A bionic robotic fish dorsal fin structure capable of complex deformation and a bionic robotic fish

Abstract

The present invention discloses a dorsal fin structure of a bionic robotic fish capable of complex deformation and a bionic robotic fish, which comprises: a plurality of fin bones for being 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 provided on the fin bones and arranged in sequence along the length direction of the fin bones; any two adjacent threaded openings are staggered; a driving mechanism is provided in the head and connected to the fin bones to drive the fin bones to bend and reverse. In the present application, by providing the threaded openings on the fin bones and staggering any two adjacent threaded openings, the flexibility of the fin bones is enhanced, so that each fin bone can be freely bent in multiple directions under the drive of the driving mechanism, thereby improving the flexibility and degree of freedom of the dorsal fin.

Description

Technical Field

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

[0002] In recent years, bionic robotic fish, based on intelligent biomimetic technology, have overcome the shortcomings of traditional propeller-driven underwater robots. They are particularly suitable for reconnaissance, ecological monitoring, working in confined spaces, and rewilding fish, attracting the attention and interest of a wide range of researchers. Bionic robotic fish mimic the appearance and movement patterns of fish, aiming to achieve the efficient and rapid locomotion characteristic of fish, while avoiding the drawbacks of traditional propeller-driven underwater robots, such as high noise, low efficiency, and high energy consumption. They have become a hot topic in underwater propulsion research in recent years.

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

[0004] Therefore, the existing technology 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 with complex deformation in response to the above-mentioned defects of the prior art, aiming to improve the flexibility and freedom of the dorsal fin.

[0006] The technical solutions adopted by the present invention to solve the technical problems are as follows:

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

[0008] A plurality of fin bones, configured to be disposed on the head; the plurality of fin bones are sequentially arranged along the front-to-back direction, and the interiors of the fin bones are hollow;

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

[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 each cable is connected to the free end of each fin bone, and the other end passes through each 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 provided 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-to-one.

[0015] The complexly deformable bionic robotic fish dorsal fin structure has four wire holes, which are grouped in pairs and distributed in a diamond 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.

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

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

[0018] The second servo; the rocker arm of the second servo is respectively connected to the two cables corresponding to the second set of wire holes, and the 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 provided 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 piece;

[0023] The positioning member is provided with a slot, which extends inward from the outer wall surface of the positioning member and is communicated 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 comprises 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, disposed 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 this application, by providing the threaded openings on the fin bones and staggering any two adjacent threaded openings, the flexibility of the fin bones is enhanced, so that each fin bone can bend freely in multiple directions under the drive of the drive mechanism, thereby improving the flexibility and freedom of the dorsal fin, significantly improving the flexibility and adaptability of the underwater robotic fish, enabling it to better regulate the flow field around the robotic fish, and promoting the improvement of the swimming performance and stability of the robotic fish; through the innovative flexible fin bone design, each fin bone can bend freely in multiple directions, simulating the natural swimming characteristics of fish, so that the robotic 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, enabling the robotic fish to quickly turn, stop suddenly, and perform other complex actions, thereby improving operational flexibility, not only improving the motion performance and control accuracy of the underwater robotic 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 This is a reference diagram of the dorsal fin structure of the complexly deformable bionic robotic fish in the present invention when the fin bones are in an expanded state;

[0032] Figure 2 yes Figure 1 A partial enlarged schematic diagram of point A in the middle;

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

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

[0035] Figure 5 This is a reference diagram of the dorsal fin structure of the complexly deformable bionic robotic fish in the present invention when the fin bones are staggered and swinging;

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

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

[0040] Figure 10 It is a structural schematic diagram of the positioning member of the present invention;

[0041] Figure 11 This is a schematic diagram of the 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 describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0043] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not 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 complex.

[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 complexly deformable bionic robotic fish includes multiple fin bones 1, multiple threaded openings 2, and a driving mechanism 3; the multiple fin bones 1 are used to be arranged on the head 10; the multiple fin bones 1 are arranged in sequence along the front-to-back direction, and the interior of the fin bones 1 is hollow; multiple threaded openings 2 are arranged on the fin bones 1 and 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 fin bone 1 is hollow, with a central hole extending through its center along its length. Threaded openings 2 are provided on the wall of the fin bone 1 and communicate with the central hole, thereby modifying the rigidity of the fin bone 1 and enhancing its flexibility. The spiral distribution of the threaded openings 2, with any two adjacent threaded openings 2 staggered, allows the fin bone 1 to deform more uniformly and diversely when subjected to force, providing greater flexibility. When the drive mechanism 3 is activated, the fin bone 1 can bend in multiple degrees of freedom. This design mimics the structure of a natural fish fin and enhances the maneuverability of the robotic fish. Compared to a rigid dorsal fin with a single degree of freedom, this flexible fin bone 1 offers greater control flexibility and significantly improves the performance of the robotic fish. It is suitable for applications in a variety of fields, including underwater robotic fish, environmental monitoring, and ocean exploration. In particular, the flexible fin bone 1 can effectively reduce noise and water flow interference in complex environments, enhancing the stealth and adaptability of the robotic fish.

[0046] In this application, any two adjacent threaded openings 2 are arranged in a staggered manner. When the fin bone 1 bends, threaded openings 2 at different positions will alternately participate in the deformation, helping to avoid local stress concentration. Due to the staggered arrangement of 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, preventing the fin bone 1 from breaking or deforming due to local weakness. In addition, the staggered arrangement of threaded openings 2 allows the fin bone 1 to distribute the force more evenly when deforming, thereby achieving a smoother curved surface. This curved surface optimizes the fin bone 1's ability to regulate water flow and reduce the generation of eddies and turbulence.

[0047] It can be seen that in the present application, the flexibility of the fin bone 1 is enhanced by arranging the threaded openings 2 on the fin bone 1 and staggering any two adjacent threaded openings 2, 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 this 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 backward 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 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 deform or break under long-term bending or high water pressure environments, reducing durability and reliability. Based on this, in one embodiment of this embodiment, the wall thickness of the fin bone 1 is 0.25mm, which can provide appropriate flexibility, allowing the fin bone 1 to bend under external forces, simulating the motion characteristics of a natural fish fin. This significantly reduces the overall weight while maintaining strength. Especially for a fin 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 this application, the fin bones 1 are constructed from stainless steel tubes. These tubes can withstand the mechanical stresses of the robotic fish during operation, maintaining a stable shape and resisting breakage or fracture, particularly during high-pressure underwater environments or complex movements. Stainless steel inherently possesses excellent strength and corrosion resistance, and combined with its appropriate thickness, it can withstand the demands of prolonged underwater operation, ensuring the fin bones 1 possess excellent corrosion resistance and strength in various underwater environments. This design not only extends the device's service life but also broadens its applicability across a wide range of underwater applications, meeting growing market demand.

[0054] In one embodiment of this application, Figure 2 、 Figure 6 and Figure 7As shown, the complexly 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 via the cable 4, 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, which can better simulate the flexible swinging 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 lightweight, takes up little space, and helps maintain the compactness and lightweight design of the overall structure of the robotic 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 a rigid connection (such as inter-axis friction, loose joints, etc.).

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

[0057] In one implementation of this embodiment, Figure 2 and Figure 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 center hole, then passes through the wire hole 5, and finally connects to the drive mechanism 3. Each cable 4 is provided with a corresponding wire hole 5, so the cable 4 can move within the corresponding wire hole 5 to achieve bending and reversing adjustment of the fin bone 1, avoiding inaccurate transmission caused by 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 corresponding wire hole 5 is provided for each cable 4. The design of multiple wire holes 5 improves control accuracy, structural strength, and sealing performance by separating the cable 4 paths.

[0059] There are four wire holes 5, arranged in pairs and arranged in a diamond pattern. The first group of wire holes is arranged in the front-to-back direction, while the second group is arranged in the left-to-right direction. The drive mechanism 3 includes a first servo 31 and a second servo 32. The rocker arm of the first servo 31 is 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 servo 31 is coplanar with the first group of wire holes. The rocker arm of the second servo 32 is 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 servo 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, they are connected to the two ends of the rocker arm of the first servo 31. When the rocker arm of the first servo 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 servo 31 rotates forward, the fin bone 1 bends forward, then when the rocker arm of the first servo 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 servo 31 rotates forward, the fin bone 1 is bent 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 fin bone 1 is independently controlled by two servos, each with four cables 4, achieving efficient and precise motion adjustment. This configuration allows each fin bone 1 to flex and rotate flexibly under the coordinated action of two independent servos, simulating the natural swimming of fish. Furthermore, the head 10 is provided with corresponding wire holes 5, through which the cables 4 are connected to the corresponding servos, 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 bone 1 by tightening and loosening the corresponding cables 4, significantly improving the maneuverability of the robotic fish underwater.

[0063] In this application, each fin bone 1 is driven by four cables 4. The first servo 31 controls two cables 4, and the second servo 32 controls the remaining two cables 4, forming a simple and efficient drive mechanism. This mechanism not only simplifies the structure but also improves the control precision, allowing the fin to achieve multiple deformation modes to adapt to different operational requirements. Compared with a rigid dorsal fin with a single degree of freedom, this flexible dorsal fin has greater flexibility in the control system and has a greater impact on the performance of the robotic fish.

[0064] The flexible dorsal fin oscillates side to side to adjust the direction and speed of the water flow. By adjusting the angle between the robot fish and the water flow, the fin precisely controls its movement and stability. This oscillation effectively prevents tilting or rolling caused by current disturbances or sharp turns, especially in complex or confined waters. Furthermore, the oscillation of the flexible dorsal fin reduces water turbulence, minimizing energy loss and, consequently, the energy required for propulsion, thereby reducing energy consumption. The opening and closing of the flexible dorsal fin adjusts the contact area with the water flow, further optimizing the robot fish's propulsion and stability. When the flexible dorsal fin is open, the contact area increases, creating greater resistance and helping to enhance the robot fish's stability. When closed, however, the water resistance is reduced, improving swimming efficiency. By combining the opening and closing of the flexible dorsal fin, the robot fish can flexibly adjust its water flow control force as needed, thereby maintaining stability while reducing unnecessary resistance and energy waste. This adjustment not only improves maneuverability and adaptability, but also enables the robot fish to more efficiently maintain the required propulsion force in different water environments, significantly reducing energy consumption.

[0065] In one embodiment of this 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 closest to the head 10), so that when the first servo 31 and the second servo 32 are activated, the end of the fin bone 1 can be stably positioned, and the bending and reversing of the fin bone 1 can be achieved simply 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, allowing the tension of the cable 4 to 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 Figure 10 As shown, the complexly deformable bionic robotic fish dorsal fin structure also includes a locking member 9; a slot 8 is provided on the positioning member 11, and the slot 8 extends inward from the outer wall surface of the positioning member 11 and is connected to the mounting hole 7; the locking member 9 is threadedly connected to the positioning member 11 and passes through the slot 8 in a direction perpendicular to the slot 8.

[0068] Specifically, the slot 8 is connected to the mounting hole 7 and extends to the outer wall 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, if the outer diameter of the fin bone 1 has a certain error due to factors such as the manufacturing process, 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. Figure 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 is connected to the head 10; the tail 30 is arranged on the rear side of the fish body 20 and is 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 arranged from front to back and interconnected. The fish body 20 is driven by the driver 40, which is fixed to the head 10 via a fixing member. The fish body 20 is fixed to the output shaft of the driver 40. When the driver 40 is activated, it drives the tail 30 to flap, thereby achieving propulsion of the bionic robotic fish. The driver 40 includes a servo.

[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 for being 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 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. This application significantly improves the flexibility and adaptability of underwater robotic fish, enabling it to better regulate the flow field around the robotic fish, thereby improving the swimming performance and stability of the robotic fish; through the innovative flexible fin bone design, each fin bone can bend freely in multiple directions, simulating the natural swimming characteristics of fish, so that the robotic 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, enabling the robotic fish to quickly turn, stop suddenly, and perform other complex actions, thereby improving operational flexibility. It not only improves the motion performance and control accuracy of the underwater robotic 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 those skilled in the art, 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 by: It includes: a plurality of fin bones for being set on the head; The plurality of fin bones are arranged in sequence along the front-to-back direction, and the interiors of the fin bones are hollow; A plurality of threaded openings are provided on the fin bone and arranged in sequence along the length direction of the fin bone; any two adjacent threaded openings are staggered, and the threaded openings are distributed in a spiral shape to form a complete wall area between the two adjacent threaded openings; A driving mechanism is provided in the head and connected to the fin bone to drive the fin bone to bend and reverse; when the driving mechanism is activated, the fin bone can generate bending with multiple degrees of freedom; Multiple 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; When multiple fin bones are bent into a closed state, all of the fin bones are bent backward until the free ends of the fin bones contact each other; when multiple fin bones are bent to an expanded state, the distance between the free ends of the fin bones is the largest; when the fin bones are bent, the threaded openings at different positions will alternately participate in the deformation, which helps to avoid local stress concentration; due to the staggered arrangement of adjacent threaded openings, the fin bone can have a complete wall area between two adjacent threaded openings, and this complete wall area enhances the tensile strength and stability of the fin bone, preventing the fin bone from breaking or deforming due to local weakness; and the staggered threaded openings allow the fin bone to distribute force more evenly when deforming, thereby achieving smoother curved surface bending.

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: A plurality of wire holes are provided 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.

4. The complex deformable bionic robotic fish dorsal fin structure according to claim 3, characterized in that: There are four wire holes, which are grouped in pairs and distributed in a diamond 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.

5. The complex deformable bionic robotic fish dorsal fin structure according to claim 4, characterized in that: The driving mechanism comprises: A first servo; a rocker arm of the first servo is connected to two cables corresponding to the first set of wire holes, and a rotation plane of the rocker arm of the first servo is coplanar with the first set of wire holes; The second servo; the rocker arm of the second servo is respectively connected to the two cables corresponding to the second set of wire holes, and the rotation plane of the rocker arm of the second servo is coplanar with the second set of wire holes.

6. The complex deformable bionic robotic fish dorsal fin structure according to claim 3, characterized in that: It also includes: A positioning member is arranged in the head and located above the wire hole; a mounting hole is provided on the positioning member, and the end of the fin bone is located in the mounting hole.

7. The complex deformable bionic robotic fish dorsal fin structure according to claim 6, characterized in that: It also includes: Locking piece; The positioning member is provided with a slot, which extends inward from the outer wall surface of the positioning member and is communicated 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.

8. A bionic robotic fish, characterized in that: It includes the complex deformable bionic robotic fish dorsal fin structure as described in any one of claims 1 to 7.

9. The bionic robotic fish according to claim 8, characterized in that: It also includes: head; a fish body, disposed 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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