Bionic fish structure

Abstract

The utility model relates to the technical field of bionic fishes, in particular to a bionic fish structure which comprises a battery, a controller, a framework assembly and a tail fin assembly, the framework assembly comprises a plurality of rotating joints, and the rotating joints are sequentially and rotatably connected end to end; the battery is rotationally connected with the rotating joint at the head end of the framework assembly, the tail fin assembly is movably connected with the rotating joint at the tail end of the framework assembly, the controller is in communication connection with the rotating joint and the tail fin assembly, and the battery is electrically connected with the controller and the rotating joint. According to the bionic fish, the movable framework assembly is composed of the universal joints, variable adjustment of the framework assembly is achieved, the fish body can be driven to move through swinging of the framework assembly, steering can be achieved through posture changes of the framework assembly, and the bionic effect of the bionic fish is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic fish, and more specifically, to a bionic fish structure. Background Art

[0002] Fish in nature can be divided into two types based on their propulsion mechanisms and swimming patterns: body / caudal fin propulsion (BCF) and median / opposed fin propulsion (MPF). BCF fish primarily use their body and caudal fin as propulsion, generating thrust through body undulation and caudal fin oscillation, creating body waves that enable fast and efficient swimming. Body waves represent the undulation of the body and oscillation of the caudal fin in BCF fish and are the result of the interaction between the mechanical properties of the fish and the surrounding fluid. However, current bionic fish primarily propel themselves through caudal fin oscillation, failing to truly simulate the coordinated movement of the body and caudal fin in real fish.

[0003] A Chinese patent discloses a bionic rescue robot fish, comprising a body frame, a head frame, a tail swing mechanism, a pectoral fin swing mechanism, a rescue mechanism, and a buoyancy adjustment mechanism. The body frame is movably connected to the head frame, and the head frame is provided with a tail swing mechanism, a pectoral fin swing mechanism, a rescue mechanism, and a buoyancy adjustment mechanism. The surfaces of the body frame and the head frame are sealed with a bionic fish skin. The tail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism, and the buoyancy adjustment mechanism are all communicatively connected to a control unit. The rescue mechanism can release a life-saving airbag, and the buoyancy adjustment mechanism can change the volume of the fish's belly. However, this structure relies solely on tail swing for propulsion, and the body frame cannot move, resulting in limited bionic effects. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiency of the limited moving parts of the bionic fish in the prior art and to provide a bionic fish structure in which the fish body skeleton can change its posture according to demand and realize more bionic movements.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A bionic fish structure is provided, comprising a battery, a controller, a skeleton assembly and a tail fin assembly. The skeleton assembly comprises a plurality of rotating joints, which are rotatably connected end to end in sequence. The battery is rotatably connected to the rotating joint at the front end of the skeleton assembly, and the tail fin assembly is movably connected to the rotating joint at the rear end of the skeleton assembly. The controller is communicatively connected to the rotating joint and the tail fin assembly, and the battery is electrically connected to the controller and the rotating joint.

[0007] Through this arrangement, a bionic fish can be formed by covering the bionic fish structure with a flexible skin; when the bionic fish needs to move slowly and straight, the rotating joint at the tail of the skeleton assembly rotates, driving the tail fin assembly at the tail to swing, thereby generating propulsion; when the bionic fish needs to move straight at an accelerated speed, the multiple rotating joints of the skeleton assembly rotate in coordination, driving the fish body and tail to swing together, thereby increasing the interaction surface with the water and increasing the propulsion; when the bionic fish needs to turn, the rotating joints on the skeleton assembly rotate, and several rotating joints form an arc structure and then remain stationary, so that the fish body presents a posture of bending to the left or to the right, and the bionic fish has a tendency to turn by changing the water-facing surface.

[0008] Preferably, the rotating joint includes a rotating mechanism and a rotating base, the rotating mechanism is rotatably installed in the rotating base, and the rotating base of the previous rotating joint is also fixedly connected to the rotating mechanism of the next rotating joint.

[0009] Through this arrangement, when the rotating joints need to rotate, the rotating mechanism of the subsequent rotating joint works, and the rotating mechanism in the rotating joint produces relative rotation with the rotating base frame. Because the rotating mechanism is fixedly connected to the rotating base frame of the previous rotating joint, the rotating base frame of the previous rotating joint and the rotating base frame of the subsequent rotating joint produce relative rotation. Similarly, when the bionic fish body needs to move, the rotating structures in multiple rotating joints work, driving the rotating base frames to rotate relative to each other, thereby realizing the posture change or swinging movement of the skeleton assembly, driving the fish body to move, and then realizing more bionic movements.

[0010] Preferably, the rotating mechanism includes a fixed frame and a driving motor, the fixed frame is fixedly sleeved on the outside of the motor, a rotating groove is provided at the bottom of the rotating base frame, the output shaft of the driving motor is fixedly connected to the rotating groove, and the fixed frame of the rotating joint is also fixedly connected to the rotating base frame of the previous rotating joint.

[0011] Through this setting, the output shaft of the driving motor is connected to the rotating groove, and the driving motor drives the rotating base to rotate through the rotating groove. At the same time, the driving motor is connected to the previous rotating base through the fixed frame, which facilitates the installation of the driving motor and avoids the torque generated by the rotation between the rotating joints directly acting on the rotating motor, which is beneficial to improving the life of the equipment.

[0012] Preferably, a first connecting frame is provided at the front end of the fixed frame, and a second connecting frame is provided at the rear end of the rotating base frame. The first connecting frame is provided with at least two first connecting holes, and the second connecting frame is provided with at least two second connecting holes. The first connecting hole and the second connecting hole are fixedly connected by a connecting piece.

[0013] Preferably, a mounting groove for mounting an expansion component is provided on the top of the rotating base.

[0014] With this arrangement, when assembling the bionic fish, the user can install expansion components on the installation slot according to the requirements of the usage scenario, thereby making the bionic fish applicable to more underwater operation scenarios.

[0015] Preferably, it further comprises a sensor, which is fixedly mounted on the mounting slot of the rotating joint and is communicatively connected to the controller.

[0016] Through this setting, the bionic fish can detect the surrounding environment through sensors and adjust its own movement posture according to the surrounding environment. For example, when encountering some curved holes, the bionic fish can pass through them by deforming its skeleton components, greatly increasing the applicable scenarios of the bionic fish structure.

[0017] Preferably, the device further comprises a wireless communicator, wherein the wireless communicator is communicatively connected to the controller.

[0018] With this arrangement, the user can remotely control the deformation and movement of the bionic fish structure through the wireless communicator, which greatly improves the controllability of the bionic fish structure.

[0019] Preferably, the bionic fish structure includes at least four rotating joints.

[0020] With this arrangement, at least four rotating joints cooperate with each other to enable the skeleton assembly to achieve more bionic movements.

[0021] Preferably, the tail fin assembly includes a fixed plate, a movable plate, a transmission rod and a driving mechanism, the fixed plate is fixedly connected to the rotating joint at the tail end of the skeleton assembly, the driving mechanism is installed on the rotating joint at the tail end of the skeleton assembly, and the output end of the driving mechanism is connected to the movable plate through the transmission rod, and the movable plate is rotationally connected to the fixed plate.

[0022] With this arrangement, the driving mechanism can drive the movable plate to rotate relative to the fixed plate through the transmission rod, and the rotating joint at the tail end of the skeleton assembly drives the fixed plate and the movable plate on the fixed plate to swing together; when in normal state, the fixed plate overlaps with the movable plate, and at this time the water-facing area of ​​the tail fin assembly is the smallest, and the driving force is small; when acceleration is required, the driving mechanism works, and drives the movable plate and the fixed plate to rotate relative to each other through the transmission rod, the overlapping area of ​​the movable plate and the fixed plate is reduced, the area of ​​interaction with water is increased, and a single swing generates a greater thrust; when high-speed swimming is required, the driving mechanism works, and drives the movable plate and the fixed plate to be completely separated through the transmission rod, and at this time the sum of the areas of the movable plate and the fixed plate is the area of ​​interaction with water, and the area of ​​interaction with water reaches a maximum value, and the rotating joint drives the fixed plate and the movable plate to swing, thereby obtaining a large amount of driving force, thereby allowing the bionic fish to maintain high-speed swimming; this tail fin assembly with a variable area greatly improves the maneuverability of the bionic fish and increases the scope of application of the bionic fish underwater operations.

[0023] Preferably, the driving mechanism includes a pump body, a solenoid valve, a piston column and a piston cylinder. The pump body, the solenoid valve and the piston cylinder are connected in sequence. The piston column and the piston cylinder form a piston transmission pair. The end of the piston column is rotatably connected to the transmission rod, and the solenoid valve is electrically connected to the controller.

[0024] The pump body can be a liquid pump or a gas pump. With this arrangement, when the frontal surface of the tail fin assembly needs to be increased, the controller sends a command to the solenoid valve, which connects the pump body and the piston cylinder. The pump body increases pressure in the piston cylinder, causing the piston rod to extend from the piston cylinder. The piston rod drives the movable plate to rotate relative to the fixed plate via the transmission rod, thereby increasing the frontal surface. When the frontal surface area needs to be reduced, the solenoid valve is activated, the pressure in the piston cylinder is released, and the piston rod retracts, causing the movable plate to overlap with the fixed plate.

[0025] Preferably, the solenoid valve is a two-position three-way solenoid valve.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] (1) The movable skeleton components are composed of several universal joints, which enables variable adjustment of the skeleton components. The fish body can be driven to move by the swing of the skeleton components, and the fish can be turned by the posture change of the skeleton components, thereby improving the bionic effect of the bionic fish.

[0028] (2) By setting up sensors, the bionic fish can sense the surrounding environment and adjust its posture according to the surrounding environment, which is beneficial to improving the underwater applicability of the bionic fish structure.

[0029] (3) By setting up the tail fin assembly, the movable plate and the fixed plate can rotate relative to each other to expand or contract, thereby adjusting the size of the water-facing area of ​​the tail fin assembly, which is beneficial to improving the applicable scenarios of the bionic fish. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is an overall schematic diagram of a bionic fish structure of the utility model;

[0031] Figure 2 This is a schematic diagram of the rotating joint structure of a bionic fish structure of the utility model;

[0032] Figure 3 This is a schematic diagram of the driving mechanism of a bionic fish structure of the utility model.

[0033] The icon markings are explained as follows:

[0034] 1. Battery; 2. Skeleton assembly; 21. Rotating joint; 22. Rotating mechanism; 221. Fixed frame; 2211. First connecting frame; 222. Drive motor; 23. Rotating base frame; 231. Rotating slot; 232. Second connecting frame; 233. Mounting slot; 3. Tail fin assembly; 31. Fixed plate; 32. Movable plate; 33. Transmission rod; 34. Driving mechanism; 341. Pump body; 342. Solenoid valve; 343. Piston column; 344. Piston cylinder; 4. Controller; 5. Sensor. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic, not actual, representations. They should not be construed as limiting this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the drawings.

[0036] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and so on indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0037] Example 1

[0038] like Figures 1 to 3The figure shows a first embodiment of a bionic fish structure of the present invention, which includes a battery 1, a controller 4, a skeleton assembly 2 and a tail fin assembly 3. The skeleton assembly 2 includes a plurality of rotating joints 21, and the plurality of rotating joints 21 are rotatably connected head to tail in sequence; the battery 1 is rotatably connected to the rotating joint 21 at the head end of the skeleton assembly 2, and the tail fin assembly 3 is movably connected to the rotating joint 21 at the end of the skeleton assembly 2. The controller 4 is communicatively connected to the rotating joint 21 and the tail fin assembly 3, and the battery 1 is electrically connected to the controller 4 and the rotating joint 21.

[0039] By this arrangement, a bionic fish can be formed by covering the bionic fish structure with a flexible skin; when the bionic fish needs to move slowly and straight, the rotating joint 21 at the tail of the skeleton component 2 rotates, driving the tail fin component 3 at the tail to swing, thereby generating propulsion; when the bionic fish needs to move straight at an accelerated speed, the multiple rotating joints 21 of the skeleton component 2 rotate in coordination, driving the fish body and tail to swing together, thereby increasing the interaction surface with the water and increasing the propulsion; when the bionic fish needs to turn, the rotating joints 21 on the skeleton component 2 rotate, and several rotating joints 21 form an arc structure and then remain stationary, so that the fish body presents a posture of bending to the left or bending to the right, and the bionic fish has a tendency to turn by changing the water-facing surface.

[0040] As an embodiment of the present invention, the rotating joint 21 includes a rotating mechanism 22 and a rotating base 23. The rotating mechanism 22 is rotatably installed in the rotating base 23. The rotating base 23 of the previous rotating joint 21 is also fixedly connected to the rotating mechanism 22 of the next rotating joint 21.

[0041] Through this arrangement, when the rotating joints 21 need to rotate, the rotating mechanism 22 of the subsequent rotating joint 21 works, and the rotating mechanism 22 in the rotating joint 21 and the rotating base 23 produce relative rotation. Because the rotating mechanism 22 is fixedly connected to the rotating base 23 of the previous rotating joint 21, the rotating base 23 of the previous rotating joint 21 and the rotating base 23 of the subsequent rotating joint 21 produce relative rotation. Similarly, when the bionic fish body needs to move, the rotating structures in multiple rotating joints 21 work, driving the rotating bases 23 to rotate relative to each other, thereby realizing the posture change or swinging movement of the skeleton assembly 2, driving the fish body to move, and then realizing more bionic movements.

[0042] As an embodiment of the present utility model, the rotating mechanism 22 includes a fixed frame 221 and a driving motor 222. The fixed frame 221 is fixedly sleeved on the outside of the motor. A rotating groove 231 is provided at the bottom of the rotating base 23. The output shaft of the driving motor 222 is fixedly connected to the rotating groove 231. The fixed frame 221 of the rotating joint 21 is also fixedly connected to the rotating base 23 of the previous rotating joint.

[0043] Through this setting, the output shaft of the driving motor 222 is connected to the rotating groove 231, and the driving motor 222 drives the rotating base 23 to rotate through the rotating groove 231. At the same time, the driving motor 222 is connected to the previous rotating base 23 through the fixing frame 221, which facilitates the installation of the driving motor 222 and avoids the torque generated by the rotation between the rotating joints 21 directly acting on the rotating motor, which is beneficial to improving the life of the equipment.

[0044] As an embodiment of the present utility model, a first connecting frame 2211 is provided at the front end of the fixed frame 221, and a second connecting frame 232 is provided at the rear end of the rotating base frame 23. The first connecting frame 2211 is provided with at least two first connecting holes, and the second connecting frame 232 is provided with at least two second connecting holes. The first connecting hole and the second connecting hole are fixedly connected by a connecting piece.

[0045] As an embodiment of the present invention, a mounting groove 233 for mounting an expansion component is provided on the top of the rotating base 23 .

[0046] With this arrangement, when assembling the bionic fish, the user can install expansion components on the installation slot 233 according to the requirements of the usage scenario, thereby making the bionic fish applicable to more underwater operation scenarios.

[0047] As an embodiment of the present invention, the bionic fish structure includes at least four rotating joints 21 .

[0048] With this arrangement, the at least four rotating joints 21 cooperate with each other to enable the skeleton assembly 2 to achieve more bionic movements.

[0049] Example 2

[0050] The following is a second embodiment of a bionic fish structure of the present invention. This embodiment is similar to the first embodiment, except that it further includes a sensor 5 and a wireless communicator.

[0051] As an embodiment of the present invention, a sensor 5 is further included. The sensor 5 is fixedly mounted on the mounting groove 233 of the rotating joint 21 . The sensor 5 is in communication connection with the controller 4 .

[0052] Through this setting, the bionic fish can detect the surrounding environment through the sensor 5 and adjust its own movement posture according to the surrounding environment. For example, when encountering some curved holes, the bionic fish can pass through by deforming the skeleton component 2, which greatly increases the applicable scenarios of the bionic fish structure.

[0053] As an embodiment of the present invention, a wireless communicator is further included, and the wireless communicator is communicatively connected with the controller 4 .

[0054] With this arrangement, the user can remotely control the deformation and movement of the bionic fish structure through the wireless communicator, which greatly improves the controllability of the bionic fish structure.

[0055] Example 3

[0056] The following is a third embodiment of a bionic fish structure of the present invention. This embodiment is similar to the second embodiment, except that further limitations are imposed on the tail fin assembly 3 .

[0057] As an embodiment of the present utility model, the tail fin assembly 3 includes a fixed plate 31, a movable plate 32, a transmission rod 33 and a driving mechanism 34, the fixed plate 31 is fixedly connected to the rotating joint 21 at the tail end of the skeleton assembly 2, the driving mechanism 34 is installed on the rotating joint 21 at the tail end of the skeleton assembly 2, and the output end of the driving mechanism 34 is connected to the movable plate 32 through the transmission rod 33, and the movable plate 32 is rotatably connected to the fixed plate 31.

[0058] With this arrangement, the driving mechanism 34 can drive the movable plate 32 to rotate relative to the fixed plate 31 through the transmission rod 33, and the rotating joint 21 at the tail end of the skeleton component 2 drives the fixed plate 31 and the movable plate 32 on the fixed plate 31 to swing together; when in normal state, the fixed plate 31 overlaps with the movable plate 32, at this time the water-facing area of ​​the tail fin component 3 is the smallest, and the driving force is small; when acceleration is needed, the driving mechanism 34 works, and the transmission rod 33 is used to push the movable plate 32 and the fixed plate 31 to rotate relative to each other, and the overlapping area of ​​the movable plate 32 and the fixed plate 31 is reduced, and the water-facing area is small. The effective area is increased, and a single swing generates a greater thrust; when high-speed swimming is required, the driving mechanism 34 works, and the transmission rod 33 pushes the movable plate 32 to completely separate from the fixed plate 31. At this time, the sum of the areas of the movable plate 32 and the fixed plate 31 is the effective area with water. When the effective area with water reaches the maximum value, the rotating joint 21 drives the fixed plate 31 and the movable plate 32 to swing, thereby obtaining a large amount of driving force, thereby allowing the bionic fish to maintain high-speed swimming; this variable-area tail fin assembly 3 greatly improves the maneuverability of the bionic fish and expands the applicability of the bionic fish's underwater operations.

[0059] As an embodiment of the present utility model, the driving mechanism 34 includes a pump body 341, a solenoid valve 342, a piston column 343 and a piston cylinder 344. The pump body 341, the solenoid valve 342 and the piston cylinder 344 are connected in sequence. The piston column 343 and the piston cylinder 344 form a piston transmission pair. The end of the piston column 343 is rotatably connected to the transmission rod 33, and the solenoid valve 342 is electrically connected to the controller 4.

[0060] The pump body 341 can be a liquid pump or a gas pump. With this arrangement, when the frontal area of ​​the tail fin assembly 3 needs to be increased, the controller 4 sends a command to the solenoid valve 342, which connects the pump body 341 with the piston cylinder 344. The pump body 341 increases the pressure in the piston cylinder 344, causing the piston rod 343 to extend from the piston cylinder 344. The piston rod 343 drives the movable plate 32 to rotate relative to the fixed plate 31 via the transmission rod 33, thereby increasing the frontal area. When the frontal area needs to be reduced, the solenoid valve 342 is activated, the pressure in the piston cylinder 344 is released, and the piston rod 343 contracts, causing the movable plate 32 to overlap with the fixed plate 31.

[0061] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. A person skilled in the art will be able to make other variations or modifications based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A bionic fish structure, characterized in that: The invention comprises a battery (1), a skeleton component (2), a tail fin component (3) and a controller (4); the skeleton component (2) comprises a plurality of rotating joints (21); the plurality of rotating joints (21) are connected in a head-to-tail rotational manner; the battery (1) is connected in a rotational manner to the rotating joint (21) at the head end of the skeleton component (2); the tail fin component (3) is movably connected to the rotating joint (21) at the end end of the skeleton component (2); the controller (4) is connected in a communication manner to the rotating joint (21) and the tail fin component (3); and the battery (1) is electrically connected to the controller (4) and the rotating joint (21).

2. The bionic fish structure according to claim 1, characterized in that: The rotating joint (21) comprises a rotating mechanism (22) and a rotating base (23). The rotating mechanism (22) is rotatably mounted in the rotating base (23). The rotating base (23) of the preceding rotating joint (21) is also fixedly connected to the rotating mechanism (22) of the following rotating joint (21).

3. The bionic fish structure according to claim 2, characterized in that: The rotating mechanism (22) comprises a fixed frame (221) and a driving motor (222); the fixed frame (221) is fixedly sleeved on the outside of the motor; a rotating groove (231) is provided at the bottom of the rotating base frame (23); the output shaft of the driving motor (222) is fixedly connected to the rotating groove (231); the fixed frame (221) of the rotating joint (21) is also fixedly connected to the rotating base frame (23) of the previous rotating joint (21).

4. The bionic fish structure according to claim 3, characterized in that: A first connecting frame (2211) is provided at the front end of the fixed frame (221), and a second connecting frame (232) is provided at the rear end of the rotating base frame (23). The first connecting frame (2211) is provided with at least two first connecting holes, and the second connecting frame (232) is provided with at least two second connecting holes. The first connecting holes and the second connecting holes are fixedly connected via a connecting piece.

5. The bionic fish structure according to claim 2, characterized in that: The top of the rotating base (23) is provided with a mounting groove (233) for mounting the expansion component.

6. The bionic fish structure according to claim 5, characterized in that: It also includes a sensor (5), which is fixedly mounted on the mounting groove (233) of the rotating joint (21), and the sensor (5) is communicatively connected to the controller (4).

7. The bionic fish structure according to claim 6, characterized in that: It also includes a wireless communicator, which is communicatively connected to the controller (4).

8. The bionic fish structure according to any one of claims 1 to 7, characterized in that: The bionic fish structure comprises at least four rotating joints (21).

9. The bionic fish structure according to any one of claims 1 to 7, characterized in that: The tail fin assembly (3) includes a fixed plate (31), a movable plate (32), a transmission rod (33) and a driving mechanism (34), wherein the fixed plate (31) is fixedly connected to the rotating joint (21) at the tail end of the skeleton assembly (2), the driving mechanism (34) is arranged on the rotating joint (21) at the tail end of the skeleton assembly (2), and the output end of the driving mechanism (34) is connected to the movable plate (32) through the transmission rod (33), and the movable plate (32) is rotationally connected to the fixed plate (31).

10. The bionic fish structure according to claim 9, characterized in that: The driving mechanism (34) includes a pump body (341), a solenoid valve (342), a piston column (343) and a piston cylinder (344). The pump body (341), the solenoid valve (342) and the piston cylinder (344) are connected in sequence. The piston column (343) and the piston cylinder (344) form a piston transmission pair. The end of the piston column (343) is rotatably connected to the transmission rod (33). The solenoid valve (342) is electrically connected to the controller (4).

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