Waist-tail linkage mechanism and bionic robotic fish

Abstract

The invention provides a waist-tail linkage mechanism and a bionic robotic fish, the bionic robotic fish comprises a fish body shell, the waist-tail linkage mechanism comprises a rack, a waist shell, a tail fin, a connecting rod assembly and a driving assembly, the rack is used for being connected with the fish body shell of the bionic robotic fish, the waist shell is rotatably connected to the rack, the tail fin is rotatably connected to the waist shell, and the connecting rod assembly is used for driving the tail fin to rotate. A preset phase difference exists between the tail fin and the waist shell; the connecting rod assembly comprises a waist shell swing rod, a tail fin swing rod set and a transmission connecting rod set, the tail end of the transmission connecting rod set is rotatably connected to the head end of the waist shell swing rod through the first end of a first rotating shaft, the tail end of the waist shell swing rod is rotatably connected to the waist shell, and the second end of the first rotating shaft is rotatably connected with the tail fin swing rod set. The tail fin swing rod set is connected to the tail fin and can drive the tail fin to swing relative to the waist shell. The driving assembly is used for driving the transmission connecting rod set to operate.

Description

Technical Field

[0001] The present invention belongs to the field of robot technology, and in particular relates to a waist-tail linkage mechanism and a bionic robot fish. Background Art

[0002] Bionic robot fish is a type of autonomous underwater vehicle designed to imitate the swimming style of fish or cetaceans.

[0003] The existing discrete bionic robot fish drive tail fin swing mechanism has single joint type and multi-joint type. In the multi-joint type fish-like swing mechanism, double joints are used as the basis, one joint drives the waist movement, and the other joint drives the tail movement.

[0004] At present, the two-joint bionic robot fish places two drive devices in the front of the body, and the two drive devices transmit power to the rear sections. The existence of the two drive devices increases the complexity and redundant mass of the two-joint bionic robot fish, and the coupling of the waist and tail motion systems brings challenges to the control system. Summary of the invention

[0005] The main purpose of the present disclosure is to provide a waist-tail linkage mechanism and a bionic robotic fish, so as to realize the coordinated swinging of the tail fin and the waist shell.

[0006] In view of the above-mentioned invention objectives, the present disclosure provides the following technical solutions: The present disclosure provides a waist-tail linkage mechanism, which is suitable for a bionic robot fish. The bionic robot fish includes a fish body shell, and the waist-tail linkage mechanism includes a frame, a waist shell, a tail fin, a connecting rod assembly and a driving assembly. The frame is used to connect the fish body shell of the bionic robot fish, the waist shell is rotatably connected to the frame, and the tail fin is rotatably connected to the waist shell, and there is a predetermined phase difference between the tail fin and the waist shell; the connecting rod assembly includes a waist shell swing rod, a tail fin swing rod group and a transmission connecting rod group, the tail end of the transmission connecting rod group is rotatably connected to the head end of the waist shell swing rod through the first end of the first rotating shaft, the tail end of the waist shell swing rod is rotatably connected to the waist shell, the second end of the first rotating shaft is rotatably connected to the tail fin swing rod group, the tail fin swing rod group is connected to the tail fin and can drive the tail fin to swing relative to the waist shell; the driving assembly is used to drive the transmission connecting rod group to operate.

[0007] An exemplary embodiment of the present disclosure is as follows: the driving assembly includes a driving motor and a gear set, the driving motor is used to drive the gear set to rotate, the gear set includes a driving gear, a first driven wheel and a second driven wheel, the driving gear is fixed to the output shaft of the driving motor, the first driven wheel and the second driven wheel are respectively rotatably connected to the frame, the driving gear can drive the first driven wheel and the second driven wheel to rotate, the transmission connecting rod group includes a first connecting rod group and a second connecting rod group, the input end of the first connecting rod group is connected to the first driven wheel, the output end of the first connecting rod group is connected to the first rotating shaft, the input end of the second connecting rod group is connected to the second driven wheel, and the output end of the second connecting rod group is rotatably connected to the first rotating shaft.

[0008] Optionally, the first driven wheel and the second driven wheel have the same angular velocity.

[0009] Specifically, the first driven wheel is meshed with the driving gear for transmission, and the second driven wheel is meshed with the first driven wheel for transmission and is spaced apart from the driving gear.

[0010] Further, the first connecting rod group includes a first connecting rod, a second connecting rod and a third connecting rod which are arranged in sequence along the axial direction of the first rotating shaft, wherein the head end of the first connecting rod is fixed to the first driven wheel, the first rotating shaft is fixed to the tail end of the third connecting rod, and the second connecting rod is rotatably connected between the first connecting rod and the third connecting rod.

[0011] According to another exemplary embodiment of the present disclosure, the second link group includes a fourth link, a fifth link and a sixth link arranged in sequence along the axial direction of the first rotating shaft, wherein the head end of the fourth link is fixed to the second driven wheel, the fifth link is rotatably connected to the head end of the sixth link through the second rotating shaft, the tail end of the sixth link is rotatably connected to the first rotating shaft, and the fifth link is rotatably connected to the second link through a third rotating shaft.

[0012] Optionally, the first rotating shaft, the second rotating shaft and the third rotating shaft are arranged parallel to each other.

[0013] Specifically, the tail fin swing arm group includes a seventh link and a tail fin link that are rotatably connected head to tail, the head end of the seventh link is rotatably connected to the first rotating shaft, the tail end of the seventh link is rotatably connected to the head end of the tail fin link, the tail end of the tail fin link is rotatably connected to the waist shell, the tail fin is fixed to the tail fin link, and the seventh link can drive the tail fin link to swing relative to the waist shell.

[0014] Further, the seventh link is mirrored relative to the longitudinal section of the waist-tail linkage mechanism, the transmission link group includes a pair of the first link groups, and the pair of the first link groups are mirrored relative to the longitudinal section of the waist-tail linkage mechanism; and / or, the transmission link group includes a pair of the second link groups, and the pair of the second link groups are mirrored relative to the longitudinal section of the waist-tail linkage mechanism.

[0015] According to another exemplary embodiment of the present disclosure, the seventh connecting rod includes a U-shaped rod and a transmission rod, the head end of the U-shaped rod is rotatably connected to the first rotating shaft, the tail end of the U-shaped rod is fixedly connected to the head end of the transmission rod, and the tail end of the transmission rod is rotatably connected to the head end of the tail fin connecting rod.

[0016] In another aspect of the present disclosure, a bionic robotic fish is provided, comprising a fish body shell and the waist-tail linkage mechanism as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or other objects and advantages of the present disclosure will become more apparent through the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A structural diagram of a waist-tail linkage mechanism provided as an exemplary embodiment of the present disclosure.

[0018] Figure 2 for Figure 1 Structural diagram of the waist-tail linkage mechanism after the middle waist shell is cut open.

[0019] Figure 3 for Figure 2 A magnified view of the local structure of the waist-tail linkage mechanism from the first perspective after the frame is cut open.

[0020] Figure 4 for Figure 3 A second-angle enlarged view of the local structure of the waist-tail linkage mechanism.

[0021] Figure 5 for Figure 3 A third-angle enlarged view of the partial structure of the waist-tail linkage mechanism.

[0022] Figure 6 for Figure 3 A fourth-angle enlarged view of the partial structure of the waist-tail linkage mechanism.

[0023] Figure 7 for Figure 1 First-person perspective structural diagram of the second connecting rod in .

[0024] Figure 8 for Figure 7 The second perspective structure diagram of the second connecting rod in .

[0025] Fig. 9 for Figure 1 Structural diagram of the third connecting rod in .

[0026] Fig.10 for Figure 1 Structural diagram of the fifth connecting rod in .

[0027] Fig.11 for Figure 2 A fifth-angle enlarged view of the partial structure of the waist-tail linkage mechanism.

[0028] Description of reference numerals: 21. first connecting rod; 22. second connecting rod; 23. The third connecting rod; 24. The fourth connecting rod; 25. Fifth connecting rod; 26. Sixth connecting rod; 27. Seventh connecting rod; 28. Waist housing swing rod; 31. first rotating shaft; 32. second rotating shaft; 33. third rotating shaft; 100. frame; 102. base shaft; 104. base end cover; 111. driving gear; 112. first driven gear; 113. second driven wheel; 114. first bearing; 115. second bearing; 200. waist housing; 208. U-shaped rod; 209. connecting block; 211. transmission rod; 212. transmission rod shaft; 213, tail fin swing axis; 221, first rotating shaft connecting hole; 222, second rotating shaft connecting hole; 223, middle rotating shaft; 231, third rotating shaft connecting hole; 251, first supporting arm; 252. second arm; 253. connecting arm; 254, fourth rotating shaft connecting hole; 255, end rotating shaft; 300. Tail fin; 301. Tail fin connecting rod. DETAILED DESCRIPTION

[0029] Example embodiments will now be described more fully with reference to the accompanying drawings. However, it should not be understood that the implementation of the present disclosure is limited to the embodiments set forth herein. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0030] The bionic robotic fish provided by the present disclosure may include a fish body shell (not shown) and a waist-tail linkage mechanism swingably connected to the fish body shell. The bionic robotic fish can swim flexibly by swinging the waist-tail linkage mechanism relative to the fish body shell.

[0031] The bionic robotic fish may also include a visual sensor and a controller, wherein the visual sensor may be used as the eyes of the bionic robotic fish to monitor the water environment in which the bionic robotic fish is located and transmit the monitoring information to the controller, and the controller may control the swinging direction of the waist-tail linkage mechanism according to the monitoring information, thereby enabling the bionic robotic fish to effectively avoid surrounding obstacles and improving the safety of the bionic robotic fish.

[0032] In addition, the bionic robot fish can also include a swing angle sensor for monitoring the real-time swing angle of the waist-tail linkage mechanism and transmitting the monitoring data to the controller. The controller compares the real-time swing angle data information with the predetermined swing angle and controls the swing angle within a predetermined range, but is not limited to this.

[0033] The bionic robotic fish may further include an energy storage module for providing energy for the bionic robotic fish to swim in water. For example, but not limited to, the energy storage module may include a battery, but is not limited thereto.

[0034] Reference Figure 1 and Figure 2 The waist-tail linkage mechanism provided by the present disclosure may include a frame 100, a waist shell 200 and a tail fin 300, wherein the frame 100 may be formed as a part of the fish body shell, or the frame 100 may be connected to the fish body shell, all within the protection scope of the present disclosure. The frame 100 mainly plays a supporting role, and is used to carry various parts of the waist-tail linkage mechanism.

[0035] The waist housing 200 is rotatably connected to the frame 100, for example but not limited to, the waist housing 200 is rotatably connected to the frame 100 through the base shaft 102, and can drive the waist housing 200 to rotate relative to the frame 100 around the base shaft 102 under the driving action of the driving assembly, but not limited to this. In this embodiment, the base shaft 102 can be fixed to the frame 100, and the waist housing 200 is rotatably connected to the base shaft 102. As an example, a bearing can be provided between the base shaft 102 and the waist housing 200, but not limited to this.

[0036] The tail fin 300 is rotatably connected to the waist shell 200, wherein there is a predetermined phase difference between the waist shell 200 and the tail fin 300. As an example, the phase difference between the waist shell 200 and the tail fin 300 is 90°, but it is not limited thereto.

[0037] In the present invention, the waist shell 200 is rotatably connected to the frame 100, and the tail fin 300 is rotatably connected to the waist shell 200, so that the bionic robotic fish can swim flexibly.

[0038] In this embodiment, the waist-tail linkage mechanism also includes a connecting rod assembly and a driving assembly, wherein the driving assembly is used to drive the transmission connecting rod group (described below) of the connecting rod assembly to operate, thereby driving the waist shell 200 to swing relative to the frame 100, and at the same time can drive the tail fin 300 to swing relative to the waist shell 200.

[0039] Reference Figures 3 to 6 The connecting rod assembly includes a waist shell rocker 28, a tail fin rocker group and a transmission connecting rod group. The tail end of the transmission connecting rod group is rotatably connected to the head end of the waist shell rocker 28 through the first end of the first rotating shaft 31, and the tail end of the waist shell rocker 28 is rotatably connected to the waist shell 200. When the transmission connecting rod group is running, the waist shell rocker 28 can be driven to rotate, thereby driving the waist shell 200 to rotate relative to the frame 100.

[0040] The second end of the first rotating shaft 31 is rotatably connected to the tail fin swing rod assembly, and the tail fin swing rod assembly is connected to the tail fin 300 and can drive the tail fin 300 to swing relative to the waist shell 200.

[0041] The waist-tail linkage mechanism provided by the present disclosure, the waist shell swing rod 28 and the tail fin swing rod group are respectively rotatably connected to the first rotating shaft 31, which makes it possible for a single driving motor to simultaneously drive the waist shell 200 and the tail fin 300 to swing. Furthermore, since the waist shell swing rod 28 and the tail fin swing rod group are both connected to the first rotating shaft 31, the waist shell 200 and the tail fin 300 can achieve linkage swing under the driving action of the driving assembly.

[0042] Compared with the prior art in which two motors are used to drive the waist shell 200 and the tail fin 300 to swing respectively, the waist and tail linkage mechanism provided in this embodiment can drive the waist shell 200 and the tail fin 300 to swing at the same time through a single driving motor, thereby simplifying the structure of the driving component, thereby reducing the weight and power consumption of the driving component and improving energy utilization.

[0043] Continuing to refer to the drawings, the driving assembly may include a driving motor and a gear set, wherein the driving motor is used to drive the gear set to rotate. As an example, the driving motor may be disposed on the frame 100, but is not limited thereto.

[0044] The gear set may include a driving gear 111, a first driven wheel 112 and a second driven wheel 113. The driving gear 111 may be fixed to the output shaft of the driving motor so as to drive the driving gear 111 to rotate through the rotation of the driving motor. The first driven wheel 112 and the second driven wheel 113 are respectively rotatably connected to the frame 100, and the first driven wheel 112 and the second driven wheel 113 can be driven to rotate through the driving gear 111.

[0045] As an example, referring to the drawings again, in this embodiment, the first driven wheel 112 is meshed with the driving gear 111 for transmission, and the second driven wheel 113 is meshed with the first driven wheel 112 for transmission and is spaced apart from the driving gear 111 , but this is not limited thereto.

[0046] In this embodiment, the driving gear 111 directly drives the first driven wheel 112, and then the first driven wheel 112 drives the second driven wheel 113, that is, the driving gear 111 indirectly drives the second driven wheel 113, so that the driving gear 111 drives the first driven wheel 112 and the second driven wheel 113 to rotate, but this is not limited to it. As needed, the first driven wheel 112 and the second driven wheel 113 can also directly mesh with the driving gear 111 for transmission, but this is not limited to it.

[0047] Further, the first driven wheel 112 and the second driven wheel 113 have the same angular velocity, for example but not limited to, the first driven wheel 112 and the second driven wheel 113 have the same radius, so that the waist shell 200 and the tail fin 300 can swing in sync with the same frequency.

[0048] As an example, the first driven wheel 112 may be supported and connected to the frame 100 via a first bearing 114 , and the second driven wheel 113 may be supported and connected to the frame 100 via a second bearing 115 , but the present invention is not limited thereto.

[0049] In order to improve the safety of the gear set, the frame 100 may have a sealed cavity, and the gear set may be arranged in the accommodating cavity, but the present invention is not limited thereto. As an example, the frame 100 may also include a base end cover 104, and a mounting hole is arranged on the cavity wall of the accommodating cavity, and the base end cover 104 is detachably connected to the mounting hole to be able to block the mounting hole, but the present invention is not limited thereto. As an example, the connection between the base end cover 104 and the mounting hole may be sealed, but the present invention is not limited thereto.

[0050] The transmission connecting rod group may include a first connecting rod group and a second connecting rod group, the input end of the first connecting rod group is connected to the first driven wheel 112, the output end of the first connecting rod group is connected to the first rotating shaft 31, the input end of the second connecting rod group is connected to the second driven wheel 113, and the output end of the second connecting rod group is rotatably connected to the first rotating shaft 31.

[0051] The waist and tail linkage mechanism provided in this embodiment can drive the first connecting rod group and the second connecting rod group to operate through a single driving motor. Since the first rotating shaft 31 is simultaneously connected to the output end of the first connecting rod group and the output end of the second connecting group, the first rotating shaft 31 can swing relative to the frame 100, thereby driving the waist shell 200 and the tail fin 300 to swing.

[0052] The present invention converts the continuous rotational motion of the driving motor into the reciprocating swing of the waist shell and the synchronous but asynchronous linked swing of the tail fin by setting a connecting rod assembly, so that the waist shell 200 and the tail fin 300 of the bionic robotic fish have a joint motion with a predetermined phase difference in a single drive mode, thereby improving the swimming performance of the bionic robotic fish.

[0053] Continuing to refer to the drawings, the first connecting rod group includes a first connecting rod 21, a second connecting rod 22 and a third connecting rod 23 which are arranged in sequence along the axial direction of the first rotating shaft 31, wherein the head end of the first connecting rod 21 is fixed to the first driven wheel 112. For example but not limited to, the head end of the first connecting rod 21 can be fixed on the central axis of the first driven wheel 112, but not limited to in sequence.

[0054] Under the driving action of the first driven wheel 112, the first connecting rod 21 rotates a full circle. One end of the second connecting rod 22 is rotatably connected to the tail end of the first connecting rod 21, and the other end of the second connecting rod 22 is rotatably connected to the head end of the third connecting rod 23. The first rotating shaft 31 is fixedly connected to the tail end of the third connecting rod 23, so that the second connecting rod 22 is rotatably connected between the first connecting rod 21 and the third connecting rod 23.

[0055] Reference Figure 7 and Figure 8 The first end of the second connecting rod 22 may be provided with a first rotating shaft connecting hole 221 rotatably connected to the rotating shaft of the first connecting rod 21, and the tail end of the second connecting rod 22 may be provided with a second rotating shaft connecting hole 222 (for connecting with the fifth connecting rod 25), wherein the first rotating shaft connecting hole 221 and the second rotating shaft connecting hole 222 are respectively provided on both sides of the second connecting rod 22 along the axial direction of the first rotating shaft 31, that is, the first rotating shaft connecting hole 221 may be provided toward the first connecting rod 21, and the second connecting rod 22 may be provided away from the first connecting rod 21. Further, the second connecting rod 22 is also provided with a middle rotating shaft 223 for connecting with the first end of the third connecting rod 23, wherein the middle rotating shaft 223 is provided on the side of the second connecting rod 22 away from the first connecting rod 21, and is located between the first rotating shaft connecting hole 221 and the second rotating shaft connecting hole 222.

[0056] Reference Fig. 9A third rotating shaft connecting hole 231 is provided at the head end of the third connecting rod 23 for connecting the rotating shaft of the other end of the second connecting rod 22, and a first rotating shaft 31 is fixed to the tail end of the third connecting rod 23, wherein the axial middle part of the first rotating shaft 31 is fixedly connected to the tail end of the third connecting rod 23, but not limited to this.

[0057] As an example, the first connecting rod 21, the second connecting rod 22 and the third connecting rod 23 are arranged at axial intervals along the first rotating shaft 31, but this is not limited to it. When the installation space is limited, the first connecting rod 21, the second connecting rod 22 and the third connecting rod 23 can also be arranged adjacent to each other in sequence. As long as relative rotation can be achieved, it is within the protection scope of the present disclosure.

[0058] Furthermore, the second connecting rod group includes a fourth connecting rod 24, a fifth connecting rod 25 and a sixth connecting rod 26 which are arranged in sequence along the axial direction of the first rotating shaft 31, wherein the head end of the fourth connecting rod 24 is fixed to the second driven wheel 113, for example but not limited to, the head end of the fourth connecting rod 24 is fixed on the central axis of the second driven wheel 113, but not limited to this.

[0059] Under the driving action of the second driven wheel 113, the fourth connecting rod 24 makes a full rotation. The head end of the fifth connecting rod 25 is rotatably connected to the fourth connecting rod 24, the tail end of the fifth connecting rod 25 is rotatably connected to the head end of the sixth connecting rod 26 through the second rotating shaft 32, the tail end of the sixth connecting rod 26 is rotatably connected to the first rotating shaft 31, and the tail end of the fifth connecting rod 25 is rotatably connected to the second connecting rod 22 through the third rotating shaft 33.

[0060] Reference Fig.10 The fifth connecting rod 25 is a U-shaped structure, including a first arm 251, a second arm 252, and a connecting arm 253 connecting the first arm 251 and the second arm 252. The first end of the first arm 251 is rotatably connected to the tail end of the fourth connecting rod 24, the second end of the first arm 251 is connected to the connecting arm 253, the connecting arm 253 is rotatably connected to the head end of the sixth connecting rod 26 through the second rotating shaft 32, and the first end of the second arm 252 is rotatably connected to the second connecting rod 22 through the third rotating shaft 33. The second rotating shaft 32 is located in the middle of the connecting arm 253, and thus located in the middle of the first arm 251 and the second arm 252. As an example, the connecting arm 253 is provided with a fourth rotating shaft connecting hole 254 for the second rotating shaft 32 to pass through.

[0061] As an example, the first end of the first arm 251 is provided with an end shaft 255, and the end shaft 255 is rotatably connected to the fourth connecting rod 24. As an example, the first end of the first arm 251 and the end shaft 255 can be fixedly connected, but not limited thereto.

[0062] As required, the fourth connecting rod 24, the fifth connecting rod 25 and the sixth connecting rod 26 can be arranged at intervals or adjacent to each other along the axial direction of the first rotating shaft 31, and they are all within the protection scope of the present disclosure as long as they can achieve relative rotation.

[0063] As an example, the first rotating shaft 31 , the second rotating shaft 32 and the third rotating shaft 33 are arranged parallel to each other, but the present invention is not limited thereto.

[0064] return Figure 2 Specifically, the tail fin swing arm group includes a seventh link 27 and a tail fin link 301 which are rotatably connected head to tail. The head end of the seventh link 27 is rotatably connected to the first rotating shaft 31, the tail end of the seventh link 27 is rotatably connected to the head end of the tail fin link 301, the tail end of the tail fin link 301 is rotatably connected to the waist shell 200, the tail fin 300 is fixed to the tail fin link 301, and the seventh link 27 can drive the tail fin link 301 to swing relative to the waist shell 200.

[0065] Under the driving action of the driving component, power can be transmitted to the transmission connecting rod group, and then drive the seventh connecting rod 27 to swing. The power is then transmitted to the tail fin connecting rod 301 through the seventh connecting rod 27 and can drive the tail fin connecting rod 301 to swing relative to the waist shell 200. Since the tail fin 300 is fixed to the tail fin connecting rod 301, the tail fin 300 will swing with the swing of the tail fin connecting rod 301.

[0066] As an example, see Fig.11 The tail end of the tail fin link 301 can be rotatably connected to the waist shell 200 through the tail fin swing shaft 213, and the tail end of the seventh link 27 can be rotatably connected to the head end of the tail fin link 301 through the transmission rod shaft 212, but it is not limited to this.

[0067] return Figure 2 The seventh connecting rod 27 is mirrored relative to the longitudinal section of the waist-tail linkage mechanism, the transmission connecting rod group includes a pair of first connecting rod groups, and the pair of first connecting rod groups are mirrored relative to the longitudinal section of the waist-tail linkage mechanism; and / or, the transmission connecting rod group includes a pair of second connecting rod groups, and the pair of second connecting rod groups are mirrored relative to the longitudinal section of the waist-tail linkage mechanism.

[0068] This embodiment is described by taking the example that the transmission connecting rod group includes a pair of first connecting rod groups and a pair of second connecting rod groups arranged in a mirror image, but the invention is not limited thereto. As required, the transmission connecting rod group may only include a pair of first connecting rod groups arranged in a mirror image, and the second connecting rod group is only provided in one group and is located on one side of the longitudinal section, but the invention is not limited thereto. Similarly, the transmission connecting rod group may only include a pair of second connecting rod groups arranged in a mirror image, and the first connecting rod group is only provided in one group and is located on one side of the longitudinal section.

[0069] return Figure 4The seventh connecting rod 27 includes a U-shaped rod 208 and a transmission rod 211. The head end of the U-shaped rod 208 is rotatably connected to the first rotating shaft 31, the tail end of the U-shaped rod 208 is fixedly connected to the head end of the transmission rod 211, and the tail end of the transmission rod 211 is rotatably connected to the head end of the tail fin connecting rod 301. For example but not limited to, the tail end of the transmission rod 211 can be rotatably connected to the head end of the tail fin connecting rod 301 through a transmission rod shaft 212.

[0070] In order to improve the connection reliability between the U-shaped rod 208 and the transmission rod 211, the seventh connecting rod 27 further includes a connecting block 209, for example but not limited to, the connecting block 209 is connected between the U-shaped rod 208 and the transmission rod 211 by a welding process or a fastener, but not limited to this. In this embodiment, by providing the connecting block 209, the contact area between the U-shaped rod 208 and the transmission rod 211 is increased, thereby improving the connection reliability between the U-shaped rod 208 and the transmission rod 211.

[0071] In this embodiment, the end of the U-shaped rod 208 with an opening can be defined as the head end, and the tail end is arranged opposite to the head end. The U-shaped rod 208 includes two arms, which are respectively connected to the first rotating shaft 31 symmetrically arranged.

[0072] Another aspect of the present disclosure provides a bionic robotic fish, which includes a fish body shell and the waist-tail linkage mechanism as described above.

[0073] The bionic robotic fish provided by the present disclosure can make the waist shell 200 and the tail fin 300 swing asynchronously at the same frequency by setting a waist-tail linkage mechanism based on a multi-link, that is, while the waist shell 200 swings in a quasi-sinusoidal bionic manner relative to the frame 100, the tail fin 300 swings in a quasi-sinusoidal bionic manner relative to the waist shell 200 at the same time. The two swinging programs have a certain phase difference, which improves the swimming performance of the bionic robotic fish.

[0074] In the description of the present disclosure, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0075] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0076] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0077] The features, structures or characteristics described in the present disclosure may be combined in one or more embodiments in any suitable manner. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.

Claims

1. A waist-tail linkage mechanism, suitable for a bionic robotic fish, the bionic robotic fish comprising a fish body shell, characterized in that: The waist-tail linkage mechanism comprises: A frame (100) is used to connect the fish body shell of the bionic robotic fish. The waist shell (200) is rotatably connected to the frame (100). A tail fin (300) is rotatably connected to the waist shell (200), and there is a predetermined phase difference between the tail fin (300) and the waist shell (200); A connecting rod assembly, comprising a waist shell swing rod (28), a tail fin swing rod group and a transmission connecting rod group, wherein the tail end of the transmission connecting rod group is rotatably connected to the head end of the waist shell swing rod (28) via the first end of a first rotating shaft (31), the tail end of the waist shell swing rod (28) is rotatably connected to the waist shell (200), the second end of the first rotating shaft (31) is rotatably connected to the tail fin swing rod group, and the tail fin swing rod group is connected to the tail fin (300) and can drive the tail fin (300) to swing relative to the waist shell (200); The driving assembly is used to drive the transmission connecting rod assembly to operate.

2. The waist-tail linkage mechanism according to claim 1, characterized in that: The driving assembly comprises a driving motor and a gear set, the driving motor being used to drive the gear set to rotate, the gear set comprising a driving gear (111), a first driven wheel (112) and a second driven wheel (113), the driving gear (111) being fixed to an output shaft of the driving motor, the first driven wheel (112) and the second driven wheel (113) being rotatably connected to the frame (100), respectively, and the driving gear (111) being able to drive the first driven wheel (112) and the second driven wheel (113) to rotate. The transmission connecting rod group comprises a first connecting rod group and a second connecting rod group, wherein the input end of the first connecting rod group is connected to the first driven wheel (112), the output end of the first connecting rod group is connected to the first rotating shaft (31), the input end of the second connecting rod group is connected to the second driven wheel (113), and the output end of the second connecting rod group is rotatably connected to the first rotating shaft (31).

3. The waist-tail linkage mechanism according to claim 2, characterized in that: The first driven wheel (112) and the second driven wheel (113) have the same angular velocity.

4. The waist-tail linkage mechanism according to claim 3, characterized in that: The first driven wheel (112) is meshed with the driving gear (111) for transmission, and the second driven wheel (113) is meshed with the first driven wheel (112) for transmission and is spaced apart from the driving gear (111).

5. The waist-tail linkage mechanism according to claim 2, characterized in that: The first connecting rod assembly comprises a first connecting rod (21), a second connecting rod (22) and a third connecting rod (23) which are arranged in sequence along the axial direction of the first rotating shaft (31), wherein the head end of the first connecting rod (21) is fixed to the first driven wheel (112), the first rotating shaft (31) is fixed to the tail end of the third connecting rod (23), and the second connecting rod (22) is rotatably connected between the first connecting rod (21) and the third connecting rod (23).

6. The waist-tail linkage mechanism according to claim 5, characterized in that: The second connecting rod group comprises a fourth connecting rod (24), a fifth connecting rod (25) and a sixth connecting rod (26) which are arranged in sequence along the axial direction of the first rotating shaft (31), wherein the head end of the fourth connecting rod (24) is fixed to the second driven wheel (113), the fifth connecting rod (25) is rotatably connected to the head end of the sixth connecting rod (26) via the second rotating shaft (32), the tail end of the sixth connecting rod (26) is rotatably connected to the first rotating shaft (31), and the fifth connecting rod (25) is rotatably connected to the second connecting rod (22) via a third rotating shaft (33).

7. The waist-tail linkage mechanism according to claim 6, characterized in that: The first rotating shaft (31), the second rotating shaft (32) and the third rotating shaft (33) are arranged parallel to each other.

8. The waist-tail linkage mechanism according to claim 2, characterized in that: The tail fin swing arm assembly comprises a seventh connecting rod (27) and a tail fin connecting rod (301) which are rotatably connected head to tail. The head end of the seventh connecting rod (27) is rotatably connected to the first rotating shaft (31), the tail end of the seventh connecting rod (27) is rotatably connected to the head end of the tail fin connecting rod (301), the tail end of the tail fin connecting rod (301) is rotatably connected to the waist shell (200), the tail fin (300) is fixed to the tail fin connecting rod (301), and the seventh connecting rod (27) can drive the tail fin connecting rod (301) to swing relative to the waist shell (200).

9. The waist-tail linkage mechanism according to claim 8, characterized in that: The seventh connecting rod (27) is arranged in a mirror image relative to the longitudinal section of the waist-tail linkage mechanism, the transmission connecting rod group includes a pair of the first connecting rod groups, and the pair of the first connecting rod groups are arranged in a mirror image relative to the longitudinal section of the waist-tail linkage mechanism; and / or, The transmission connecting rod group includes a pair of the second connecting rod groups, and the pair of the second connecting rod groups are arranged in a mirror image with respect to the longitudinal section of the waist-tail linkage mechanism.

10. The waist-tail linkage mechanism according to claim 8, characterized in that: The seventh connecting rod (27) comprises a U-shaped rod and a transmission rod, the head end of the U-shaped rod is rotatably connected to the first rotating shaft (31), the tail end of the U-shaped rod is fixedly connected to the head end of the transmission rod, and the tail end of the transmission rod is rotatably connected to the head end of the tail fin connecting rod (301).

11. A bionic robotic fish, characterized in that: The bionic robotic fish comprises a fish body shell and a waist-tail linkage mechanism as described in any one of claims 1-10.

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