Mechanical bionic fish structure

Abstract

The present application provides a kind of mechanical bionic fish shape structure, including multiple sections each independent shape structure unit, the shape structure unit is connected by rotation axis, each the size of shape structure unit gradually reduces from head to tail according to the size of fish body, and the contour is fish-shaped, the shape structure unit includes shape shell and shape tine, the shape tine of the adjacent two shape units is crossed and matched, the shape shell of the adjacent two shape units is matched, so that shape structure unit can rotate freely and there is no interference.The present application not only guarantees that the shape structure does not fall off and does not deform during the bionic fish swimming, but also improves the problem of bionic skin wrinkles and depression caused by fish body bending, effectively improves the motion flexibility of the shape structure of bionic mechanical fish, improves the strength of the shape structure, and improves the simulation degree of bionic mechanical fish.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic fish mechanical structure technology, and specifically relates to a mechanical biomimetic fish microstructure for supporting biomimetic skin and moving with the fish body. Background Technology

[0002] The dimensional structure is the structural device that supports the bionic skin and moves with the fish's body. The dimensional structure needs to be fixed to the skeleton of the fish's mechanical motion propulsion components. It must possess a certain rigidity to ensure that the dimensional structure does not detach or deform during the bionic fish's movement. The dimensional structure also needs to support the flexible bionic skin, minimizing wrinkles caused by the fish's bending due to the mechanical motion propulsion components during the fish's movement.

[0003] Because the structural design of biomimetic robotic fish requires reserving space between the drive joints according to the fish's movement angle requirements, even with a dimensional structure, there will be a "lack of flesh" phenomenon. After covering the fish with skin, the skin will produce varying degrees of depressions and wrinkles due to the movement of the drive parts and the action of water pressure, greatly reducing the biomimetic robotic fish's realism. As technology advances, people's requirements for simulation products are increasing, demanding not only functional simulation but also high visual fidelity. Therefore, improving the problem of wrinkles in biomimetic skin is of great significance to the development of biomimetic robotic fish, and currently, there is limited research both domestically and internationally on solving this problem. Current biomimetic fish designs also use dimensional structures, mainly employing the method of drawing curved surfaces around the rotation axis for material removal. This method produces numerous irregular depressions, resulting in significant local deformation during the fish's movement, failing to maintain a complete fish shape. The more material removed, the more pronounced the wrinkles become. To reduce wrinkles, the movement angle is sometimes reduced, but this method is ineffective and also hinders functional design. Summary of the Invention

[0004] The technical problem solved by this invention is to provide a mechanical bionic fish dimensional structure that can improve the wrinkling of bionic skin, and solves the problem that the "lack of flesh" phenomenon of the dimensional structure during swimming makes the bionic skin prone to wrinkling and depression, reducing the simulation degree of the bionic robotic fish.

[0005] The technical solution adopted in this invention is: a mechanical biomimetic fish-shaped structure, comprising multiple independent fish-shaped structural units connected by a rotating shaft. Each fish-shaped structural unit gradually decreases in size from head to tail according to the size of the fish, so that its outer contour is fish-shaped. Each fish-shaped structural unit includes a fish-shaped shell and fish-shaped forks. The fish-shaped forks between two adjacent fish-shaped units interlock, and the interlocking part can fill the spatial gap formed by the moving power elements of adjacent fish bodies when swimming. The shapes of the fish-shaped shells between two adjacent fish-shaped units are matched so that the fish-shaped structural units can rotate freely without interference. Different fish-shaped structural units have the same structure and principle, and their respective sizes are adjusted according to the size of the fish body to achieve the fish shape.

[0006] Preferably, the dimensional shell includes an upper dimensional shell, a lower dimensional shell, a left dimensional shell, and a right dimensional shell. The inner sides of the four dimensional shells are respectively connected to the fish body movement power element by fastening screws. The four dimensional shells have curvature and, when combined, form the fish-shaped outline of the segment.

[0007] Preferably, the V-shaped fork tooth includes a left V-shaped fork tooth and a right V-shaped fork tooth, and the left V-shaped fork tooth and the right V-shaped fork tooth are respectively connected to the left V-shaped shell and the right V-shaped shell by fastening screws.

[0008] Preferably, the shaped shell material is a low-density buoyancy material, and the shaped fork teeth are made of nylon. This ensures that the bionic fish has sufficient buoyancy while swimming underwater.

[0009] Preferably, the forked teeth of the dimensional structural unit closest to the head of the fish are single-sided comb-like structures facing the tail, the forked teeth of the dimensional structural unit closest to the tail of the fish are single-sided comb-like structures facing the head, the forked teeth of the dimensional structural unit in the middle part are double-sided comb-like structures, and the number of comb teeth of each dimensional structural unit decreases from the head to the tail.

[0010] Preferably, the length of the fork teeth of each fork structure unit satisfies the following conditions: when the bionic fish body is at its maximum bending arc, the fork teeth of two adjacent fork structure units on the outer arc side do not cross and the ends of adjacent fork teeth are continuous without gaps; and the fork teeth of two adjacent fork structure units on the inner arc side cross each other without interference.

[0011] The beneficial effects of this invention are:

[0012] 1. This invention ensures that the biomimetic structure does not fall off or deform during the swimming process of the biomimetic fish, and also improves the problem of biomimetic skin wrinkles and depressions caused by the bending of the fish body.

[0013] 2. Effectively improves the movement flexibility of the three-dimensional structure of the bionic mechanical fish, increases the strength of the three-dimensional structure, and improves the simulation degree of the bionic mechanical fish. Attached Figure Description

[0014] Figure 1 A schematic diagram of a biomimetic fish-shaped mechanical structure;

[0015] Figure 2 This is a top view of the 3D structural unit.

[0016] Figure 3 This is a side view schematic diagram of a 3D structural unit;

[0017] Figure 4 A schematic diagram of the bending of a dimensional structure without dimensional fork teeth;

[0018] Figure 5 This is a schematic diagram of the bending of a V-shaped structure with V-shaped fork teeth.

[0019] Figure reference numerals: 1-Upper V-shaped shell, 2-Lower V-shaped shell, 3-Left V-shaped shell, 4-Left V-shaped fork tooth, 5-Right V-shaped shell, 6-Right V-shaped fork tooth, 7-Fasting screw, 8-Fish-shaped missing gap. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention. The length direction mentioned in this invention refers to the direction from the head to the tail of the biomimetic fish.

[0021] This embodiment uses a biomimetic fish structure consisting of seven independent structural units, numbered from the first to the seventh from head to tail. In practice, the number of structural units can be increased or decreased proportionally according to the length of the fish.

[0022] like Figure 1As shown, a biomimetic fish-shaped structure comprises seven independent structural units connected by rotating shafts. These shafts are inserted vertically into adjacent units to create a axial connection. The dimensions of each unit gradually decrease from head to tail, resulting in a fish-shaped outline. Each unit includes a shell and forked teeth. The forked teeth of adjacent units interlock, filling gaps created by the moving parts of adjacent units during swimming. The shells of adjacent units are shaped to allow free rotation without interference. Different units share the same structure and principle, with their dimensions adjusted according to the fish's size to achieve the fish shape. The frontmost unit connects to the head, and the rearmost unit connects to the tail. A biomimetic skin is fitted over the structure. The shell is made of a low-density buoyancy material, and the forked teeth are made of nylon, ensuring sufficient buoyancy for the biomimetic fish during underwater movement.

[0023] like Figure 2 and Figure 3 As shown, the dimensional shell includes an upper dimensional shell 1, a lower dimensional shell 2, a left dimensional shell 3, and a right dimensional shell 5. The inner sides of the four dimensional shells are connected to the fish's motion propulsion element via fastening screws. The four dimensional shells are curved, and when combined, they form the fish-shaped outline of this segment. For adjacent dimensional structural units, the upper dimensional shell 1 and lower dimensional shell 2 have one protruding arc and the other a groove that matches its shape, allowing each dimensional structural unit to rotate around the rotation axis. The left dimensional shell 3 and right dimensional shell 5 are curved strip structures that mainly serve a supporting function. The dimensional fork teeth include a left dimensional fork tooth 4 and a right dimensional fork tooth 6, which are connected to the left dimensional shell 3 and right dimensional shell 5 respectively via fastening screws 7.

[0024] The forked teeth of the forked unit closest to the head (segment 1) are single-sided comb-like structures facing the tail. The forked teeth of the forked unit closest to the tail (segment 7) are single-sided comb-like structures facing the head. The forked teeth of the forked units in the middle part (segments 2 to 6) are double-sided comb-like structures. The number of comb teeth in each forked unit decreases from head to tail, and the forked teeth on the rear side are aligned with the gap between the forked teeth on the front side.

[0025] like Figure 5As shown, the length of the forked teeth of each dimensional structural unit satisfies the condition that when the bionic fish body is at its maximum bending arc, the forked teeth of two adjacent dimensional structural units on the outer arc side do not intersect and the ends of adjacent dimensional forked teeth are continuous without gaps, thus supporting the overall shape of the fish body without large gaps. This results in a better simulation of the skin and the dimensional forked teeth fitting together more closely. On the inner arc side, the forked teeth of two adjacent dimensional structural units intersect without interference, and the forked teeth intersect on the inner side to form support, optimizing the wrinkles of the skin in this local area.

[0026] like Figure 4 As shown, with the same parting design, without the serrated fork structure, there are many gaps 8 in the fish-shaped shape. Because the skin is soft and lacks the rigidity to support and shape, and because the skin usually has a certain margin to accommodate fish movement, as the range of motion increases, the skin on the inner side of the turning radius (inner arc side) is compressed and wrinkles deeper, while the fish shape between the joints on the outer side of the turning radius (outer arc side) has obvious gaps 8 in the fish-shaped shape. Due to water pressure, the skin cannot maintain the fish shape well, resulting in poor skin fixation, excessive movement space, and obvious skin depression at the gaps 8. Especially during the back-and-forth movement of the fish tail, before reaching its maximum bending degree, there is always a large gap 8 on one side, causing the skin to be pushed into the gap 8 by water pressure. With the addition of the serrated fork structure, the fish body can maintain its complete fish shape at any time during suspension and movement. Supported by the serrated fork structure, the skin can maintain the fish shape well, effectively improving the wrinkling and depression phenomena.

[0027] The above describes specific embodiments of the present invention and the technical principles employed. Any modifications or equivalent transformations based on the technical solutions of the present invention should be included within the protection scope of the present invention.

Claims

1. A biomimetic fish-shaped mechanical structure, characterized in that: It includes multiple independent dimensional structural units, which are connected by a rotating shaft. Each dimensional structural unit gradually decreases in size from head to tail according to the size of the fish, so that the outer contour is fish-shaped. Each dimensional structural unit includes a dimensional shell and dimensional fork teeth. The dimensional fork teeth between two adjacent dimensional units interlock, and the dimensional shells between two adjacent dimensional units are shaped to allow the dimensional structural units to rotate freely without interference.

2. The biomimetic fish-shaped structure according to claim 1, characterized in that: The four-dimensional shells include an upper shell, a lower shell, a left shell, and a right shell. The inner sides of the four shells are connected to the fish's motion power element by fastening screws. The four shells have curvature and, when combined, form a segmented fish-shaped outline.

3. The biomimetic fish-shaped structure according to claim 2, characterized in that: The V-shaped fork teeth include a left V-shaped fork tooth and a right V-shaped fork tooth, which are connected to the left V-shaped shell and the right V-shaped shell respectively by fastening screws.

4. The biomimetic fish-shaped structure according to claim 1, characterized in that: The shaped shell material is a low-density buoyancy material, and the shaped fork teeth are made of nylon.

5. The biomimetic fish-shaped structure according to claim 1, characterized in that: The forked teeth of the dimensional structural unit closest to the head of the fish are single-sided comb-like structures facing the tail, the forked teeth of the dimensional structural unit closest to the tail of the fish are single-sided comb-like structures facing the head, the forked teeth of the dimensional structural unit in the middle part are double-sided comb-like structures, and the number of comb teeth of each dimensional structural unit decreases from head to tail.

6. The biomimetic fish-shaped structure according to claim 1, characterized in that: The length of the fork teeth of each of the aforementioned fork-shaped structural units satisfies the following conditions: when the bionic fish body is at its maximum bending arc, the fork teeth of two adjacent fork-shaped structural units on the outer arc side do not cross and the ends of adjacent fork teeth are continuous without gaps; the fork teeth of two adjacent fork-shaped structural units on the inner arc side cross each other without interference.

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