Bionic robotic fish dorsal fin structure capable of being complexly deformed and bionic robotic fish

Abstract

The invention discloses a bionic robotic fish dorsal fin structure capable of being complexly deformed and a bionic robotic fish, and the bionic robotic fish dorsal fin structure comprises a plurality of fin bones which are used for being arranged on the head; the multiple fin bones are sequentially arranged in the front-back direction, and the interiors of the fin bones are hollow. The plurality of threaded holes are formed in the fin bone and are sequentially distributed in the length direction of the fin bone; any two adjacent threaded open pores are arranged in a staggered manner; and the driving mechanism is arranged in the head part and is connected with the fin bone so as to drive the fin bone to bend and reverse. According to the dorsal fin, the threaded holes are formed in the fin bones, and any two adjacent threaded holes are staggered, so that the flexibility of the fin bones is enhanced, each fin bone can be freely bent in multiple directions under the driving of the driving mechanism, and the flexibility and the degree of freedom of the dorsal fin are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot fish, and in particular to a dorsal fin structure of a bionic robot fish capable of complex deformation and a bionic robot fish. Background Art

[0002] In recent years, bionic robot fish based on intelligent bionic technology have overcome the shortcomings of traditional underwater robots driven by propellers. They are particularly suitable for work scenarios such as reconnaissance, ecological environment monitoring, narrow space operations and fish rewilding, and have attracted the attention and interest of many researchers. Bionic robot fish imitate the appearance and movement patterns of fish in order to achieve the characteristics of efficient and fast movement of fish, and get rid of the shortcomings of traditional propeller propulsion underwater robots such as high noise, low efficiency and high energy consumption. It has become a hot topic in underwater propulsion research in recent years.

[0003] However, traditional bionic robot fish mostly use rigid single-degree-of-freedom bionic dorsal fins, which have poor flexibility and insufficient degrees of freedom, resulting in insufficient deformation ability and insufficient ability to regulate the surrounding liquid environment of existing bionic robot fish, resulting in poor overall swimming performance and stability of the bionic robot fish.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a bionic robotic fish dorsal fin structure capable of complex deformation in view of the above-mentioned defects of the prior art, so as to enhance the flexibility and degree of freedom of the dorsal fin.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A dorsal fin structure of a bionic robotic fish capable of complex deformation, comprising:

[0008] A plurality of fin bones, used to be arranged on the head; the plurality of fin bones are arranged in sequence along the front-back direction, and the interior of the fin bones is hollow;

[0009] A plurality of thread-shaped openings are provided on the fin bone and are arranged in sequence along the length direction of the fin bone; any two adjacent thread-shaped openings are arranged in a staggered manner;

[0010] The driving mechanism is arranged in the head and connected to the fin bone to drive the fin bone to bend and reverse.

[0011] The dorsal fin structure of the complexly deformable bionic robotic fish, wherein the fin bone is a cylindrical fin bone.

[0012] The complex deformable bionic robotic fish dorsal fin structure further comprises:

[0013] A plurality of cables; one end of the cable is connected to the free end of the fin bone, and the other end passes through the fin bone and is connected to the driving mechanism.

[0014] The complexly deformable bionic robotic fish dorsal fin structure comprises a plurality of wire holes arranged in the head, the wire holes being located between the driving mechanism and the fin bones, and the wire holes corresponding to the cables one by one.

[0015] The complexly deformable bionic robotic fish dorsal fin structure comprises four wire holes, which are grouped in pairs and are distributed in a diamond shape; the first group of wire holes are arranged along the front-to-back direction, and the second group of wire holes are arranged along the left-to-right direction.

[0016] The complex deformable bionic robotic fish dorsal fin structure, wherein the driving mechanism comprises:

[0017] A first steering gear; a rocker arm of the first steering gear is respectively connected to two cables corresponding to the first set of wire holes, and a rotation plane of the rocker arm of the first steering gear is coplanar with the first set of wire holes;

[0018] A second servo; a rocker arm of the second servo is respectively connected to two cables corresponding to the second set of wire holes, and a rotation plane of the rocker arm of the second servo is coplanar with the second set of wire holes.

[0019] The complex deformable bionic robotic fish dorsal fin structure further comprises:

[0020] A positioning member is arranged in the head and located above the wire hole; a mounting hole is arranged on the positioning member, and the end of the fin bone is located in the mounting hole.

[0021] The complex deformable bionic robotic fish dorsal fin structure further comprises:

[0022] Locking parts;

[0023] The positioning member is provided with a slot, which extends inwardly from the outer wall surface of the positioning member and is connected with the mounting hole; the locking member is threadedly connected to the positioning member and passes through the slot in a direction perpendicular to the slot.

[0024] A bionic robotic fish, comprising the complexly deformable dorsal fin structure of the bionic robotic fish as described in any one of the above items.

[0025] The bionic robotic fish further comprises:

[0026] head;

[0027] A fish body, arranged at the rear side of the head and connected to the head;

[0028] A tail portion, arranged at the rear side of the fish body and connected to the fish body;

[0029] The driving member is arranged in the fish body and extends backward to be connected with the tail to drive the tail to swing.

[0030] Beneficial effects: In the present application, the threaded openings are arranged on the fin bones, and any two adjacent threaded openings are arranged in a staggered manner, so that each fin bone can be freely bent in multiple directions under the drive of the driving mechanism, thereby improving the flexibility and freedom of the dorsal fin, significantly improving the flexibility and adaptability of the underwater robot fish, enabling it to better regulate the flow field around the robot fish, and promoting the improvement of the swimming performance and stability of the robot fish; through the innovative flexible fin bone design, each of the fin bones can be freely bent in multiple directions, simulating the natural swimming characteristics of fish, so that the robot fish can more effectively cope with obstacles and changing water currents; and this design combines a dual servo (the first servo and the second servo) control system, allowing precise adjustment of the movement of the fin bones, so that the robot fish can quickly turn, stop suddenly and perform other complex actions, thereby improving the flexibility of operation, not only improving the movement performance and control accuracy of the underwater robot fish, but also effectively reducing energy consumption, enhancing the concealment and efficiency in applications such as ecological monitoring and ocean exploration, and showing broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a reference diagram of the use state of the dorsal fin structure of the complexly deformable bionic robotic fish when the fin bone of the present invention is in an unfolded state;

[0032] Figure 2 yes Figure 1 A local enlarged schematic diagram of the middle A;

[0033] Figure 3 is a schematic diagram of the structure of the fin bone of the present invention;

[0034] Figure 4 It is a reference diagram of the use state of the dorsal fin structure of the complexly deformable bionic robotic fish when the fin bone is in a closed state in the present invention;

[0035] Figure 5 It is a reference diagram of the use state of the dorsal fin structure of the complexly deformable bionic robotic fish when the fin bones of the present invention are staggered and swung;

[0036] Figure 6 is a schematic diagram of the assembly structure of the cable, the fin bone and the drive mechanism in the present invention;

[0037] Figure 7 is a schematic diagram of the assembly structure of the cable and the fin bone in the present invention;

[0038] Figure 8 It is a schematic diagram of a partial exploded structure of the head of the present invention;

[0039] Fig. 9 yes Figure 8 A partial enlarged schematic diagram of point B in the middle;

[0040] Fig.10 It is a schematic diagram of the structure of the positioning member described in the present invention;

[0041] Fig.11 It is a schematic diagram of a partially decomposed structure of the dorsal fin structure of the complexly deformable bionic robotic fish described in the present invention. DETAILED DESCRIPTION

[0042] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0043] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0044] The present application provides a bionic robotic fish dorsal fin structure capable of complex deformation, such as Figure 1 and Figure 3 As shown, the dorsal fin structure of the complex deformable bionic robotic fish includes a plurality of fin bones 1, a plurality of threaded openings 2, and a driving mechanism 3; the plurality of fin bones 1 are used to be arranged on the head 10; the plurality of fin bones 1 are arranged in sequence along the front-to-back direction, and the interior of the fin bones 1 is hollow; a plurality of threaded openings 2 are arranged on the fin bones 1, and are arranged in sequence along the length direction of the fin bones 1; any two adjacent threaded openings 2 are staggered; the driving mechanism 3 is arranged in the head 10 and connected to the fin bones 1 to drive the fin bones 1 to bend and reverse.

[0045] Specifically, the interior of the fin bone 1 is hollow, that is, the fin bone 1 is a hollow structure with a central hole, and the central hole is arranged along the length direction of the fin bone 1 from the center of the fin bone 1; the threaded opening 2 is arranged on the wall of the fin bone 1 and is connected to the central hole, thereby changing the rigidity of the fin bone 1 to improve the flexibility of the fin bone 1. The threaded openings 2 are distributed in a spiral shape, and any two adjacent threaded openings 2 are staggered, which can make the fin bone 1 deform more uniformly and diversely when subjected to force, providing higher flexibility. When the driving mechanism 3 is started, the fin bone 1 can bend with multiple degrees of freedom. This design simulates the structure of a natural fish fin and can improve the maneuverability of the robot fish. Compared with a rigid dorsal fin with a single degree of freedom, this flexible fin bone 1 has higher flexibility in control, has a better improvement effect on the performance of the robot fish, and can be applied to underwater robot fish, environmental monitoring, ocean exploration and other fields; especially in complex environments, the flexible fin bone 1 can effectively reduce noise and water flow interference, and improve the concealment and adaptability of the robot fish.

[0046] In the present application, any two adjacent threaded openings 2 are arranged in a staggered manner. When the fin bone 1 is bent, the threaded openings 2 at different positions will alternately participate in the deformation, which helps to avoid local stress concentration. Due to the staggered arrangement between adjacent threaded openings 2, the fin bone 1 can have a "complete wall" area between two adjacent threaded openings 2. This complete wall area enhances the tensile strength and stability of the fin bone 1, and prevents the fin bone 1 from breaking or deforming due to local weakness. In addition, the staggered threaded openings 2 allow the fin bone 1 to distribute the force more evenly when deforming, thereby achieving a smoother curved surface. This curved surface optimizes the regulating effect of the fin bone 1 on the water flow and reduces the generation of eddies and turbulence.

[0047] It can be seen that in the present application, the threaded openings 2 are arranged on the fin bones 1, and any two adjacent threaded openings 2 are staggered, so that the flexibility of the fin bones 1 is enhanced, so that each fin bone 1 can be freely bent in multiple directions under the drive of the driving mechanism 3, thereby improving the flexibility and freedom of the dorsal fin.

[0048] In one embodiment of the present application, Figure 4 As shown, when the plurality of fin bones 1 are bent into a closed state, all the fin bones 1 are bent backwards until the free ends of the fin bones 1 are in contact with each other; Figure 1 As shown, when the plurality of fin bones 1 are bent to an unfolded state, the distance between the free ends of the fin bones 1 is the largest.

[0049] It should be noted that each of the fin bones 1 is driven by an independent driving mechanism 3, so that each of the fin bones 1 can be independently controlled, and the complex deformable bionic robotic fish dorsal fin structure can achieve staggered swinging (such as Figure 5 As shown), the two adjacent fin bones 1 are bent to the right or to the left, or the two adjacent fin bones 1 are bent to the left and to the right.

[0050] In one embodiment of the present application, the fin bone 1 is a cylindrical fin bone 1 .

[0051] Specifically, the cross-section of the fin bone 1 is circular, so that the cross-section of the fin bone 1 has the same shape and area in all directions, which can make the stress distribution more uniform when subjected to multi-directional bending, avoid stress concentration, and thus improve the strength and durability of the fin bone 1; the cylindrical structure of the fin bone 1 exhibits higher torsional rigidity when twisted, can better withstand complex movement requirements, can bend more freely in multiple directions, and ensure structural reliability while adapting to complex bending movements. It is not easy to produce weak points after being subjected to force, and is more resistant to buckling or fatigue damage than non-circular cross-sections.

[0052] If the wall thickness of the fin bone 1 is too large, the fin bone 1 may be too rigid, which is not conducive to complex deformation with multiple degrees of freedom and affects the flexibility of the fish fin; if the wall thickness of the fin bone 1 is too small, the wall surface of the fin bone 1 will become too weak and easily deformed or damaged under long-term bending or high water pressure environment, reducing durability and reliability. Based on this, in one implementation of this embodiment, the wall thickness of the fin bone 1 is 0.25mm, which can provide appropriate flexibility, so that the fin bone 1 can bend under the action of external force, simulating the movement characteristics of natural fish fins, and significantly reducing the overall weight while ensuring strength. Especially for fish fins composed of multiple fin bones 1, reducing the weight of each fin bone 1 is crucial to improving overall performance.

[0053] In one embodiment of the present application, the fin bone 1 is made of stainless steel tube, which can withstand the mechanical stress when the robot fish is working, especially in the high-pressure environment or complex movement under water, and can maintain a stable shape and is not easy to break or damage. Stainless steel itself has good strength and corrosion resistance. With the appropriate thickness, it can meet the requirements of long-term operation underwater, ensuring that the fin bone 1 has good corrosion resistance and strength in various underwater environments. This design not only extends the service life of the equipment, but also broadens its scope of application in a variety of underwater applications, meeting the growing market demand.

[0054] In one embodiment of the present application, Figure 2 , Figure 6 and Figure 7As shown, the complex deformable bionic robotic fish dorsal fin structure also includes a plurality of cables 4 ; one end of the cable 4 is connected to the free end of the fin bone 1 , and the other end passes through the fin bone 1 and is connected to the driving mechanism 3 .

[0055] Specifically, the fin bone 1 is connected to the drive mechanism 3 through the cable 4, thereby achieving a flexible connection between the fin bone 1 and the drive mechanism 3, allowing the fin bone 1 to achieve multi-degree-of-freedom bending motion, and better simulating the flexible swing and complex deformation of natural fish fins. Compared with the rigid connection between the fin bone 1 and the drive mechanism 3, the flexible connection of the cable 4 in this embodiment is simple and light, occupies little space, and helps to maintain the compactness and lightweight design of the overall structure of the robot fish; the cable 4 is highly efficient in transmitting tension, and can directly convert the movement of the servo into the deformation of the fin bone 1, avoiding transmission losses that may occur in rigid connections (such as friction between shafts, loose joints, etc.).

[0056] The bending direction and angle of the fin bone 1 can be adjusted by tightening or loosening the cable 4 through the driving mechanism 3, so that the control is more precise and delicate, and it is more adaptable to water flow disturbances and complex working environments, which helps to reduce movement disorders or equipment damage caused by environmental interference.

[0057] In one implementation of this embodiment, Figure 2 and Fig. 9 As shown, a plurality of wire holes 5 are provided in the head 10 , and the wire holes 5 are located between the driving mechanism 3 and the fin bone 1 , and the wire holes 5 correspond to the cables 4 one by one.

[0058] Specifically, one end of the cable 4 is connected to the free end of the fin bone 1, and the other end passes through the fin bone 1 from the central hole, then passes through the wire hole 5, and finally connects to the drive mechanism 3. Each cable 4 is correspondingly provided with a wire hole 5, and the cable 4 can move in the corresponding wire hole 5 to achieve the bending and reversing adjustment of the fin bone 1, avoiding the inaccurate transmission caused by the friction and uneven force between the cables 4, thereby avoiding affecting the motion control accuracy of the fin bone 1. Therefore, in this embodiment, a wire hole 5 is correspondingly provided for each cable 4, and the design of multiple wire holes 5 improves the control accuracy, structural strength and sealing performance by separating the cable 4 paths.

[0059] There are four wire holes 5, and the four wire holes 5 form a group of two and are distributed in a rhombus shape; the first group of wire holes are arranged in the front-to-back direction, and the second group of wire holes are arranged in the left-to-right direction. The driving mechanism 3 includes a first steering gear 31 and a second steering gear 32; the rocker arm of the first steering gear 31 is respectively connected to the two cables 4 corresponding to the first group of wire holes, and the rotation plane of the rocker arm of the first steering gear 31 is coplanar with the first group of wire holes; the rocker arm of the second steering gear 32 is respectively connected to the two cables 4 corresponding to the second group of wire holes, and the rotation plane of the rocker arm of the second steering gear 32 is coplanar with the second group of wire holes.

[0060] Specifically, the free end of the fin bone 1 (i.e., the end of the fin bone 1 away from the head 10) is provided with four through holes 6 (such as Figure 7 As shown), there are four cables 4, and the four through holes 6, the four cables 4 and the four wire holes 5 all correspond one to one.

[0061] The four cables 4 are grouped in pairs, and the first group of cables corresponds to the first group of wire holes. After the first group of cables passes through the fin bone 1 and the first group of wire holes respectively, they are connected to the two ends of the rocker arm of the first steering gear 31. When the rocker arm of the first steering gear 31 rotates, the fin bone 1 can bend forward or backward (if the corresponding cable 4 is tightened when the rocker arm of the first steering gear 31 rotates forward, the fin bone 1 bends forward, then when the rocker arm of the first steering gear 31 rotates reversely, the corresponding cable 4 is relaxed, so that the fin bone 1 recovers or bends backward; if the rocker arm of the first steering gear 31 rotates forward, the corresponding cable 4 is relaxed, so that the fin bone 1 recovers or bends backward; if the rocker arm of the first steering gear 31 rotates forward, the corresponding cable 4 is relaxed, so that the fin bone 1 recovers or bends backward; When the first servo 31 moves, the corresponding cable 4 is tightened, and the fin bone 1 bends backward. When the rocker arm of the first servo 31 rotates in the opposite direction, the corresponding cable 4 is relaxed, so that the fin bone 1 recovers or bends forward), thereby realizing the longitudinal bending of the fin bone 1; similarly, the second group of cables pass through the fin bone 1 and the second group of wire holes respectively and are connected to the two ends of the rocker arm of the second servo 32. When the rocker arm of the second servo 32 rotates, the fin bone 1 can bend to the left or right; when the first servo 31 and the second servo 32 are started at the same time, the fin bone 1 can realize bending reversal at other angles.

[0062] like Figure 6As shown, each of the fin bones 1 is independently controlled by two servos to control four cables 4, achieving efficient and precise movement adjustment. This configuration enables each of the fin bones 1 to achieve flexible bending and rotation under the coordinated action of two independent servos, simulating the natural swimming of fish. In addition, the head 10 is provided with corresponding wire holes 5, and the cables 4 are connected to the corresponding servos through the corresponding wire holes 5, ensuring the neat arrangement and smooth movement of the cables 4; the activation of the first servo 31 and the second servo 32 promotes the flexible movement of the fin bones 1 by tightening and relaxing the corresponding cables 4, significantly improving the maneuverability of the robot fish underwater.

[0063] In the present application, each of the fin bones 1 is driven by the four cables 4, the first steering gear 31 controls two cables 4, and the second steering gear 32 controls the other two cables 4, forming a simple and efficient driving mechanism; this mechanism not only simplifies the structure, but also improves the accuracy of control, so that the fish fin can achieve a variety of deformation modes to adapt to different operating requirements. Compared with a rigid dorsal fin with a single degree of freedom, this flexible dorsal fin has higher flexibility in the control system and has a better effect on improving the performance of the robotic fish.

[0064] The flexible dorsal fin adjusts the direction and speed of the water flow by swinging left and right; by adjusting the relative angle between the robot fish and the water flow, the dorsal fin can accurately control the direction of movement and stability, especially in complex or narrow waters, the swing effectively avoids tilting or rolling caused by water flow interference or sharp turns. In addition, the swing of the flexible dorsal fin can reduce the turbulence of the water flow, reduce the energy loss of the fluid, and thus reduce the energy required for propulsion, thereby achieving the effect of reducing energy consumption. The opening and closing of the flexible dorsal fin can adjust the contact area with the water flow, further optimizing the propulsion force and stability of the robot fish. When the flexible dorsal fin is opened, the contact area increases, generating greater resistance, helping to improve the stability of the robot fish; and when the flexible dorsal fin is closed, the water flow resistance is reduced and the swimming efficiency is improved. Through the coordinated use of the opening and closing of the flexible dorsal fin, the water flow control force can be flexibly adjusted as needed, thereby reducing unnecessary resistance and energy waste while ensuring stability; this adjustment not only improves the controllability and adaptability, but also enables the robot fish to maintain the required propulsion more efficiently when operating in different water environments, significantly reducing energy consumption.

[0065] In one embodiment of the present application, Figure 6 and Figure 8 As shown, the complex deformable bionic robotic fish dorsal fin structure also includes a positioning member 11; the positioning member 11 is arranged in the head 10 and is located above the wire hole 5; a mounting hole 7 is provided on the positioning member 11, and the end of the fin bone 1 is located in the mounting hole 7.

[0066] Specifically, the positioning member 11 is used to position the end of the fin bone 1 (i.e., the end of the fin bone 1 close to the head 10), so that when the first servo 31 and the second servo 32 are started, the end of the fin bone 1 can be stably positioned, and the bending reversal of the fin bone 1 is achieved only by tightening or loosening the free end of the fin bone 1 by the cable 4. The mounting hole 7 limits the end of the fin bone 1, so that the tension of the cable 4 can be effectively transmitted to the free end of the fin bone 1 without causing the end of the fin bone 1 to deviate, thereby ensuring the effectiveness of motion transmission.

[0067] like Fig.10 As shown, the complex deformable bionic robotic fish dorsal fin structure also includes a locking piece 9; a slot 8 is provided on the positioning piece 11, and the slot 8 extends inward from the outer wall surface of the positioning piece 11 and is connected to the mounting hole 7; the locking piece 9 is threadedly connected to the positioning piece 11 and passes through the slot 8 in a direction perpendicular to the slot 8.

[0068] Specifically, the slot 8 is communicated with the mounting hole 7, and the slot 8 extends to the outer wall surface of the positioning member 11, thereby improving the fault tolerance of the positioning member 11 and facilitating the installation and locking of the fin bone 1 in the mounting hole 7. For example, the outer diameter of the fin bone 1 has a certain error due to the manufacturing process and other reasons. If the outer diameter of the fin bone 1 is too large, the locking member 9 can be relatively loosened to lock the fin bone 1 on the positioning member 11; if the outer diameter of the fin bone 1 is too small, the locking member 9 can be relatively tightened to lock the fin bone 1 on the positioning member 11.

[0069] The present application also provides a bionic robotic fish, which includes the complexly deformable bionic robotic fish dorsal fin structure as described in any one of the above items. Fig.11 As shown, the bionic robotic fish also includes a head 10, a fish body 20, a tail 30 and a driving member 40; the fish body 20 is arranged on the rear side of the head 10 and connected to the head 10; the tail 30 is arranged on the rear side of the fish body 20 and connected to the fish body 20; the driving member 40 is arranged in the fish body 20 and extends backward to connect with the tail 30 to drive the tail 30 to swing.

[0070] Specifically, the head 10, the fish body 20 and the tail 30 are sequentially distributed from front to back and connected to each other; the fish body 20 is driven by the driving member 40, the driving member 40 is fixed to the head 10 through a fixing member, the fish body 20 is fixed to the output shaft of the driving member 40, and when the driving member 40 is started, it drives the tail 30 to flap, thereby realizing the propulsion of the bionic robotic fish. The driving member 40 includes a steering gear.

[0071] In summary, the present invention provides a dorsal fin structure of a bionic robotic fish that can undergo complex deformation, which includes: a plurality of fin bones, which are used to be arranged on the head; the plurality of fin bones are arranged in sequence along the front-to-back direction, and the interior of the fin bones is hollow; a plurality of threaded openings are arranged on the fin bones, and are arranged in sequence along the length direction of the fin bones; any two adjacent threaded openings are staggered; a driving mechanism is arranged in the head and connected to the fin bones to drive the fin bones to bend and reverse. The present application significantly improves the flexibility and adaptability of the underwater robot fish, so that it can better regulate the flow field around the robot fish, and promote the improvement of the swimming performance and stability of the robot fish; through the innovative flexible fin bone design, each of the fin bones can bend freely in multiple directions, simulating the natural swimming characteristics of fish, so that the robot fish can more effectively cope with obstacles and changing water currents; and this design is combined with a dual servo (the first servo and the second servo) control system, allowing precise adjustment of the movement of the fin bones, so that the robot fish can quickly turn, stop suddenly and perform other complex actions, thereby improving the flexibility of operation, which not only improves the movement performance and control accuracy of the underwater robot fish, but also effectively reduces energy consumption, enhances the concealment and efficiency in applications such as ecological monitoring and ocean exploration, and shows broad application prospects.

[0072] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A bionic robotic fish dorsal fin structure capable of complex deformation, characterized in that: It includes: A plurality of fin bones for setting on the head; The plurality of fin bones are arranged in sequence along the front-to-back direction, and the interior of the fin bones is hollow; A plurality of thread-shaped openings are provided on the fin bone and are arranged in sequence along the length direction of the fin bone; any two adjacent thread-shaped openings are arranged in a staggered manner; The driving mechanism is arranged in the head and connected to the fin bone to drive the fin bone to bend and reverse.

2. The complex deformable bionic robotic fish dorsal fin structure according to claim 1, characterized in that: The fin bone is a cylindrical fin bone.

3. The complex deformable bionic robotic fish dorsal fin structure according to claim 1, characterized in that: It also includes: A plurality of cables; one end of the cable is connected to the free end of the fin bone, and the other end passes through the fin bone and is connected to the driving mechanism.

4. The complex deformable bionic robotic fish dorsal fin structure according to claim 3, characterized in that: A plurality of wire holes are arranged in the head, the wire holes are located between the driving mechanism and the fin bones, and the wire holes correspond to the cables one by one.

5. The complex deformable bionic robotic fish dorsal fin structure according to claim 4, characterized in that: There are four wire holes, which are grouped in pairs and are distributed in a rhombus shape; the first group of wire holes is arranged along the front-to-back direction, and the second group of wire holes is arranged along the left-to-right direction.

6. The complex deformable bionic robotic fish dorsal fin structure according to claim 5, characterized in that: The driving mechanism comprises: A first steering gear; a rocker arm of the first steering gear is respectively connected to two cables corresponding to the first set of wire holes, and a rotation plane of the rocker arm of the first steering gear is coplanar with the first set of wire holes; A second servo; a rocker arm of the second servo is respectively connected to two cables corresponding to the second set of wire holes, and a rotation plane of the rocker arm of the second servo is coplanar with the second set of wire holes.

7. The complex deformable bionic robotic fish dorsal fin structure according to claim 4, characterized in that: It also includes: A positioning member is arranged in the head and located above the wire hole; a mounting hole is arranged on the positioning member, and the end of the fin bone is located in the mounting hole.

8. The complex deformable bionic robotic fish dorsal fin structure according to claim 7, characterized in that: It also includes: Locking parts; The positioning member is provided with a slot, which extends inwardly from the outer wall surface of the positioning member and is connected with the mounting hole; the locking member is threadedly connected to the positioning member and passes through the slot in a direction perpendicular to the slot.

9. A bionic robotic fish, characterized in that: It includes the dorsal fin structure of a bionic robotic fish capable of complex deformation as described in any one of claims 1 to 8.

10. The bionic robotic fish according to claim 9, characterized in that: It also includes: head; A fish body, arranged at the rear side of the head and connected to the head; A tail portion, arranged at the rear side of the fish body and connected to the fish body; The driving member is arranged in the fish body and extends backward to be connected with the tail to drive the tail to swing.

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