference at the maximum swing angle. Furthermore, the maximum swing angle achievable by the tail fin should be no less than the maximum swing angle determined by the dual-half gear mechanism to prevent the dual-half gear mechanism from becoming stuck on the tail fin.

[0057] Reference Figure 7 As shown, in the embodiment of the present application, the double-half-gear tail swinging mechanism 3 is installed in the fishtail skeleton of the bionic fish, including a main shaft 301, a first half gear 302 connected to the main shaft, and a second half gear 303. The first half gear 302 and the second half gear 303 are arranged separately along the length direction of the main shaft. The gear parts of the first half gear 302 and the second half gear 303 are symmetrical about the main shaft 301, ensuring that when one half gear starts to contact the gear on the rocker arm 305, the other half gear has been disengaged.

[0058] The torque M of the bionic fish head motor 503 is transmitted through the main shaft 301, the linear bearing 305 is hinged to the fish tail part through the pin 306, and the swing rod positioning hole 106 of the head shell is used to constrain the swing rod. Figure 8 When the fish tail rotates at the speed shown, the double-half-gear tail swinging mechanism can make the fish tail swing back and forth stably. Figure 9 The figure visually illustrates the connection between the rocker arm 305, sleeve arm 307, and the fishtail in a linear bearing. The rocker arm 305 is connected to the sleeve arm 307. One end of the sleeve arm 307 is hingedly connected to a pin 306 via a circular disc with a hole in the middle. The pin 306 is connected to the upper and lower ends of the fishtail. During assembly, the sleeve arm 307 fits into the sleeve of the rocker arm 305, forming a linear bearing structure that accommodates the variable distance between the rotational centers of the pin 306 and the rocker arm 305 during the fishtail's swinging motion.

[0059] In the embodiment of the present application, the working principle of the double half-gear tail swing mechanism is as follows:

[0060] The bionic fish head motor 503 outputs torque M, driving the first half gear 302 and the first half gear 303 fixed to the main shaft 301 to rotate together. When the bionic fish head motor 503 begins to operate with a fixed torque, and the dual half gear structure is in the phase shown in the figure, the movement of the dual half gear mechanism in one cycle is as follows:

[0061] The first half gear 302 first meshes with the gear on the rocker arm 305, and the rocker arm 305 is swung outward from the paper through the gear transmission until the second half gear 302 disengages; in the next very short stage, in order to prevent the double half gear mechanism from getting stuck, it is necessary to go through a no-load transition period, during which the gear on the rocker arm 305 will not mesh with the half gear, and the main shaft 301 is also in a low speed state until a certain meshing margin is left, and the second half gear 303 begins to mesh with the gear on the rocker arm 305; after the second half gear 303 meshes with the gear on the rocker arm 305, it drives the rocker arm to swing inward from the paper. After disengagement, the main shaft speed must also be reduced to wait for the gear on the rocker arm 305 to re-engage with the first half gear 302.

[0062] In order to make the motor speed change continuously and reduce the impact on the half gear, the motor speed should be controlled as follows: Figure 8 shown.

[0063] To ensure that the double-half-gear tail-swinging mechanism 3 operates well in the bionic fish, the first half-gear 302, the second half-gear 303 and the main shaft 301 should be an integral part, or be fastened together to prevent the gear parts and the shaft from slipping; the first half-gear 302, the second half-gear 303 and the main shaft 301 should all be manufactured and turned using rigid metal materials to reduce bending deformation of the main shaft 301.

[0064] In addition, the double-half-gear tail swinging mechanism 3 also includes a waterproof bearing 304, which is installed at one end of the main shaft 301, and the waterproof bearing 304 is embedded in the waterproof bearing hole 111-2 left in the head shell, passing through the main shaft 301 coupled with the main shaft of the bionic fish head motor through the coupling, thereby ensuring the waterproofness of the head shell.

[0065] Reference Figure 10 As shown, the pectoral fin control mechanism 4 is symmetrical about the center plane of the bionic fish, including a right servo 407 and a left servo 408, and the right servo 407 and the left servo 408 are symmetrically arranged; the outer sides of the right servo 407 and the left servo 408 are respectively connected to a double gear mechanism, and each is connected to the right pectoral fin 401 and the left pectoral fin 414 through the corresponding double gear mechanism, forming a left fin control mechanism and a right fin control mechanism respectively, driving the right pectoral fin 401 and the left pectoral fin 414 to rotate to provide power.

[0066] The right and left pectoral fins 401 and 414 are mounted on the front third of the fish's body. They are secured to the bionic fish via right and left waterproof bearings 404 and 411, respectively, and the pectoral fins' right and left pectoral fin rotation axes 402 and 413, respectively, allowing for free rotation. The right and left pectoral fin rotation axes 402 and 413 are connected to the connecting device using a D-shaped groove design to ensure precise control.

[0067] The right pectoral fin 401 and the left pectoral fin 414 are streamlined in shape, and their front faces can minimize the resistance of water to the mechanism.

[0068] In this application, the right pectoral fin rotation shaft 402 is connected to the right pectoral fin 401 via the right pectoral fin fastening screw 403. The right lower gear 405 is tightly connected to the right pectoral fin rotation shaft 402 and meshes with the right upper gear 406 to form a gear transmission mechanism. The right upper gear 406 is directly connected to the main shaft of the right servo 407, forming the right fin control mechanism and forming a stable integrated structure.

[0069] Completely symmetrically, the structure and installation method of the left pectoral fin 414, left servo 408, left upper gear 409, left lower gear 410, left pectoral fin rotation shaft 413, and left pectoral fin fastener 412 in the left fin control mechanism are exactly the same as those of the right fin control mechanism; the left pectoral fin 414 is connected to the left pectoral fin rotation shaft 413 through the left pectoral fin fastener 412, the left lower gear 410 is tightly connected to the left pectoral fin rotation shaft 413, and is meshed with the left upper gear 409 to form a gear transmission mechanism, and the left upper gear 409 is connected to the main shaft of the left servo 408 to form a left fin control mechanism, and form a stable integrated structure.

[0070] In addition, in the embodiment of the present application, a shaft sleeve 415 is added to the inner end of each of the right pectoral fin rotation shaft 402 and the left pectoral fin rotation shaft 413 to prevent axial deviation of the corresponding gear mechanism.

[0071] In the present application, in the pectoral fin control mechanism, the left servo and the right servo arranged on the left and right sides are respectively controlled by a single chip microcomputer, and the rotation of the left and right pectoral fins is relatively independent, thereby realizing the single degree of freedom rotation of the pectoral fins.

[0072] The control principle of the right pectoral fin 401 is as follows:

[0073] During operation, the right servo 407 outputs torque M, driving the right servo 407 main shaft and the right upper gear 406 to rotate synchronously. The right upper gear 406 meshes with the right lower gear 405, driving the right lower gear 405 to rotate. The right lower gear 405 is keyed to the right pectoral fin rotation shaft 402 of the right pectoral fin 401, thereby driving the right pectoral fin 401 to rotate. The control principle of the left pectoral fin 414 is similar and will not be further described.

[0074] In this embodiment, three control operations are available for a single pectoral fin: forward rotation, backward rotation, and centering. Forward rotation increases the pectoral fin's surface area, thereby increasing water resistance; backward rotation decreases the pectoral fin's surface area, or positions the bottom surface against water, thereby reducing water resistance or providing lift; and centering returns the pectoral fin to a position parallel to the fish's body.

[0075] In the embodiments of the present application, by controlling the pectoral fin movements through reasonable control instructions, the bionic fish can be made to turn and float in the water. For example, the bionic fish turns by rotating one pectoral fin forward and the other pectoral fin backward. When turning, the side that turns forward encounters greater water resistance, causing the bionic fish to turn toward the side where the pectoral fin is turned forward. The bionic fish floats up by rotating both pectoral fins backward at the same time. When floating up, the bionic fish encounters less forward resistance from the water, and the pectoral fins also experience an upward lift from the water, enabling the bionic fish to float.

[0076] In actual operation, the controller generally does not want the bionic fish to sink actively, but rather allows the bionic fish to use its own gravity to slowly dive to a predetermined depth. Therefore, the sinking operation of the bionic fish only needs to change the tail swinging frequency to reduce the propulsion force and slowly sink.

[0077] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A pectoral fin steering bionic fish driven by a double half gear mechanism, characterized in that: The bionic fish comprises a body of a bionic fish, which comprises a head and a tail, wherein the head has an outer shell, which is formed by fastening two shells, has an asymmetric structure and forms a waterproof cavity inside; pectoral fins are arranged on both sides of the outer shell, and a pectoral fin control mechanism for controlling the rotation of the pectoral fins is arranged inside the waterproof cavity; the tail is formed by assembling a multi-section skeleton; the front end of the skeleton is connected to the rear end of the outer shell, and the rear end of the skeleton is connected to the tail fin; a double-half-gear tail swinging mechanism for controlling the swing of the tail fin is arranged inside the skeleton; the outer side of the skeleton is wrapped with waterproof fish skin; the two pectoral fins are each connected to a double-gear mechanism through a connecting transmission shaft and a waterproof bearing arranged in the mounting hole of the outer shell, and the two double-gear mechanisms are each connected to the main shaft of a servo, thereby realizing the control of the rotation of the pectoral fins; the right pectoral fin and the left pectoral fin are located on both sides of the bionic fish, and when the bionic fish swims, they are driven by their respective servos through the double-gear mechanism to rotate with a single degree of freedom, which is achieved by changing the water-facing area Floating and diving; the double half-gear tail swinging mechanism includes a main shaft, two spaced apart half-gears connected to the main shaft, and a rocker arm, the rocker arm is provided with a matching gear, the rocker arm is connected to a sleeve rod, the sleeve rod is inserted into the sleeve of the rocker arm to form a linear bearing structure; the sleeve rod extends backward and is connected to the skeleton through a pin shaft; the two half-gears are spaced apart along the length direction of the main shaft and the gear parts are symmetrical about the main shaft, the main shaft is connected to the motor, the motor works according to a torque in a fixed direction, when the main shaft is driven to rotate, when one half-gear contacts the matching gear on the rocker arm, the other half-gear is disengaged from the matching gear on the rocker arm, and the swinging power is transmitted through the double half-gear mechanism and the linear bearing structure to control the swinging of the fishtail, and after the first half-gear is disengaged from the gear of the rocker arm, it undergoes a no-load transition period and then meshes with the second half-gear, wherein the sleeve rod and the pin shaft are hingedly connected through a disc portion with a hole in the middle, and the pin shaft is connected to the upper and lower ends of the fishtail part.

2. The pectoral fin steering bionic fish driven by a double half gear mechanism according to claim 1, characterized in that: The motor is arranged in a waterproof cavity; a motor bracket is provided in the waterproof cavity; and a motor shaft hole and a motor positioning hole are provided on the motor bracket.

3. The pectoral fin steering bionic fish driven by a double half gear mechanism according to claim 1, characterized in that: Batteries are arranged in the waterproof cavity, and the batteries are respectively the power supply for the motor and the control board. The waterproof cavity is provided with a battery slot, a drive board bracket for fixing the motor drive board and the core control board, and a pectoral fin gear box for positioning the two symmetrical lower gears of the double gear mechanism. A waterproof cover is provided at the connection of the skeleton; a second waterproof bearing hole for the main shaft to pass through is provided on the waterproof cover, a drive board bracket base is provided on the front side of the waterproof cover, and a rocker bracket is provided on the rear side. The rocker bracket is provided with a rocker positioning hole for positioning the rocker.

4. The pectoral fin steering bionic fish driven by a double half gear mechanism according to claim 1, characterized in that: The pectoral fins are streamlined in shape.

5. The pectoral fin steering bionic fish driven by a double half gear mechanism according to claim 1, characterized in that: The housing is connected by a plurality of screws and screw holes arranged at predetermined positions. A rubber strip sealing groove is provided at the butt joint, and the rubber strip in the rubber strip sealing groove is compressed by the screws to achieve sealing.

6. The pectoral fin steering bionic fish driven by a double half gear mechanism according to claim 1, characterized in that: A detection device is mounted inside, and the detection device includes a camera and a preset sensor; a camera hole is provided on the head of the shell.

7. The pectoral fin steering bionic fish driven by a double half gear mechanism according to claim 1, characterized in that: The shell is connected to the frame via pins through the upper shell connection hole and the lower shell connection hole.

8. The pectoral fin steering bionic fish driven by a double half gear mechanism according to claim 1, characterized in that: The waterproof fish skin is made of styrene-butadiene rubber foam material SBR foam through sewing, and the waterproof fish skin fits the fish body to ensure that the waterproof fish skin restricts the freedom of the fish tail skeleton.

9. The pectoral fin steering bionic fish driven by a double half gear mechanism according to claim 1, characterized in that: The frame and the tail fin are connected by pins and / or rivets; multiple sections of the frame are connected to each other by inserting the pins into connection holes arranged at the upper and lower ends of the frame.

10. The pectoral fin steering bionic fish driven by a double half gear mechanism according to claim 1, characterized in that: The skeleton, the tail fin and the pectoral fin are made of liquid photosensitive resin material through 3D printing.

Images