A new bionic mechanical fish
By improving the fish body structure and center of gravity control structure of the biomimetic mechanical fish, the problems of loose parts connection and inconvenient center of gravity control were solved, achieving beautiful and efficient underwater movement.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- QINGDAO UNIV OF SCI & TECH
- Filing Date
- 2025-05-15
- Publication Date
- 2026-05-29
AI Technical Summary
Existing biomimetic mechanical fish designs suffer from large gaps between parts, uneven transitions between curved surfaces, and unattractive appearances. Furthermore, their center of gravity control structures are bulky and slow, making them unsuitable for small mechanical fish.
It adopts a multi-segment fish body and fish tail design, and uses the cooperation of articulated servos and deflectors to construct an overall curved shape. It combines a crank-slider mechanism to change the center of gravity, reduces drag through articulated servos and deflectors, and adjusts the center of gravity using crank servos.
It achieves a coherent and aesthetically pleasing overall curved shape, reduces water resistance, and improves the applicability and control speed of small mechanical fish.
Smart Images
Figure CN224297398U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of mechanical fish technology, specifically to a novel biomimetic mechanical fish. Background Technology
[0002] Bionic mechanical fish are underwater robots that combine bionics, artificial intelligence, and mechanical engineering technologies. Inspired by real fish, they have wide applications in various fields. In aquariums and theme parks, they can enhance the viewing and interactive experience; in environmental protection, they can be used for water quality monitoring and pollution detection; in scientific research, they can help study the swimming mechanisms and biological behaviors of fish; and in engineering, they can perform tasks such as underwater rescue, archaeology, and equipment maintenance. However, existing technologies have the following limitations:
[0003] Because existing bionic mechanical fish use flat tail fins, there are often large gaps when connecting parts, the transition of curved surfaces is not smooth, the curved surfaces between parts lack continuity, and the overall appearance is not aesthetically pleasing. At the same time, the center of gravity change required for the ascent and descent of existing bionic mechanical fish is generally achieved by a ball screw structure. This structure requires the cooperation of a motor and a screw. Although it can achieve self-locking and high control precision, it is often large in size and has low control speed. It is not suitable for the design of small bionic mechanical fish and has poor convenience and applicability for center of gravity control. Utility Model Content
[0004] This invention provides a novel biomimetic mechanical fish to solve the problems mentioned in the background section.
[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:
[0006] A novel biomimetic mechanical fish includes a fish head mechanism, a multi-segment fish body mechanism at the rear of the fish head mechanism, and a fish tail at the rear of the multi-segment fish body mechanism. Each multi-segment fish body mechanism includes a first docking plate, a first joint servo motor movably mounted on the front of the first docking plate, a servo motor slot extending horizontally through the rear of the first docking plate, a second joint servo motor fixedly mounted inside the servo motor slot, a second docking plate movably mounted on the rear of the second joint servo motor, a second servo motor slot extending horizontally through the rear of the second docking plate, a third joint servo motor fixedly mounted inside the servo motor slot, connecting plates fixedly mounted on the upper and lower sides of the front end of the fish tail, and the upper and lower sides of the third joint servo motor movably connected to the opposite surfaces of the two connecting plates. Guide plates are fixedly mounted on the upper and lower sides of both the first and second docking plates, and guide plates are fixedly mounted on the left and right sides of both the first and second docking plates.
[0007] A further improvement of this utility model is that the fish head mechanism includes a middle box, an upper cover is fixedly installed on the top of the middle box, and a lower cover is fixedly installed on the bottom of the middle box.
[0008] A further improvement of this utility model is that: a servo slot is provided on the rear side of the middle box; a limiting top plate is fixedly installed on the rear side of the upper cover; a limiting slot is provided on the rear side of the top of the lower cover, extending through its rear side; the limiting slot is located below the servo slot; the limiting top plate is located above the servo slot; the first joint servo is fixedly connected to the rear side of the inner cavity of the middle box; and the docking plate engages with the servo slot.
[0009] A further improvement of this utility model is that: the bottom left and right sides of the inner wall of the middle box are provided with through holes that penetrate the bottom of the middle box; a crank servo is fixedly installed in the middle of the bottom of the inner wall of the middle box; and a battery compartment is provided on the top of the middle box.
[0010] A further improvement of the present invention is that a connecting arm is fixedly installed at the output end of the crank servo, and the connecting arm is located inside the right through hole.
[0011] A further improvement of the present invention is that: a counterweight groove is provided on the top of the lower end cover, a connecting arm slide groove is provided on the right side of the inner wall of the counterweight groove, a counterweight block is slidably installed in the inner cavity of the counterweight groove, and a second connecting arm is movably installed on the rear right side of the counterweight block, and the second connecting arm is movably connected to the first connecting arm.
[0012] Due to the adoption of the above technical solution, the technological progress achieved by this utility model compared to the prior art is as follows:
[0013] 1. This utility model provides a novel bionic mechanical fish. Through the cooperation of the first joint servo motor, the second joint servo motor, the third joint servo motor, the fish tail, the first guide plate, and the second guide plate, the overall curved shape is constructed by using curved surface structure. The curved surfaces between the parts are continuous, the overall shape is continuous and beautiful, and the resistance of the fish body in the water is reduced.
[0014] 2. This utility model provides a novel bionic mechanical fish. Through the cooperation of the counterweight, connecting arm two, crank servo motor and connecting arm one, the center of gravity of the bionic mechanical fish is changed by using a crank-slider mechanism. It occupies a small volume, has a fast control speed, and improves the applicability to small mechanical fish. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0016] Figure 2This is a schematic diagram of the multi-segment fish body mechanism of this utility model;
[0017] Figure 3 This is a schematic diagram of the fish head mechanism of this utility model.
[0018] Figure 4 This is a cross-sectional view of the middle box of the structure of this utility model;
[0019] Figure 5 This is a schematic diagram of the lower end cap of the present invention.
[0020] In the diagram: 1. Fish head mechanism; 11. Middle box; 111. Through hole; 112. Crank servo; 1121. Connecting arm one; 12. Upper end cover; 13. Servo slot; 14. Limiting top plate; 15. Lower end cover; 151. Counterweight slot; 152. Connecting arm slide; 153. Counterweight block; 154. Connecting arm two; 16. Limiting slot; 2. Multi-section fish body mechanism; 21. Docking plate one; 22. First joint servo; 23. Servo slot one; 24. Second joint servo; 25. Docking plate two; 26. Servo slot two; 27. Third joint servo; 28. Deflector plate one; 29. Deflector plate two; 3. Fish tail; 31. Connecting plate. Detailed Implementation
[0021] To make the technical means, creative features, objectives and effects of this utility model easier to understand
[0022] Understood. The present invention will now be further described in conjunction with specific implementation methods.
[0023] like Figure 1 , Figure 2 As shown, this utility model provides a novel biomimetic mechanical fish, including a fish head mechanism 1, a multi-segment fish body mechanism 2 arranged at the rear of the fish head mechanism 1, a fish tail 3 arranged at the rear of the multi-segment fish body mechanism 2, and a docking plate 21. A first joint servo motor 22 is movably mounted on the front of the docking plate 21, and a servo motor slot 23 extending through the left and right sides is opened on the rear side of the docking plate 21. A second joint servo motor 24 is fixedly mounted on the inner side of the servo motor slot 23, and a counter-joint servo motor 24 is movably mounted on the rear side of the second joint servo motor 24. Connecting plate 25, with a servo slot 26 extending from left to right on the rear side of connecting plate 25, a third joint servo 27 fixedly installed on the inner side of servo slot 26, connecting plates 31 fixedly installed on the upper and lower sides of the front end of fish tail 3, the upper and lower sides of the third joint servo 27 being movably connected to the opposite surfaces of the two connecting plates 31, guide plates 28 fixedly installed on the upper and lower sides of connecting plate 1 21 and connecting plate 25, and guide plates 29 fixedly installed on the left and right sides of connecting plate 1 21 and connecting plate 25.
[0024] When driven, the activation of the first joint servo motor 22 can drive the entire fish head mechanism 1 to swing. At the same time, the swing of the second joint servo motor 24 in the servo slot 23 behind the docking plate 21 can drive the docking plate 25 to swing. The activation of the third joint servo motor 27 in the servo slot 26 behind the docking plate 25 can drive the fish tail 3 to swing, thereby allowing the entire fish body to swing flexibly. At the same time, when the fish body moves forward in the water, the flow guide plates 28 and 29 on the upper and lower sides can improve the streamline of the fish body and reduce water resistance.
[0025] like Figure 3 As shown, the fish head mechanism 1 includes a middle box 11, an upper end cover 12 is fixedly installed on the top of the middle box 11, a lower end cover 15 is fixedly installed on the bottom of the middle box 11, a servo slot 13 is opened on the rear side of the middle box 11, a limiting top plate 14 is fixedly installed on the rear side of the upper end cover 12, a limiting slot 16 is opened on the rear side of the top of the lower end cover 15, the limiting slot 16 is located below the servo slot 13, the limiting top plate 14 is located above the servo slot 13, the first joint servo 22 is fixedly connected to the rear side of the inner cavity of the middle box 11, and the docking plate 21 is engaged with the servo slot 13.
[0026] The fish head section, which is composed of the upper end cover 12, the middle end box 11, and the lower end cover 15, also has a well-smooth outer wall, which greatly reduces water resistance. At the same time, the first joint servo motor 22 can be inserted into the inner cavity of the middle end box 11 until the docking plate 21 is inserted into the servo motor slot 13 between the limiting top plate 14 and the limiting slot 16, thereby reducing the distance between the multi-section fish body mechanism 2 and the fish head mechanism 1, making the overall fish body more compact.
[0027] like Figure 4 , Figure 5 As shown, the bottom of the inner wall of the middle box 11 is provided with through holes 111 on both the left and right sides. A crank servo motor 112 is fixedly installed in the middle of the bottom of the inner wall of the middle box 11. A battery compartment is provided on the top of the middle box 11. A connecting arm 1121 is fixedly installed at the output end of the crank servo motor 112. The connecting arm 1121 is located inside the right through hole 111. A counterweight groove 151 is provided on the top of the lower end cover 15. A connecting arm slide groove 152 is provided on the right side of the inner wall of the counterweight groove 151, which extends through the top. A counterweight block 153 is slidably installed in the inner cavity of the counterweight groove 151. A connecting arm 2 154 is movably installed on the rear right side of the counterweight block 153. The connecting arm 2 154 is movably connected to the connecting arm 1121.
[0028] When the gravity of the fish head needs to be adjusted, simply activate the crank servo 112 in the inner cavity of the middle box 11. This will drive the connecting arm 1121 of the output shaft of the crank servo 112 to move the connecting arm 154 forward in the inner cavity of the connecting arm slide 152 through the through hole 111. This will cause the overall counterweight 153 to move forward in the counterweight groove 151, so that the center of gravity of the entire fish head mechanism 1 moves forward, achieving the effect of diving.
[0029] The working principle of this new type of biomimetic mechanical fish will be explained in detail below.
[0030] like Figure 1-5 As shown, during operation, the activation of the first joint servo motor 22 causes the entire fish head mechanism 1 to swing. Simultaneously, the swinging of the second joint servo motor 24 in the servo motor slot 23 behind the docking plate 21 causes the docking plate 25 to swing. The activation of the third joint servo motor 27 in the servo motor slot 26 behind the docking plate 25 causes the fish tail 3 to swing, thus allowing the entire fish body to swing flexibly. Furthermore, when the fish body moves forward in the water, the flow guide plates 28 and 29 on the upper and lower sides improve the streamline of the fish body and reduce water resistance. Additionally, the fish head section, composed of the upper end cover 12, middle end box 11, and lower end cover 15, also has a well-smooth outer wall, greatly reducing water resistance. When the first joint servo motor 22 can be inserted into the inner cavity of the middle box 11, until the docking plate 1 21 is inserted into the inner side of the servo slot 13 between the limiting top plate 14 and the limiting slot 16, thereby reducing the distance between the multi-section fish body mechanism 2 and the fish head mechanism 1, making the overall fish body more compact. When the gravity of the fish head part needs to be adjusted, the crank servo motor 112 in the inner cavity of the middle box 11 can be activated to drive the connecting arm 1121 of the output shaft of the crank servo motor 112 to drive the connecting arm 2 154 to move forward in the inner cavity of the connecting arm slide 152 through the through hole 111, thereby driving the overall counterweight block 153 to move forward in the counterweight slot 151, so that the center of gravity of the entire fish head mechanism 1 moves forward, achieving the effect of diving.
[0031] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.
Claims
1. A novel biomimetic mechanical fish, comprising a fish head mechanism (1), characterized in that: The fish head mechanism (1) is provided with a multi-segment fish body mechanism (2) at its rear side, and a fish tail (3) is provided at the rear side of the multi-segment fish body mechanism (2). The multi-segment fish body mechanism (2) includes a docking plate (21). A first joint servo motor (22) is movably installed on the front side of the docking plate (21). A servo motor slot (23) that runs through the left and right sides is opened on the rear side of the docking plate (21). A second joint servo motor (24) is fixedly installed on the inner side of the servo motor slot (23). A second docking plate (25) is movably installed on the rear side of the second joint servo motor (24). The rear side of 25) is provided with a servo slot 2 (26) that runs through the left and right sides. The inner side of the servo slot 2 (26) is fixedly installed with a third joint servo (27). The upper and lower sides of the front end of the fish tail (3) are fixedly installed with connecting plates (31). The upper and lower sides of the third joint servo (27) are movably connected to the opposite surfaces of the two connecting plates (31). The upper and lower sides of the docking plate 1 (21) and docking plate 2 (25) are fixedly installed with a flow guide plate 1 (28). The left and right sides of the docking plate 1 (21) and docking plate 2 (25) are fixedly installed with a flow guide plate 2 (29).
2. The novel biomimetic mechanical fish according to claim 1, characterized in that: The fish head mechanism (1) includes a middle box (11), with an upper cover (12) fixedly installed on the top of the middle box (11) and a lower cover (15) fixedly installed on the bottom of the middle box (11).
3. The novel biomimetic mechanical fish according to claim 2, characterized in that: The middle box (11) has a servo slot (13) on its rear side. The upper cover (12) has a fixed top plate (14) on its rear side. The lower cover (15) has a fixed slot (16) on its rear side that extends through it. The fixed slot (16) is located below the servo slot (13). The fixed top plate (14) is located above the servo slot (13). The first joint servo (22) is fixedly connected to the rear side of the inner cavity of the middle box (11). The docking plate (21) is engaged with the servo slot (13).
4. A novel biomimetic mechanical fish according to claim 2, characterized in that: The bottom of the inner wall of the middle box (11) is provided with through holes (111) on both the left and right sides. A crank servo motor (112) is fixedly installed in the middle of the bottom of the inner wall of the middle box (11). A battery compartment is provided on the top of the middle box (11).
5. A novel biomimetic mechanical fish according to claim 4, characterized in that: The output end of the crank servo (112) is fixedly mounted with a connecting arm (1121), which is located inside the right through hole (111).
6. A novel biomimetic mechanical fish according to claim 5, characterized in that: The top of the lower end cover (15) is provided with a counterweight groove (151), and the right side of the inner wall of the counterweight groove (151) is provided with a connecting arm slide groove (152) that passes through its top. A counterweight block (153) is slidably installed in the inner cavity of the counterweight groove (151), and a second connecting arm (154) is movably installed on the rear right side of the counterweight block (153). The second connecting arm (154) is movably connected to the first connecting arm (1121).