Bionic robotic fish with variable tail fin area

Abstract

The present invention discloses a bionic robot fish with a variable tail fin area, comprising: a fish head; a fish body, the fish body being connected to the fish head; a tail fin, comprising a main tail fin and a first adjustable auxiliary tail fin which are overlapped, the first adjustable auxiliary tail fin and the main tail fin overlapping part being fitted to each other, and the first adjustable auxiliary tail fin being pivotally connected to the main tail fin at one end close to the fish body, so that the first adjustable auxiliary tail fin can swing up and down relative to the main tail fin; a first driving device, arranged inside the fish body and connected to the main tail fin by transmission, the first driving device can drive the main tail fin to swing in a horizontal direction to drive the tail fin to swing in a horizontal direction; a second driving device, arranged inside the fish body and connected to the first adjustable auxiliary tail fin by transmission, the second driving device can drive the first adjustable auxiliary tail fin to swing up and down relative to the main tail fin. The bionic robot fish with a variable tail fin area can reduce the burden when the tail fin swings, and can reduce the influence on the tail fin swinging action, and can change the area of ​​the tail fin relatively quickly.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a bionic robot fish with a variable tail fin area. Background Art

[0002] With the further development of marine resources, underwater robots propelled by propellers cannot meet the increasingly complex work task requirements due to their shortcomings such as high noise and poor flexibility. Compared with propeller propulsion, bionic propulsion has the advantages of low noise, high propulsion efficiency and strong flexibility. Faced with increasingly complex work task requirements, people began to explore underwater robots that replace propeller propulsion with bionic propulsion. Fish, as the most common aquatic organisms, has always been one of the research objects of researchers. By analyzing the morphology and movement of fish, various bionic robot fish have been designed. Among them, bionic robot fish that propel by swinging tail fins are more popular. The tail fin is an important organ for fish to generate thrust, control its posture and direction of movement, and the change of tail fin area has an important influence on the movement performance of fish, that is, the area of ​​the tail fin has a great influence on the movement performance of bionic robot fish. Therefore, the research on bionic robot fish with variable tail fin area is of great significance.

[0003] Existing bionic robot fish with variable tail fin area usually have the following problems: 1. The driving component for changing the tail fin area is installed on the tail fin, so that the driving component for changing the tail fin area needs to swing with the tail fin, thereby increasing the burden of the tail fin when it swings, so that the driving force required to be provided by the driving component for driving the tail fin to swing is relatively large. At the same time, the driving component for changing the tail fin area will interfere with the swinging action of the tail fin; 2. The tail fin is driven to deform by shape memory metal to change the area of ​​the tail fin. However, when controlling the deformation of shape memory metal, its coupling effect needs to be considered, which is relatively complicated, and the deformation of shape memory metal is slow. When the area of ​​the tail fin needs to be changed quickly, it may not respond quickly; or a window is opened in the tail fin and a shielding device is set. The area of ​​the tail fin is changed by changing the shielding situation of the shielding device on the window, but during the swinging of the tail fin, the water flow passing through the window will have a certain impact on the thrust generated by the tail fin. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a bionic robotic fish with a variable tail fin area, which can reduce the burden of the tail fin when it swings, reduce the impact on the tail fin swinging action, and can quickly change the tail fin area.

[0005] According to an embodiment of the present invention, a bionic robotic fish with a variable tail fin area comprises: a fish head; a fish body, wherein the fish body is connected to the fish head, and one end of the fish body away from the fish head is an open structure; a tail fin, wherein the tail fin comprises a main tail fin and a first adjustable auxiliary tail fin, wherein the first adjustable auxiliary tail fin is arranged to overlap with the main tail fin, and the overlapping portion of the first adjustable auxiliary tail fin and the main tail fin fits each other, and the end of the first adjustable auxiliary tail fin close to the fish body is pivotally connected to the main tail fin, so that the first adjustable auxiliary tail fin can swing up and down relative to the main tail fin, and the area of ​​the overlapping portion of the first adjustable auxiliary tail fin and the main tail fin can be changed when the first adjustable auxiliary tail fin swings up and down relative to the main tail fin; a first driving device, wherein the first driving device is arranged inside the fish body and is transmission-connected to the main tail fin, and the first driving device can drive the main tail fin to swing in a horizontal direction to drive the tail fin to swing in a horizontal direction; and a second driving device, wherein the second driving device is arranged inside the fish body and is transmission-connected to the first adjustable auxiliary tail fin, and the second driving device can drive the first adjustable auxiliary tail fin to swing up and down relative to the main tail fin.

[0006] The bionic robotic fish with a variable tail fin area according to an embodiment of the present invention has at least the following beneficial effects: a first driving device for driving the tail fin to swing in a horizontal direction and a second driving device for changing the area of ​​the tail fin are both arranged inside the fish body, that is, the first driving device and the second driving device are both arranged separately from the tail fin, which can reduce the burden of the tail fin when it swings, and can reduce the impact on the swinging action of the tail fin, wherein the tail fin includes a main tail fin and a first adjustable auxiliary tail fin, the first adjustable auxiliary tail fin is arranged to overlap with the main tail fin, and the overlapping part of the first adjustable auxiliary tail fin and the main tail fin fits each other, and the end of the first adjustable auxiliary tail fin close to the fish body is pivotally connected to the main tail fin, and when the first adjustable auxiliary tail fin is driven by the second driving device to swing up and down relative to the main tail fin, the area of ​​the overlapping part of the first adjustable auxiliary tail fin and the main tail fin can be changed, thereby being able to change the area of ​​the tail fin more quickly.

[0007] According to some embodiments of the present invention, the tail fin also includes a second adjustable auxiliary tail fin, which is arranged to overlap with the main tail fin, and the overlapping parts of the second adjustable auxiliary tail fin and the main tail fin are fitted with each other. The end of the second adjustable auxiliary tail fin close to the fish body is pivoted to the main tail fin so that the second adjustable auxiliary tail fin can swing up and down relative to the main tail fin, and the area of ​​the overlapping part of the second adjustable auxiliary tail fin and the main tail fin can be changed when the second adjustable auxiliary tail fin swings up and down relative to the main tail fin. The first adjustable auxiliary tail fin is pivoted to the upper part of the main tail fin, and the second adjustable auxiliary tail fin is pivoted to the lower part of the main tail fin. The second driving device can drive the first adjustable auxiliary tail fin and the second adjustable auxiliary tail fin to swing toward or away from each other relative to the main tail fin.

[0008] According to some embodiments of the present invention, the first driving device includes a first motor, a first transmission gear, a second transmission gear and a bracket, a base is provided inside the fish body, the first motor is fixedly provided on the base, the first transmission gear is fixedly connected to the output shaft of the first motor, the bracket is provided on the base, the second transmission gear is rotatably provided on the bracket and meshes with the first transmission gear, a connecting part is provided on the second transmission gear, and a side of the main tail fin close to the fish body is fixedly connected to the connecting part, so that when the second transmission gear rotates, it can drive the main tail fin to swing in the horizontal direction.

[0009] According to some embodiments of the present invention, the second driving device includes a second motor, a first swing arm, a screw, a first limit piece, a second limit piece and a second swing arm, the second motor is fixedly arranged on the base, one end of the first swing arm is fixedly connected to the output shaft of the second motor, the other end of the first swing arm has an arc-shaped portion, a first strip-shaped through hole is arranged on the arc-shaped portion along its length direction, the screw is movably inserted into the first strip-shaped through hole, the first limit piece and the second limit piece are both threadedly connected to the screw, the arc-shaped portion is clamped between the first limit piece and the second limit piece, so that the second motor can drive the screw to move up and down when driving the first swing arm to swing, the middle part of the second swing arm is pivotally connected to the pivot point between the main tail fin and the first adjustable auxiliary tail fin, and the second swing arm One end of the arm close to the fish body is pivoted to the upper end of the screw rod, so that the screw rod can drive the second swing arm to swing when it moves up and down, and the other end of the second swing arm is pivoted to the first adjustable auxiliary tail fin, so that the first adjustable auxiliary tail fin can swing synchronously with the second swing arm, and a connecting rod assembly is arranged between the first adjustable auxiliary tail fin and the second adjustable auxiliary tail fin, so that the first adjustable auxiliary tail fin can drive the second adjustable auxiliary tail fin to swing relative to the main tail fin when the first adjustable auxiliary tail fin swings relative to the main tail fin, a mounting through hole is arranged on the bracket, a bearing is fixedly arranged in the mounting through hole, a mounting shaft is arranged on the second transmission gear, the mounting shaft is interference fit with the inner ring of the bearing, and an avoidance through hole is arranged on the mounting shaft, which passes through the mounting shaft up and down, and the screw rod is movably penetrated in the avoidance through hole.

[0010] According to some embodiments of the present invention, the connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is pivoted to the first adjustable auxiliary tail fin, one end of the third connecting rod is pivoted to the second adjustable auxiliary tail fin, the middle part of the second connecting rod is pivoted to the main tail fin, the upper end of the second connecting rod is pivoted to the other end of the first connecting rod, and the lower end of the second connecting rod is pivoted to the other end of the third connecting rod.

[0011] According to some embodiments of the present invention, the first adjustable auxiliary tail fin and the second adjustable auxiliary tail fin are respectively located on both sides of the main tail fin, the first connecting rod and the first adjustable auxiliary tail fin are located on the same side of the main tail fin, the third connecting rod and the second adjustable auxiliary tail fin are located on the same side of the main tail fin, the second connecting rod includes an upper rod body and a lower rod body, the upper rod body and the first connecting rod are located on the same side of the main tail fin, the lower rod body and the third connecting rod are located on the same side of the main tail fin, and a connecting shaft rotatably penetrated through the main tail fin is fixedly connected between the lower end of the upper rod body and the upper end of the lower rod body.

[0012] According to some embodiments of the present invention, the first limiting member and the second limiting member are both spherical.

[0013] According to some embodiments of the present invention, at least two pivot holes are spaced apart on the first adjustable auxiliary caudal fin corresponding to an end of the second swing arm away from the fish body.

[0014] According to some embodiments of the present invention, when the first adjustable auxiliary tail fin is swung upward to an extreme position relative to the main tail fin, the first adjustable auxiliary tail fin and the main tail fin are still in an overlapping state, and when the second adjustable auxiliary tail fin is swung downward to an extreme position relative to the main tail fin, the second adjustable auxiliary tail fin and the main tail fin are still in an overlapping state.

[0015] According to some embodiments of the present invention, a first limiting portion and a second limiting portion are provided at an end of the main tail fin away from the fish body, the first limiting portion and the second limiting portion are spaced apart from each other in an upper and lower direction, the first limiting portion is located above the second limiting portion, and a first limiting through groove penetrating up and down through the first limiting portion is provided on a side of the first limiting portion facing the fish body corresponding to an end of the first adjustable secondary tail fin away from the fish body, the first limiting through groove can limit the end of the first adjustable secondary tail fin away from the fish body from detaching from the main tail fin during the process of swinging in the horizontal direction, and a second limiting through groove penetrating up and down through the second limiting portion is provided on a side of the second limiting portion facing the fish body corresponding to an end of the second adjustable secondary tail fin away from the fish body, the second limiting through groove can limit the end of the second adjustable secondary tail fin away from the fish body from detaching from the main tail fin during the process of swinging in the horizontal direction.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 is a schematic structural diagram of a bionic robotic fish with a variable tail fin area according to an embodiment of the present invention;

[0019] Figure 2 It is an exploded schematic diagram of a base, a first driving device and a second driving device in a bionic robotic fish with a variable tail fin area according to an embodiment of the present invention;

[0020] Figure 3 yes Figure 2 A partial enlarged schematic diagram in the middle;

[0021] Figure 4yes Figure 2 A schematic diagram of the structure of the bracket, the second transmission gear and the bearing in the structure shown;

[0022] Figure 5 is a schematic diagram of the assembly of a partial structure of a bionic robotic fish with a variable tail fin area according to an embodiment of the present invention;

[0023] Figure 6 yes Figure 5 A partial enlarged schematic diagram of point B in the middle;

[0024] Figure 7 yes Figure 5 The assembly diagram of the structure shown is a diagram after hiding the tail fin and the connecting rod assembly;

[0025] Figure 8 It is an exploded schematic diagram of the second swing arm, the tail fin and the connecting rod assembly in the bionic robotic fish with a variable tail fin area according to an embodiment of the present invention.

[0026] Reference numerals:

[0027] Fish head 100, fish body 200, base 210, tail fin 300, main tail fin 310, first limiting portion 311, second limiting portion 312, first adjustable auxiliary tail fin 320, pivot hole 321, second adjustable auxiliary tail fin 330, first motor 410, first transmission gear 420, second transmission gear 430, connecting portion 431, mounting shaft 432, avoidance through hole 4321, bracket 440, mounting through hole 441, second Motor 510, first swing arm 520, arc portion 521, first strip-shaped through hole 522, screw 530, first limit piece 540, second limit piece 550, second swing arm 560, plug-in slot 561, second strip-shaped through hole 562, nut 580, pivot shaft 581, connecting rod assembly 600, first connecting rod 610, second connecting rod 620, upper rod body 621, lower rod body 622, third connecting rod 630, bearing 700. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0029] In the description of the present invention, it is necessary to understand that if it involves orientation description, the orientation or position relationship indicated by, for example, up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In the description of the present invention, if the words such as several, greater than, less than, exceed, above, below, within, etc. appear, among which, several means one or more, more means more than two, greater than, less than, exceed, etc. are understood as not including the number itself, and above, below, within, etc. are understood as including the number itself.

[0031] In the description of the present invention, if the words "first", "second", etc. appear, they are only used to distinguish the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0032] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0033] Reference Figure 1 , a bionic robotic fish with a variable tail fin area according to an embodiment of the present invention includes a fish head 100, a fish body 200, a tail fin 300, a first driving device and a second driving device.

[0034] The fish head 100 and the fish body 200 are both shell structures with cavities inside. The fish head 100 is provided with a power supply and a control element electrically connected to the power supply. Specifically, the control element is a main control board. Of course, the control element can also be a PLC controller, which is not limited here. The fish body 200 is connected to the fish head 100, and the end of the fish body 200 away from the fish head 100 is an open structure. The tail fin 300 includes a main tail fin 310 and a first adjustable secondary tail fin 320. The first adjustable secondary tail fin 320 is arranged to overlap with the main tail fin 310, and the overlapping parts of the first adjustable secondary tail fin 320 and the main tail fin 310 fit each other. The end of the first adjustable secondary tail fin 320 close to the fish body 200 is pivotally connected to the main tail fin 310 so that the first adjustable secondary tail The fin 320 can swing up and down relative to the main tail fin 310. When the first adjustable secondary tail fin 320 swings up and down relative to the main tail fin 310, the area of ​​the overlapping part of the first adjustable secondary tail fin 320 and the main tail fin 310 can be changed. The first driving device is arranged inside the fish body 200 and is transmission-connected to the main tail fin 310. The first driving device can drive the main tail fin 310 to swing in the horizontal direction to drive the tail fin 300 to swing in the horizontal direction. The second driving device is arranged inside the fish body 200 and is transmission-connected to the first adjustable secondary tail fin 320. The second driving device can drive the first adjustable secondary tail fin 320 to swing up and down relative to the main tail fin 310, wherein the first driving device and the second driving device are both electrically connected to the control element in the fish head 100.

[0035] The first driving device for driving the tail fin 300 to swing in the horizontal direction and the second driving device for changing the area of ​​the tail fin 300 are both arranged inside the fish body 200, that is, the first driving device and the second driving device are both arranged separately from the tail fin 300, which can reduce the burden of the tail fin 300 when it swings, and can reduce the impact on the swinging action of the tail fin 300, wherein the tail fin 300 includes a main tail fin 310 and a first adjustable auxiliary tail fin 320, the first adjustable auxiliary tail fin 320 is arranged to overlap with the main tail fin 310, and the overlapping parts of the first adjustable auxiliary tail fin 320 and the main tail fin 310 are fitted with each other, and the end of the first adjustable auxiliary tail fin 320 close to the fish body 200 is pivotally connected to the main tail fin 310, and when the first adjustable auxiliary tail fin 320 is driven by the second driving device to swing up and down relative to the main tail fin 310, the area of ​​the overlapping part of the first adjustable auxiliary tail fin 320 and the main tail fin 310 can be changed, thereby the area of ​​the tail fin 300 can be changed more quickly.

[0036] Reference Figure 1 , Figure 5 and Figure 8 In some embodiments, the tail fin 300 further includes a second adjustable auxiliary tail fin 330, which is arranged to overlap with the main tail fin 310, and the overlapping parts of the second adjustable auxiliary tail fin 330 and the main tail fin 310 are fitted with each other. One end of the second adjustable auxiliary tail fin 330 close to the fish body 200 is pivotally connected to the main tail fin 310, so that the second adjustable auxiliary tail fin 330 can swing up and down relative to the main tail fin 310, and the second adjustable auxiliary tail fin 330 can change the overlapping part of the second adjustable auxiliary tail fin 330 and the main tail fin 310 when the second adjustable auxiliary tail fin 330 swings up and down relative to the main tail fin 310. The area of ​​the tail fin 300 can be changed quickly. The first adjustable auxiliary tail fin 320 is pivoted to the upper part of the main tail fin 310, and the second adjustable auxiliary tail fin 330 is pivoted to the lower part of the main tail fin 310. The second driving device can drive the first adjustable auxiliary tail fin 320 and the second adjustable auxiliary tail fin 330 to swing toward or away from the main tail fin 310. By adding the second adjustable auxiliary tail fin 330, which cooperates with the first adjustable auxiliary tail fin 320, the adjustable range of the area of ​​the tail fin 300 can be increased, and the adjustment speed of the area of ​​the tail fin 300 can be improved.

[0037] Reference Figure 2 , Figure 4 , Figure 5 and Figure 7In some embodiments, the first driving device includes a first motor 410, a first transmission gear 420, a second transmission gear 430 and a bracket 440. A base 210 is provided inside the fish body 200. The first motor 410 is fixedly provided on the base 210. Specifically, the first motor 410 is fixedly provided on the base 210 by screws. Of course, the first motor 410 can also be fixedly provided on the base 210 by a snap-on structure, which is not limited here. The first transmission gear 420 is fixedly connected to the output shaft of the first motor 410. Specifically, the first transmission gear 420 is fixedly connected to the output shaft of the first motor 410 by screws. The specific connection structure is known in the art. The known technology will not be elaborated here. The bracket 440 is arranged on the base 210. The second transmission gear 430 is rotatably arranged on the bracket 440 and meshes with the first transmission gear 420. The second transmission gear 430 is provided with a connecting portion 431. The side of the main tail fin 310 close to the fish body 200 is fixedly connected to the connecting portion 431, so that when the second transmission gear 430 rotates, it can drive the main tail fin 310 to swing in the horizontal direction. Specifically, the side of the main tail fin 310 close to the fish body 200 is fixedly connected to the connecting portion 431 by a screw. Of course, the side of the main tail fin 310 close to the fish body 200 can also be fixedly connected to the connecting portion 431 by a snap-on structure, which is not limited here.

[0038] It should be noted that, in some other embodiments, the first motor may also drive the main tail fin to swing in the horizontal direction by chain drive or belt drive, which is not limited here.

[0039] Reference Figures 2 to 8In some embodiments, the second driving device includes a second motor 510, a first swing arm 520, a screw 530, a first limiter 540, a second limiter 550 and a second swing arm 560. The second motor 510 is fixedly arranged on the base 210. Specifically, the second motor 510 is fixedly arranged on the base 210 by screws. Of course, the second motor 510 can also be fixedly arranged on the base 210 by a clamping structure, which is not limited here. One end of the first swing arm 520 is fixedly connected to the output shaft of the second motor 510. Specifically, the first swing arm 520 is fixedly connected to the output shaft of the first motor 410 by screws. The specific connection structure is as follows: The first swing arm 520 has an arc portion 521 at the other end, and a first strip through hole 522 is provided on the arc portion 521 along its length direction. The screw rod 530 is movably arranged in the first strip through hole 522. The first stopper 540 and the second stopper 550 are both threadedly connected to the screw rod 530. The arc portion 521 is sandwiched between the first stopper 540 and the second stopper 550, so that the screw rod 530 can be driven to move up and down when the second motor 510 drives the first swing arm 520 to swing. The middle part of the second swing arm 560 is pivotally connected to the pivotal point of the main tail fin 310 and the first adjustable auxiliary tail fin 320. The second swing arm 560 is close to the main tail fin 310 and the first adjustable auxiliary tail fin 320. One end near the fish body 200 is pivotally connected to the upper end of the screw rod 530, so that the screw rod 530 can drive the second swing arm 560 to swing when it moves up and down. Specifically, the upper end of the screw rod 530 is threadedly connected with a nut 580, and the end of the second swing arm 560 near the fish body 200 is provided with a long strip-shaped plug-in slot 561 along its length direction, and the nut 580 is plugged into the plug-in slot 561. A second strip-shaped through hole 562 is provided on the side wall of the plug-in slot 561, and a pivot shaft 581 plugged into the second strip-shaped through hole 562 is provided on the nut 580. The other end of the second swing arm 560 is pivotally connected to the first adjustable auxiliary tail fin 320, so that the first adjustable auxiliary tail fin 320 can move with the second swing arm The arm 560 swings synchronously, and a connecting rod assembly 600 is arranged between the first adjustable auxiliary tail fin 320 and the second adjustable auxiliary tail fin 330, so that when the first adjustable auxiliary tail fin 320 swings relative to the main tail fin 310, it can drive the second adjustable auxiliary tail fin 330 to swing relative to the main tail fin 310. A mounting through hole 441 is arranged on the bracket 440, and a bearing 700 is fixedly arranged in the mounting through hole 441. A mounting shaft 432 is arranged on the second transmission gear 430, and the mounting shaft 432 is interference fit with the inner ring of the bearing 700. An avoidance through hole 4321 that passes through the mounting shaft 432 from top to bottom is arranged on the mounting shaft 432, and the screw 530 is movably penetrated in the avoidance through hole 4321.In the above structure, when the first driving device drives the tail fin 300 to swing in the horizontal direction, the screw 530 can rotate relative to the second transmission gear 430 and the first swing arm 520, wherein the second swing arm 560 swings with the rotation of the screw 530, so that the first driving device and the second driving device do not interfere with each other, that is, the swinging action of the tail fin 300 and the action of changing the area of ​​the tail fin 300 do not affect each other. Among them, the end of the fish body 200 close to the fish head 100 is an open structure, and the base 210 is fixedly connected to the fish head 100 by screws, so that the first motor 410 and the second motor 510 can be close to the power supply and control components inside the fish head 100.

[0040] It should be noted that, in some other embodiments, the second motor can also drive the screw to move up and down through a worm gear assembly, which is not limited here.

[0041] Reference Figure 1 , Figure 5 and Figure 8 In some embodiments thereof, the connecting rod assembly 600 includes a first connecting rod 610, a second connecting rod 620 and a third connecting rod 630, one end of the first connecting rod 610 is pivoted to the first adjustable auxiliary tail fin 320, one end of the third connecting rod 630 is pivoted to the second adjustable auxiliary tail fin 330, the middle part of the second connecting rod 620 is pivoted to the main tail fin 310, the upper end of the second connecting rod 620 is pivoted to the other end of the first connecting rod 610, and the lower end of the second connecting rod 620 is pivoted to the other end of the third connecting rod 630. Through the above structure, when the first adjustable auxiliary tail fin 320 swings upward relative to the main tail fin 310, the second adjustable auxiliary tail fin 330 can swing downward relative to the main tail fin 310, and when the first adjustable auxiliary tail fin 320 swings downward relative to the main tail fin 310, the second adjustable auxiliary tail fin 330 can swing upward relative to the main tail fin 310. Among them, by designing the length dimensions of each connecting rod (the first connecting rod 610, the second connecting rod 620 and the third connecting rod 630) in the connecting rod assembly 600 differently, the first adjustable auxiliary tail fin 320 and the second adjustable auxiliary tail fin 330 can have different swing ranges, and the first adjustable auxiliary tail fin 320 and the second adjustable auxiliary tail fin 330 can also swing asymmetrically. Therefore, there is no requirement for the specific shape of the first adjustable auxiliary tail fin 320 and the second adjustable auxiliary tail fin 330, while the structural shape of a traditional tail fin is usually subject to the limitations of a drive device.

[0042] Reference Figure 1 , Figure 5 and Figure 8In some embodiments thereof, the first adjustable auxiliary tail fin 320 and the second adjustable auxiliary tail fin 330 are respectively located on both sides of the main tail fin 310, the first connecting rod 610 and the first adjustable auxiliary tail fin 320 are located on the same side of the main tail fin 310, the third connecting rod 630 and the second adjustable auxiliary tail fin 330 are located on the same side of the main tail fin 310, the second connecting rod 620 includes an upper rod body 621 and a lower rod body 622, the upper rod body 621 and the first connecting rod 610 are located on the same side of the main tail fin 310, the lower rod body 622 and the third connecting rod 630 are located on the same side of the main tail fin 310, and a connecting shaft (not shown in the figure) rotatably penetrated on the main tail fin 310 is fixedly connected between the lower end of the upper rod body 621 and the upper end of the lower rod body 622. The above structure can balance the weight of the components on both sides of the main tail fin 310, which is beneficial to improving the balance of the above-mentioned bionic robotic fish with variable tail fin area.

[0043] Reference Figure 2 , Figure 5 and Figure 7 In some of the embodiments, the first limit member 540 and the second limit member 550 are both spherical and have a guiding function, which helps prevent the screw 530 from getting stuck when moving relative to the arc portion 521 along the length direction of the first strip through hole 522.

[0044] Reference Figure 5 and Figure 8 In some embodiments, at least two pivot holes 321 are arranged on the first adjustable auxiliary tail fin 320 corresponding to the end of the second swing arm 560 away from the fish body 200. The end of the second swing arm 560 away from the fish body 200 is pivoted to different pivot holes 321. The area of ​​the overlapping portion between the first adjustable auxiliary tail fin 320 and the main tail fin 310 can be adjusted without changing the position of the second swing arm 560, so that the maximum area and the minimum area of ​​the tail fin 300 can be adjusted within the existing swing stroke of the second swing arm 560.

[0045] It should be noted that, in some embodiments, when the first adjustable auxiliary tail fin 320 is swung upward to the extreme position relative to the main tail fin 310, the first adjustable auxiliary tail fin 320 and the main tail fin 310 are still in an overlapping state, that is, there is no gap between the first adjustable auxiliary tail fin 320 and the main tail fin 310 for water to pass through in the horizontal direction; when the second adjustable auxiliary tail fin 330 is swung downward to the extreme position relative to the main tail fin 310, the second adjustable auxiliary tail fin 330 and the main tail fin 310 are still in an overlapping state, that is, there is no gap between the second adjustable auxiliary tail fin 330 and the main tail fin 310 for water to pass through in the horizontal direction, which is beneficial to reduce the water flow that can affect the thrust generated when the tail fin 300 swings.

[0046] Reference Figure 1 , Figure 5 and Figure 8 In some embodiments, a first limiting portion 311 and a second limiting portion 312 are provided at one end of the main tail fin 310 away from the fish body 200, and the first limiting portion 311 and the second limiting portion 312 are spaced apart from each other, and the first limiting portion 311 is located above the second limiting portion 312, and a first limiting through groove (not shown in the figure) penetrating the first limiting portion 311 from top to bottom is provided on the side of the first limiting portion 311 facing the fish body 200 corresponding to the end of the first adjustable auxiliary tail fin 320 away from the fish body 200, and the first limiting through groove can limit the end of the first adjustable auxiliary tail fin 320 away from the fish body 200 from separating from the main tail fin 310 due to inertia, resistance and other factors during the horizontal swinging process, so that the first adjustable auxiliary tail fin 320 can swing synchronously with the main tail fin 310, wherein the first limiting through groove penetrating the first auxiliary tail fin 320 from top to bottom The limiting portion 311 will not limit the first adjustable auxiliary tail fin 320 from swinging up and down relative to the main tail fin 310. The second limiting portion 312 is provided with a second limiting groove (not shown in the figure) that runs vertically through the second limiting portion 312 on the side facing the fish body 200 corresponding to the end of the second adjustable auxiliary tail fin 330 away from the fish body 200. The second limiting groove can limit the end of the second adjustable auxiliary tail fin 330 away from the fish body 200 from separating from the main tail fin 310 due to inertia, resistance and other factors during the horizontal swinging process, so that the second adjustable auxiliary tail fin 330 can swing synchronously with the main tail fin 310. The second limiting groove runs vertically through the second limiting portion 312, and will not limit the second adjustable auxiliary tail fin 330 from swinging up and down relative to the main tail fin 310. The above structure is conducive to improving the overall stability and reliability of the tail fin 300.

[0047] It should be noted that, in some of the embodiments, among the structures involved in the above-mentioned bionic robotic fish with variable tail fin area, except for the power supply, main control board, first motor 410, second motor 510, screw 530, screw, pivot structure and other components that cannot be 3D printed or are not suitable for 3D printing, other components are all made by 3D printing. There is no need to customize the small number of components required for the above-mentioned bionic robotic fish with variable tail fin area from the factory for mass production of components, which is beneficial to reducing production costs and shortening production cycles. Among them, the tail fin 300 can be a 3D printed rigid structure or a 3D printed flexible structure, which is not limited here.

[0048] It should be noted that, in the structure involved in the above-mentioned bionic robotic fish with variable tail fin area, the waterproof sealing structure is a well-known technology in the art and will not be elaborated here.

[0049] In the description of this specification, if the description involves reference terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" and "some examples", it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0050] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A bionic robotic fish with a variable tail fin area, characterized in that: include: Fish head (100); A fish body (200), wherein the fish body (200) is connected to the fish head (100), and an end of the fish body (200) away from the fish head (100) is an open structure; A tail fin (300), the tail fin (300) comprising a main tail fin (310) and a first adjustable secondary tail fin (320), the first adjustable secondary tail fin (320) being arranged to overlap with the main tail fin (310), the overlapping portions of the first adjustable secondary tail fin (320) and the main tail fin (310) being fitted with each other, an end of the first adjustable secondary tail fin (320) close to the fish body (200) being pivotally connected to the main tail fin (310), so that the first adjustable secondary tail fin (320) can swing up and down relative to the main tail fin (310), and the area of ​​the overlapping portion of the first adjustable secondary tail fin (320) and the main tail fin (310) can be changed when the first adjustable secondary tail fin (320) swings up and down relative to the main tail fin (310); A first driving device, the first driving device being arranged inside the fish body (200) and being transmission-connected to the main tail fin (310), the first driving device being capable of driving the main tail fin (310) to swing in a horizontal direction so as to drive the tail fin (300) to swing in a horizontal direction; a second driving device, the second driving device being arranged inside the fish body (200) and being in transmission connection with the first adjustable auxiliary tail fin (320), the second driving device being capable of driving the first adjustable auxiliary tail fin (320) to swing up and down relative to the main tail fin (310); The tail fin (300) further comprises a second adjustable auxiliary tail fin (330), wherein the second adjustable auxiliary tail fin (330) is capable of swinging up and down relative to the main tail fin (310); A base (210) is arranged inside the fish body (200); The second driving device comprises a second motor (510), a first swing arm (520), a screw (530), a first limiter (540), a second limiter (550) and a second swing arm (560), wherein the second motor (510) is fixedly arranged on the base (210), one end of the first swing arm (520) is fixedly connected to the output shaft of the second motor (510), and the other end of the first swing arm (520) has an arc portion (521), and the arc portion A first strip-shaped through hole (522) is provided on the first swing arm (521) along its length direction, the screw rod (530) is movably inserted into the first strip-shaped through hole (522), the first limiting member (540) and the second limiting member (550) are both threadedly connected to the screw rod (530), and the arc-shaped portion (521) is sandwiched between the first limiting member (540) and the second limiting member (550), so that the second motor (510) drives the first swing arm (520) ) can drive the screw rod (530) to move up and down when it swings, the middle part of the second swing arm (560) is pivotally connected to the pivotal point between the main tail fin (310) and the first adjustable auxiliary tail fin (320), one end of the second swing arm (560) close to the fish body (200) is pivotally connected to the upper end of the screw rod (530), so that the screw rod (530) can drive the second swing arm (560) to swing when it moves up and down, and the other end of the second swing arm (560) is pivotally connected to The first adjustable auxiliary tail fin (320) is configured so that the first adjustable auxiliary tail fin (320) can swing synchronously with the second swing arm (560), and a connecting rod assembly (600) is provided between the first adjustable auxiliary tail fin (320) and the second adjustable auxiliary tail fin (330) so that when the first adjustable auxiliary tail fin (320) swings relative to the main tail fin (310), the second adjustable auxiliary tail fin (330) can be driven to swing relative to the main tail fin (310).

2. The bionic robotic fish with variable tail fin area as claimed in claim 1, characterized in that: The second adjustable auxiliary tail fin (330) is arranged to overlap with the main tail fin (310), and the overlapping parts of the second adjustable auxiliary tail fin (330) and the main tail fin (310) are in contact with each other. One end of the second adjustable auxiliary tail fin (330) close to the fish body (200) is pivotally connected to the main tail fin (310), so that the second adjustable auxiliary tail fin (330) can swing up and down relative to the main tail fin (310). The second adjustable auxiliary tail fin (330) is arranged to overlap with the main tail fin (310). The area of ​​the overlapping portion between the second adjustable auxiliary tail fin (330) and the main tail fin (310) can be changed when swinging up and down; the first adjustable auxiliary tail fin (320) is pivotally connected to the upper part of the main tail fin (310); the second adjustable auxiliary tail fin (330) is pivotally connected to the lower part of the main tail fin (310); and the second driving device can drive the first adjustable auxiliary tail fin (320) and the second adjustable auxiliary tail fin (330) to swing towards or away from the main tail fin (310).

3. The bionic robotic fish with variable tail fin area as claimed in claim 2, characterized in that: The first driving device comprises a first motor (410), a first transmission gear (420), a second transmission gear (430) and a bracket (440); the first motor (410) is fixedly arranged on the base (210); the first transmission gear (420) is fixedly connected to the output shaft of the first motor (410); the bracket (440) is arranged on the base (210); the second transmission gear (430) is rotatably arranged on the bracket (440) and meshes with the first transmission gear (420); a connecting portion (431) is arranged on the second transmission gear (430); a side of the main tail fin (310) close to the fish body (200) is fixedly connected to the connecting portion (431), so that when the second transmission gear (430) rotates, it can drive the main tail fin (310) to swing in the horizontal direction.

4. The bionic robotic fish with a variable tail fin area as claimed in claim 3, characterized in that: The bracket (440) is provided with a mounting through hole (441), a bearing (700) is fixedly arranged in the mounting through hole (441), the second transmission gear (430) is provided with a mounting shaft (432), the mounting shaft (432) is interference fit with the inner ring of the bearing (700), the mounting shaft (432) is provided with an avoidance through hole (4321) which passes through the mounting shaft (432) from top to bottom, and the screw rod (530) is movably arranged in the avoidance through hole (4321).

5. The bionic robotic fish with variable tail fin area as claimed in claim 4, characterized in that: The connecting rod assembly (600) includes a first connecting rod (610), a second connecting rod (620) and a third connecting rod (630), one end of the first connecting rod (610) is pivoted to the first adjustable auxiliary tail fin (320), one end of the third connecting rod (630) is pivoted to the second adjustable auxiliary tail fin (330), the middle part of the second connecting rod (620) is pivoted to the main tail fin (310), the upper end of the second connecting rod (620) is pivoted to the other end of the first connecting rod (610), and the lower end of the second connecting rod (620) is pivoted to the other end of the third connecting rod (630).

6. The bionic robotic fish with variable tail fin area as claimed in claim 5, characterized in that: The first adjustable auxiliary tail fin (320) and the second adjustable auxiliary tail fin (330) are respectively located on both sides of the main tail fin (310), the first connecting rod (610) and the first adjustable auxiliary tail fin (320) are located on the same side of the main tail fin (310), the third connecting rod (630) and the second adjustable auxiliary tail fin (330) are located on the same side of the main tail fin (310), and the second connecting rod (620) includes an upper rod body The upper rod (621) and the lower rod (622), the upper rod (621) and the first connecting rod (610) are located on the same side of the main tail fin (310), the lower rod (622) and the third connecting rod (630) are located on the same side of the main tail fin (310), and a connecting shaft rotatably inserted into the main tail fin (310) is fixedly connected between the lower end of the upper rod (621) and the upper end of the lower rod (622).

7. The bionic robotic fish with variable tail fin area as claimed in claim 4, characterized in that: The first limiting member (540) and the second limiting member (550) are both spherical.

8. The bionic robotic fish with variable tail fin area as claimed in claim 4, characterized in that: At least two pivot holes (321) are arranged on the first adjustable auxiliary tail fin (320) at intervals corresponding to the end of the second swing arm (560) away from the fish body (200).

9. The bionic robotic fish with variable tail fin area as claimed in claim 2, characterized in that: When the first adjustable auxiliary tail fin (320) swings upward to an extreme position relative to the main tail fin (310), the first adjustable auxiliary tail fin (320) and the main tail fin (310) are still in an overlapping state; when the second adjustable auxiliary tail fin (330) swings downward to an extreme position relative to the main tail fin (310), the second adjustable auxiliary tail fin (330) and the main tail fin (310) are still in an overlapping state.

10. The bionic robotic fish with variable tail fin area as claimed in claim 2, characterized in that: A first limiting portion (311) and a second limiting portion (312) are provided at one end of the main tail fin (310) away from the fish body (200); the first limiting portion (311) and the second limiting portion (312) are arranged with an interval up and down, the first limiting portion (311) is located above the second limiting portion (312); a first limiting through groove penetrating the first limiting portion (311) up and down is provided on a side of the first limiting portion (311) facing the fish body (200) corresponding to an end of the first adjustable auxiliary tail fin (320) away from the fish body (200); the first limiting through groove is capable of The end of the first adjustable auxiliary tail fin (320) away from the fish body (200) is restricted from being separated from the main tail fin (310) during the process of swinging in the horizontal direction. The second limiting portion (312) is provided with a second limiting groove that passes through the second limiting portion (312) from top to bottom on a side of the second limiting portion (312) facing the fish body (200) corresponding to the end of the second adjustable auxiliary tail fin (330) away from the fish body (200). The second limiting groove can restrict the end of the second adjustable auxiliary tail fin (330) away from the fish body (200) from being separated from the main tail fin (310) during the process of swinging in the horizontal direction.

Images