Multi-section type self-swinging tail piece and multi-section ear material village insect detection device composed of multi-section type self-swinging tail piece

Abstract

The invention discloses a multi-section type self-swinging tail piece and a multi-section village auricula detection device composed of the multi-section type self-swinging tail piece, and aims to solve the problems that appearance or simple part simulation is mostly carried out in a simulation robot at present, a corresponding accurate simulation structure for the tail swinging posture of a multi-section village auricula is lacked, and a special adaptive tool for exploration and observation underwater and in a narrow area is lacked. The multi-section village auricula detection device comprises a village body, shell flaps, appendages, a first limiting clamping piece, a second limiting clamping piece, a third limiting clamping piece, a first section piece, a middle section piece and a tail section piece, the first section piece, the middle section piece and the tail section piece are horizontally arranged in sequence, one end of the first section piece is hinged to one end of the middle section piece, and the other end of the middle section piece is hinged to the other end of the tail section piece. One end of the middle section piece is hinged with one end of the first section piece, the other end of the middle section piece is hinged with one end of the tail section piece, two shell valves and a plurality of appendages are respectively arranged on the insect body, the shell valves are leaf-shaped, one side of each shell valve is fixedly connected with the upper surface of the insect body, the appendages are arranged on the lower surface of the insect body, and the tail section piece of the insect body is fixedly connected with one end of the first fixed joint sleeve on the first section piece.

Description

Technical Field

[0001] The invention specifically relates to a multi-section self-swinging tail piece and a multi-section ear material insect detection device composed of the tail piece. Background Art

[0002] Arthropods are the most diverse animal phylum on Earth from the Cambrian period to the present, and Pancrustaceans (a general term for a single evolutionary lineage of insects and crustaceans) are the most prosperous group of arthropods. Although scientists have estimated based on DNA molecular clocks that Pancrustaceans appeared in the Early Cambrian, the relevant fossil evidence has long been limited to larvae preserved in phosphate fossils from the Early Cambrian and sporadic fragments preserved in small carbon fossils from the Middle and Late Cambrian. The key identification features of the adult morphology of early Pancrustaceans and their mature state have always been a mystery. The multi-segmented fossils of Otocarpus spp. from the Chengjiang Biota in Yunnan, China, provide evidence to solve this mystery.

[0003] The multi-segmented earworm is an arthropod with a pair of shells and a fish-tail-like tail. It was discovered and reported in the 1990s. Based on traditional research methods, the academic community's understanding of it is limited to the external morphology of the shell, the rear of the trunk and the tail. Due to the cover of the shell and the burial of the surrounding rock, the details of its appendages have been unknown, and its taxonomic and evolutionary affiliation has always been in suspense. This study used X-ray three-dimensional imaging technology (micro-CT) with micron-level accuracy to observe the extremely amazing morphological details of the 19 pairs of well-preserved appendages of the multi-segmented earworm through the thick shell and surrounding rock. These include a pair of second antennae specialized into hooks, the third and fourth pairs of appendages specialized into mandibles and maxillae for feeding, and double-branched thoracic appendages with leaf-like "upper limbs". In addition, this study also fully revealed for the first time the anal structure of this type of arthropod surrounded by three bone plates. Among the many characteristics of the multi-segmented earworm revealed by the cutting-edge technology of micro-CT, the second antennae, specialized mandibles and maxillae, and the "upper limb" structure on the hip segment of the appendages are the main identification characteristics of Pancrustaceans, which confirms that the multi-segmented earworm is the ancestor of Pancrustaceans. This study not only confirms that Pancrustaceans originated in the Early Cambrian, but also shows that the specialization of the second antennae and oral appendages and the formation of upper limbs occurred at the beginning of the separation of Pancrustaceans from arthropods to other primitive groups. In-depth exploration of the movement mechanism of the multi-segmented earworm, including the swinging of various parts of its body, can reveal the movement ability of the creature and its ability to prey or escape predation, which is of great significance to revealing its position in the food chain and the evolutionary process of various parts of the body, and even has important scientific significance for the study of the primitive characteristics and evolutionary trends of the entire arthropod phylum. Based on the previous research on the morphological details of the multi-segmented earworm by paleontologists, from the perspective of mechanical engineering, computer numerical simulation and bionic robot underwater propulsion experiments were used to restore the multi-segmented earworm in three dimensions ("Reverse Deduction and Restoration Method of Multi-segmented Earworm Fossils Based on Incomplete Information" ZL202110224991.1), as well as the movement pattern of the appendages and tail. As a "swimmer", the swinging of the tail of the multi-segmented earworm plays a dominant role. In the existing technology, only the structural simulation of the appearance or simple parts is carried out. There is a lack of corresponding accurate simulation structure for the swinging posture of the tail of the multi-segmented earworm, so it lacks realism. Underwater bionic simulation devices often lack dedicated adaptation tools for exploration and observation in small spaces. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to provide a multi-section self-swinging tail piece and a multi-section ear material village insect detection device composed of the same.

[0005] A multi-section self-swinging tail piece, comprising a first limit card, a second limit card and a third limit card, a first section, a middle section and a last section, wherein the first section, the middle section and the last section are arranged horizontally in sequence, one end of the first section is hinged with one end of the middle section, and the other end of the middle section is hinged with one end of the last section, the other end of the first section is provided with a first limit card, a second limit card is provided between the first section and the middle section, and a third limit card is provided between the middle section and the last section, the second limit card is a semi-cylinder, and the semi-cylinder is respectively processed with a second circular notch and two rectangular notches along its thickness direction, the two sides of the second circular notch are respectively connected with a rectangular notch, and the second limit card is sleeved between the first section and the middle section through the second circular notch and the two rectangular notches; the first section, the middle section and the last section cooperate with the first limit card, the second limit card and the third limit card to make a multi-mode and multi-angle swing process; The multi-angle swinging process of the first mode is that the first section, the middle section and the last section are in a horizontal coaxial state, and the first section, the middle section and the last section are limited by the second limit card and the third limit card respectively, and then the first section drives the middle section and the last section to make an up and down swinging motion; the multi-angle swinging process of the second mode is that the first section, the middle section and the last section are in a horizontal coaxial state, and the other end of the first section is limited by the first limit card, and the middle section and the last section are limited by the third limit card to the middle. When the first section and the last section are in a coaxial state, the middle section drives the last section and the first section to make an up and down swinging motion; the multi-angle swinging process of the third mode is that the first section, the middle section and the last section are in a horizontal coaxial state, the other end of the first section is limited by the first limit card, and the first section and the middle section are limited by the second limit card to switch to when the first section and the middle section are in a horizontal coaxial state, the last section and the middle section make an up and down swinging motion; the multi-angle swinging process of the fourth mode is that the first section, the middle section and the last section are in a horizontal coaxial state, the middle section The third limit card is used to limit the position of the first section and the last section, and when the middle section and the last section are in a coaxial state, the other end of the first section makes an up and down swinging motion in the first position, and the middle section drives the last section and the first section to make an up and down swinging motion in the second position; the multi-angle swinging process of the fifth mode is that the first section, the middle section and the last section are in a horizontal coaxial state, and the second limit card is used to limit the position of the first section and the middle section, and when the first section and the middle section are in a coaxial state, the first section drives the middle section to make an up and down swinging motion in the first position, and the last section and the middle section make an up and down swinging motion in the second position. The multi-angle swinging process of the sixth mode is that the first section, the middle section and the last section are in a horizontal coaxial state, and the other end of the first section is limited by the first limit card to be converted to when the first section is in a horizontal coaxial state, the first section and the middle section make an up and down swinging motion in the first position, and the middle section and the last section make an up and down swinging motion in the second position; The multi-angle swinging process of the seventh mode is that the first section, the middle section and the last section are converted from a horizontal coaxial state to a non-coaxial state between the first section, the middle section and the last section, making up and down swinging motion.

[0006] A multi-section ear material village insect detection device is composed of the above-mentioned multi-section self-swinging tail piece, including an insect body, a shell petal, an appendage and a driving motor, wherein the insect body is respectively provided with two shell petals, a plurality of appendages and a driving motor, the shell petal is leaf-shaped, one side of each shell petal is fixedly connected to the upper side of the insect body, a plurality of appendages are provided under the insect body, each appendage includes a V-shaped support frame and a swing plate, a first spherical joint and a second spherical joint are respectively provided at both ends of the V-shaped support frame, the first spherical joint is fixedly connected to one end of the V-shaped support frame, the second spherical joint is fixedly connected to the other end of the V-shaped support frame, and a A swing plate, the swing plate includes a cylindrical support rod and a semi-elliptical plate, the outer wall of the cylindrical support rod is fixedly connected to one end of the semi-elliptical plate, one end of the cylindrical support rod is fixedly connected to the second spherical joint, the first spherical joint is arranged in the groove of the left camshaft or the groove of the right camshaft, the first spherical joint is hinged to the groove of the left camshaft or the groove of the right camshaft, the second spherical joint is arranged on the insect body frame, and the second spherical joint is hinged to the insect body frame; the tail end of the insect body is fixedly connected to one end of the first fixed joint sleeve on the first section, and the first section, the middle section and the last section cooperate to swing to drive the insect body to move forward.

[0007] The beneficial effects of the present invention are as follows: the swing of the tail of the multi-section earworm in the present invention plays a leading role, so the structure and drive of the tail swing model are crucial to the study of the swimming ability of the multi-section earworm. The multi-section self-swinging tail piece can deeply restore the tail movement state of the multi-section earworm through the cooperation between the first section, the middle section and the last section. The multi-section self-swinging tail piece realizes the swing of the tail joint by using an electromagnetic ring to drive the magnet, replacing the motor drive and the rope drive mechanism, increasing the flexibility of the movement while reducing the space occupation. The multi-section earworm detection device in the present invention ensures the overall performance of the bionic robot. In the authenticity of the deep restoration model of the multi-section earworm, a number of appendages are arranged on the insect body to ensure that when the tail swings to make the insect body move forward, the appendages also swing with the movement of the insect body, which can achieve the balance and steady progress of the model. At the same time, it is ensured that the model can smoothly realize underwater swimming, so that the swing mode and swing cycle of the tail drive can be smoothly carried out experimental research. The core goal of this invention is to provide quantitative analysis evidence for paleontological morphology and paleoecology by exploring the movement patterns of the multi-segmented earworm and then extending it to the dynamic analysis of other arthropods in the Cambrian period, while providing new guiding ideas for the development of robotics engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a three-dimensional structural schematic diagram of a multi-section self-swinging tail piece and a multi-section ear material insect detection device composed of the same; Figure 2 It is a schematic diagram of the three-dimensional structure of a multi-section self-swinging tail piece; Figure 3This is a schematic diagram of the three-dimensional structure of the first section; Figure 4 It is a three-dimensional structural diagram of the first section, the middle section and the last section; Figure 5 is a schematic diagram of the three-dimensional structure of the first connecting component and the first electromagnetic coil; Figure 6 is a schematic diagram of the three-dimensional structure of the first connecting component; Figure 7 It is a three-dimensional structural schematic diagram of the middle section and the end section; Figure 8 It is a schematic diagram of the three-dimensional structure of the first connecting component and the second fixed joint sleeve; Fig. 9 It is a schematic diagram of the three-dimensional structure of the second electromagnetic coil, the second connecting assembly and the third fixed joint sleeve; Fig.10 is a schematic diagram of the three-dimensional structure of the second connecting component and the third connecting component; Fig.11 is a schematic diagram of the three-dimensional structure of the third electromagnetic coil and the third connecting component; Fig.12 This is a schematic diagram of the cross-sectional structure of the first section; Fig.13 is a schematic diagram of the three-dimensional structure of the second shell; Fig.14 is a schematic diagram of the three-dimensional structure of the third shell; Fig.15 It is a three-dimensional structural schematic diagram of two second joints, a second housing, a third fixed joint sleeve and a third electromagnetic coil; Fig.16 This is a schematic diagram of the structure of the first section viewed from above; Fig.17 It is a top view structural diagram of the insect body frame and appendages; Fig.18 Schematic diagram of the three-dimensional structure of the insect body frame; Fig.19 It is a schematic diagram of the three-dimensional structure of the left camshaft and the right camshaft; Fig. 20 It is a three-dimensional structural schematic diagram of a first gear, a second gear, a third gear, a left camshaft and a right camshaft; Fig.21 is a schematic diagram of the three-dimensional structure of the appendage from the first perspective; Fig. 22 is a schematic diagram of the three-dimensional structure of the appendage from a second perspective; Fig.23 is a schematic diagram of the three-dimensional structure of the driving motor and the first gear; Fig.24 It is a three-dimensional structural diagram of the limit card and the end-section driving device; Fig.25 is a schematic diagram of the three-dimensional structure of the second limit card; Fig.26 is a schematic diagram of the top view of the structure of the second limit card; Fig. 27 This is a schematic diagram of the first working state of the end-section driving device; Fig.28 This is a schematic diagram of the second working state of the end-section driving device; Fig.29 This is a schematic diagram of the third working state of the end-section driving device; Fig.30 This is a schematic diagram of the fourth working state of the end-section driving device; Fig.31 This is a schematic diagram of the fifth working state of the end-section driving device; Fig.32 This is a schematic diagram of the sixth working state of the end-section driving device; Fig.33Schematic diagram of the seventh working state of the end member driving device; Fig. 34(a) is a schematic diagram of the working state of swinging in the synchronous gait state of the camshaft; Fig. 34(b) is a schematic diagram of the working state of swinging in the overall alternating gait state of the camshaft; Fig. 34(c) is a schematic diagram of the working state of swinging in the two-segment alternating gait state of the camshaft; Fig. 34(d) is a schematic diagram of the working state of swinging in the three-segment alternating gait state of the camshaft; Fig.35 Schematic diagram of the first working state of the appendage; Fig.36 Schematic diagram of the second working state of the appendage; Fig.37 Schematic diagram of the third working state of the appendage; Fig.38 Schematic diagram of the fourth working state of the appendage.

[0009] In the figure: 1 - First limit card; 2 - Second limit card; 2-1 - Second circular notch; 2-2 - Rectangular notch; 3 - Third limit card; 4 - First section member; 4-1 - First fixed joint sleeve; 4-1-1 - Two first hinge holes; 4-2 - First electromagnetic coil; 4-3 - First connection component; 4-3-1 - First square support block; 4-3-2 - First joint; 4-3-3 - First magnetic column; 4-3-4 - First arc groove; 4-4 - First outer shell; 4-5 - First semi-circular block; 4-6 - First arc plate; 4-4-1 - First long slot; 5 - Middle section member; 5-1 - Second fixed joint sleeve; 5-1-1 - Two second hinge holes; 5-2 - Second electromagnetic coil; 5-3 - Second connection component; 5-3-1 - Second square support block; 5-3-2 - Second joint; 5-3-3 - Second magnetic column; 5-3-4 - Second arc groove; 5-4 - Second outer shell; 5-5 - Second semi-circular block; 5-6 - Second arc plate; 5-4-1 - Second long slot; 6 - End member; 6-1 - Third fixed joint sleeve; 6-1-1 - Two third hinge holes; 6-2 - Third electromagnetic coil; 6-3 - Third connection component; 6-3-1 - C-shaped support block; 6-3-2 - Third joint; 6-3-3 - Third magnetic column; 6-3-4 - Third arc groove; 6-4 - Third outer shell; 6-4-1 - Shell sleeve; 6-4-2 - Tail fin bar; 6-4-3 - Balance support angle; 6-4-4 - First slot; 6-4-5 - Second slot; 7 - First square counterweight port; 8 - Second square counterweight port; 11-body; 11-1-body frame; 11-2-front part buckle; 11-3-left camshaft; 11-4-right camshaft; 11-5-rear part buckle; 11-6-support frame; 11-7-notch; 12-shell petal; 13-appendage; 13-1-V-shaped support frame; 13-2-swing plate; 13-3-first spherical joint; 13-4-second spherical joint; 13-5-cylindrical support rod; 13-6-semi-elliptical plate; 14-drive motor; 15-first gear; 16-second gear; 17-third gear. DETAILED DESCRIPTION

[0010] The following describes the embodiments of the present invention through specific examples, and 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.

[0011] Specific implementation method 1: Combination Figures 1 to 38 The present embodiment is described, and the present embodiment includes a first limit card 1, a second limit card 2 and a third limit card 3, a first section 4, a middle section 5 and an end section 6, wherein the first section 4, the middle section 5 and the end section 6 are arranged horizontally in sequence, one end of the first section 4 is hinged to one end of the middle section 5, and the other end of the middle section 5 is hinged to one end of the end section 6, and the other end of the first section 4 is provided with a first limit card 1, a second limit card 2 is provided between the first section 4 and the middle section 5, and a third limit card 3 is provided between the middle section 5 and the end section 6, and the The second limit card 2 is a semi-cylinder, and the semi-cylinder is processed with a second circular notch 2-1 and two rectangular notches 2-2 along its thickness direction. The two sides of the second circular notch 2-1 are respectively connected with a rectangular notch 2-2. The second limit card 2 is sleeved between the first section 4 and the middle section 5 through the second circular notch 2-1 and the two rectangular notches 2-2; the first section 4, the middle section 5 and the last section 6 are matched with the first limit card 1, the second limit card 2 and the third limit card 3 to make a multi-mode and multi-angle swing process; Fig. 27The multi-angle swinging process of the first mode is that the first section 4, the middle section 5 and the last section 6 are in a horizontal coaxial state, and the first section 4, the middle section 5 and the last section 6 are limited by the second limit card 2 and the third limit card 3 respectively, and when the first section 4, the middle section 5 and the last section 6 are in a coaxial state, the first section 4 drives the middle section 5 and the last section 6 to make an up and down swinging movement; further, the first limit state of the multi-angle swinging process of the first mode is that the first section 4, the middle section 5 and the last section 6 are converted from a horizontal coaxial state to a second limit state is that the first section 4, the middle section 5 and the last section 6 are limited by the second limit card 2 and the third limit card 3 respectively, ensuring that when the first section 4, the middle section 5 and the last section 6 are in a coaxial state, the first section 4 drives the middle section 5 and the last section 6 to make an up and down swinging movement; Fig.28 The multi-angle swinging process of the second mode is that the first section 4, the middle section 5 and the last section 6 are in a horizontal coaxial state, the other end of the first section 4 is limited by the first limit card 1, and the middle section 5 and the last section 6 are limited by the third limit card 3 to the middle section 5 and the last section 6. When the middle section 5 and the last section 6 are in a coaxial state, the middle section 5 drives the last section 6 and the first section 4 to make an up and down swinging motion; further, the first limit state of the multi-angle swinging process of the second mode is that the first section 4, the middle section 5 and the last section 6 are converted from being in a horizontal coaxial state to the second limit state is that the other end of the first section 4 is limited by the first limit card 1, and the middle section 5 and the last section 6 are limited by the third limit card 3 to ensure that when the middle section 5 and the last section 6 are in a coaxial state, the middle section 5 drives the last section 6 and the first section 4 to make an up and down swinging motion; Fig.29 The multi-angle swinging process of the third mode is that the first section 4, the middle section 5 and the last section 6 are in a horizontal coaxial state, the other end of the first section 4 is limited by the first limit card 1, and the first section 4 and the middle section 5 are limited by the second limit card 2 to convert to when the first section 4 and the middle section 5 are in a horizontal coaxial state, the last section 6 and the middle section 5 make an up and down swinging motion; further, the first limit state of the multi-angle swinging process of the third mode is that the first section 4, the middle section 5 and the last section 6 are converted from being in a horizontal coaxial state to the second limit state is that the other end of the first section 4 is limited by the first limit card 1, and the first section 4 and the middle section 5 are limited by the second limit card 2 to ensure that when the first section 4 and the middle section 5 are in a horizontal coaxial state, the last section 6 and the middle section 5 make an up and down swinging motion. Fig.30The multi-angle swinging process of the fourth mode is that the first section 4, the middle section 5 and the last section 6 are in a horizontal coaxial state, and the middle section 5 and the last section 6 are limited by the third limit card 3 to be converted to when the middle section 5 and the last section 6 are in a coaxial state, the other end of the first section 4 makes an up and down swinging motion in the first position, and the middle section 5 drives the last section 6 and the first section 4 to make an up and down swinging motion in the second position; the movement posture of the first position and the movement posture of the second position are in a simultaneous driving state, and realize the common up and down swinging; further, the first limit state of the multi-angle swinging process of the fourth mode is that the first section 4, the middle section 5 and the last section 6 are converted from a horizontal coaxial state to the second limit state is that the middle section 5 and the last section 6 are limited by the third limit card 3 to ensure that when the middle section 5 and the last section 6 are in a coaxial state, the first section 4 and the insect body 11 and the middle section 5 and the first section 4 make up and down swinging motions at the same time; Fig.31 The multi-angle swinging process of the fifth mode is that the first section 4, the middle section 5 and the last section 6 are in a horizontal coaxial state, and the first section 4 and the middle section 5 are limited by the second limit card 2 to when the first section 4 and the middle section 5 are in a coaxial state, the first section 4 drives the middle section 5 to make an up and down swinging movement in the first position, and the last section 6 and the middle section 5 make an up and down swinging movement in the second position; the movement posture of the first position and the movement posture of the second position are driven at the same time, and realize the common up and down swinging; further, the first limit state of the multi-angle swinging process of the fifth mode is that the first section 4, the middle section 5 and the last section 6 are converted from being in a horizontal coaxial state to the second limit state is that the first section 4 and the middle section 5 are limited by the second limit card 2 to ensure that when the first section 4 and the middle section 5 are in a coaxial state, the first section 4 and the insect body 11 and the last section 6 and the middle section 5 make up and down swinging movements at the same time; Fig.32 The multi-angle swinging process of the sixth mode is that the first section 4, the middle section 5 and the last section 6 are in a horizontal coaxial state, and the other end of the first section 4 is limited by the first limit card 1. When the first section 4 is in the horizontal coaxial state, the first section 4 and the middle section 5 make an up and down swinging motion in the first position, and the middle section 5 and the last section 6 make an up and down swinging motion in the second position; the movement posture of the first position and the movement posture of the second position are driven at the same time, and realize the common up and down swinging; further, the first limit state of the multi-angle swinging process of the sixth mode is that the first section 4, the middle section 5 and the last section 6 are converted from the horizontal coaxial state to the second limit state, and the other end of the first section 4 is limited by the first limit card 1 to ensure that when the first section 4 is in the horizontal coaxial state, the first section 4 and the middle section 5 and the middle section 5 and the last section 6 make up and down swinging motions at the same time; Fig.33The multi-angle swinging process of the seventh mode is that the first section 4, the middle section 5 and the last section 6 are transformed from a horizontal coaxial state to a non-coaxial state without unlimited card limit of the first section 4, the middle section 5 and the last section 6, and make up and down swinging motions; further, the first extreme state of the multi-angle swinging process of the seventh mode is that the first section 4, the middle section 5 and the last section 6 are transformed from a horizontal coaxial state to a second extreme state that the first section 4, the middle section 5 and the last section 6 are in a non-coaxial state and make up and down swinging motions.

[0012] Furthermore, in order to restore the swimming mode of the real multi-segmented earworm, the tail joints that can be freely driven by the first segment 4, the middle segment 5 and the last segment 6 are set up to find the best driving method, so as to determine the swimming mode of the real ancient multi-segmented earworm in the water.

[0013] Specific embodiment 2: This embodiment is a further limitation of specific embodiment 1. In this embodiment, the first section 4 includes a first fixed joint sleeve 4-1, a first electromagnetic coil 4-2, a first connecting component 4-3 and a first shell 4-4. The first fixed joint sleeve 4-1 is a hollow cylinder. The first electromagnetic coil 4-2 is coaxially arranged in the first fixed joint sleeve 4-1. Two first hinge holes 4-1-1 are processed on the outer circumferential wall of the first fixed joint sleeve 4-1. The two first hinge holes 4-1-1 are arranged along the radial direction of the first fixed joint sleeve 4-1. The first connecting component 4-3 is horizontally arranged, and one end of the first connecting component 4-3 is hinged to the outer wall of the first fixed joint sleeve 4-1. The first shell 4-4 is arranged outside the first connecting component 4-3; The first shell 4-4 includes a first semicircular block 4-5 and a first arc plate 4-6. The first semicircular block 4-5 is processed with a first long groove 4-4-1 along its block thickness direction. One side of the first semicircular block 4-5 is fixedly connected to one side of the first arc plate 4-6.

[0014] Furthermore, the first connecting component 4-3 is hinged on the first fixed joint sleeve 4-1 through two first hinge holes 4-1-1. After the first electromagnetic coil 4-2 in the first fixed joint sleeve 4-1 is energized, a magnetic field is generated. The magnetic field generates a torque drive on the first magnetic column 4-3-3, and the tail performs a reciprocating swinging motion up and down.

[0015] Furthermore, one side of the first fixed joint sleeve 4-1 is fixedly connected to the multi-segment earworm detection device to ensure that the body can be driven to move forward during the tail swimming process, thereby restoring the real swimming method of the ancient multi-segment earworm in the water.

[0016] Embodiment 3: This embodiment is a further limitation of Embodiment 2. In this embodiment, the first connection component 4-3 includes a first square support block 4-3-1, two first connectors 4-3-2, a first magnetic column 4-3-3, a second fixed joint sleeve 5-1, and a second electromagnetic coil 5-2. The first square support block 4-3-1 is a flat block. A first square counterweight port 7 is machined in the first square support block 4-3-1 along its height direction. The first square counterweight port 7 truly restores the tail bone morphology of the multi-segmented ear material worm, and thus can also reduce the weight of the tail. The first square support block 4-3-1 is arranged on the first semi-circular block 4-5 through a first long slot 4-4-1. A second fixed joint sleeve 5-1 is arranged below the first arc plate 4-6. One end of the first square support block 4-3-1 is fixedly connected to one end of the second fixed joint sleeve 5-1. One first connector 4-3-2 is arranged on each side of the other end of the first square support block 4-3-1. A first arc groove 4-3-4 is machined on the outer wall of the first square support block 4-3-1 near the two first connectors 4-3-2. A first magnetic column 4-3-3 is arranged in the first arc groove 4-3-4. The first magnetic column 4-3-3 is cylindrical, and the outer wall of the first magnetic column 4-3-3 is fixedly connected to the inner wall of the first arc groove 4-3-4. The first magnetic column 4-3-3 is arranged in the first electromagnetic coil 4-2. The second fixed joint sleeve 5-1 is a hollow cylinder. The second electromagnetic coil 5-2 is coaxially arranged in the second fixed joint sleeve 5-1. Two second hinge holes 5-1-1 are machined on the outer circumferential wall of the second fixed joint sleeve 5-1. The two second hinge holes 5-1-1 are arranged along the radial direction of the second fixed joint sleeve 5-1. The first square support block 4-3-1 is hinged to the first fixed joint sleeve 4-1 through the cooperation of the two first connectors 4-3-2 and the hinge holes.

[0017] Furthermore, a first outer shell 4-4 is arranged on the first square support block 4-3-1. The first outer shell 4-4 is sleeved on the first square support block 4-3-1, which can ensure the reduction of the water inflow of the first connection component 4-3 and protect the first connection component 4-3 at the same time. When the second connection component 5-3 is hinged to the second fixed joint sleeve 5-1 through the two second hinge holes 5-1-1, the tail makes an up-and-down reciprocating swinging motion. During the swinging process, it is necessary to ensure that the swinging direction is consistent with that of the first connection component 4-3, so that the complete and intuitive postures of the multi-segmented ear material worm during the swinging motion can be accurately observed.

[0018] Specific embodiment four: This embodiment is a further limitation of specific embodiments one, two or three. In this embodiment, the middle section 5 includes a second connecting component 5-3 and a second shell 5-4. The second connecting component 5-3 is horizontally arranged, one end of the second connecting component 5-3 is hinged to the outer wall of the second fixed joint sleeve 5-1, and a second shell 5-4 is arranged outside the second connecting component 5-3; the second shell 5-4 includes a second semicircular block 5-5 and a second arc plate 5-6, the second semicircular block 5-5 is processed with a second long strip groove 5-4-1 along its block thickness, and one side of the second semicircular block 5-5 is fixedly connected to one side of the second arc plate 5-6; In this embodiment, the second connecting component 5-3 includes a second square support block 5-3-1, two second joints 5-3-2, a second magnetic column 5-3-3, a third fixed joint sleeve 6-1 and a third electromagnetic coil 6-2. The second square support block 5-3-1 is a flat block. The second square support block 5-3-1 is processed with a second square counterweight port 8 along its height direction. The second square counterweight port 8 truly restores the skeleton of the tail of the multi-section ear material village worm, provides space for the shell when swinging, and is conducive to the shell being able to switch and be in a state of accelerated swimming. The second square support block 5-3-1 is penetrated on the second semicircular block 5-5 through the second long slot 5-4-1, and the third fixed joint sleeve 6-1 is arranged below the second arc plate 5-6. One end of the second square support block 5-3-1 and one end of the third fixed joint sleeve 6-1 Fixedly connected, two second joints 5-3-2 are arranged on both sides of the other end of the second square support block 5-3-1, and a second circular arc groove 5-3-4 is processed on the outer wall of one end of the second square support block 5-3-1 close to the two second joints 5-3-2, and a second magnetic column 5-3-3 is arranged in the second circular arc groove 5-3-4, and the outer wall of the second magnetic column 5-3-3 is fixedly connected to the inner wall of the second circular arc groove 5-3-4, and the second magnetic column 5-3-3 is arranged in the second electromagnetic coil 5-2, and the third fixed joint sleeve 6-1 is a hollow cylinder, and the third electromagnetic coil 6-2 is coaxially arranged in the third fixed joint sleeve 6-1, and two third hinge holes 6-1-1 are processed on the outer circumferential wall of the third fixed joint sleeve 6-1, and the two third hinge holes 6-1-1 are arranged along the radial direction of the third fixed joint sleeve 6-1.

[0019] Furthermore, the second electromagnetic coil 5-2 is powered to generate a magnetic field, and the magnetic field generates a torque drive on the second magnetic column 5-3-3, ensuring that the second magnetic column 5-3-3 drives the two second joints 5-3-2 to rotate axially on the second fixed joint sleeve 5-1, and the hinges of the two second joints 5-3-2 can swing, thereby driving the second square support block 5-3-1, the third fixed joint sleeve 6-1 and the third electromagnetic coil 6-2 to swing, thereby ensuring that the middle section 5 swings as a whole.

[0020] Embodiment 5: This embodiment is a further limitation of Embodiment 1, 2, 3 or 4. In this embodiment, the end member 6 includes a third connection component 6-3 and a third housing 6-4. The third connection component 6-3 is horizontally arranged and is hinged to the third fixed joint sleeve 6-1 through two third hinge holes 6-1-1. A third housing 6-4 is arranged on the third connection component 6-3. In this embodiment, the third housing 6-4 includes a housing sleeve 6-4-1, fin strips 6-4-2 and two balance support angles 6-4-3. The fin strips 6-4-2 and two balance support angles 6-4-3 are respectively arranged on the housing sleeve 6-4-1. One end of each balance support angle 6-4-3 is a wide end, and the other end is a narrow end. The wide ends of each balance support angle 6-4-3 and the narrow ends of the fin strips 6-4-2 are fixedly connected to the outer wall of the housing sleeve 6-4-1. A first slot 6-4-4 and a second slot 6-4-5 are respectively machined inside the housing sleeve 6-4-1. The first slot 6-4-4 and the second slot 6-4-5 are arranged vertically and side by side.

[0021] Furthermore, through the real restoration of the simulation of the multi-segmented ear material worm, the three-dimensional appearance of the third housing 6-4 of the end member 6 is truly restored, which can ensure a complete and highly realistic effect, and can completely restore the structural characteristics of the tail and various swinging modes.

[0022] Embodiment 6: This embodiment is a further limitation of Embodiment 1, 2, 3, 4 or 5. In this embodiment, the third connection component 6-3 includes a C-shaped support block 6-3-1, two third joints 6-3-2 and a third magnetic column 6-3-3. Two protrusions are machined at one end of the C-shaped support block 6-3-1, and the two protrusions are respectively inserted and matched with the first slot 6-4-4 and the second slot 6-4-5. One third joint 6-3-2 is arranged on each side of the other end of the C-shaped support block 6-3-1. The C-shaped support block 6-3-1 is hinged to the outer circumferential wall of the third fixed joint sleeve 6-1 through the two third joints 6-3-2. A third arc groove 6-3-4 is machined on the outer wall of the C-shaped support block 6-3-1 near the two third joints 6-3-2. A third magnetic column 6-3-3 is arranged in the third arc groove 6-3-4. The third magnetic column 6-3-3 is a cylinder, and the outer wall of the third magnetic column 6-3-3 is fixedly connected to the inner wall of the third arc groove 6-3-4. The third magnetic column 6-3-3 is arranged in the third electromagnetic coil 6-2.

[0023] Further, after the third electromagnetic coil 6-2 is powered, a torque is generated to drive the third magnetic column 6-3-3, ensuring that the third magnetic column 6-3-3 drives the two third connectors 6-3-2 to swing up and down on the third fixed joint sleeve 6-1 through the two third hinge holes 6-1-1. During the swinging, the two third connectors 6-3-2 drive the U-shaped support block 6-3-1 to swing up and down as well. A first slot 6-4-4 and a second slot 6-4-5 are respectively machined in the third housing 6-4, ensuring that the U-shaped support block 6-3-1 can be inserted into the third housing 6-4 and firmly connected, thus restoring the authenticity of the tail drive device to the greatest extent.

[0024] Further, when the first connection assembly 4-3 swings up and down, the corresponding second connection assembly 5-3 and third connection assembly 6-3 also swing up and down; ensuring the consistent performance of the tail during swimming, and being able to achieve the trend of upward or downward swing movement during swimming.

[0025] Specific Embodiment Seven: Combining Figures 1 to 38 This embodiment is described. In this embodiment, it includes a worm body 11, shell flaps 12, appendages 13, and a drive motor 14. Two shell flaps 12, several appendages 13, and a drive motor 14 are respectively arranged on the worm body 11. The shell flaps 12 are in the shape of leaves. One side of each shell flap 12 is fixedly connected to the upper surface of the worm body 11. Several appendages 13 are arranged on the lower surface of the worm body 11. Each appendage 13 includes a V-shaped support frame 13-1 and a swing plate 13-2. The two ends of the V-shaped support frame 13-1 are respectively provided with a first spherical joint 13-3 and a second spherical joint 13-4. The first spherical joint 13-3 is fixedly connected to one end of the V-shaped support frame 13-1. The second spherical joint 13-4 is fixedly connected to the other end of the V-shaped support frame 13-1. A swing plate 13-2 is arranged on the second spherical joint 13-4. The swing plate 13-2 includes a cylindrical support rod 13-5 and a semi-elliptical plate 13-6. The outer wall of the cylindrical support rod 13-5 is fixedly connected to one end of the semi-elliptical plate 13-6. One end of the cylindrical support rod 13-5 is fixedly connected to the second spherical joint 13-4. The first spherical joint 13-3 is arranged in the groove of the left camshaft 11-3 or the groove of the right camshaft 11-4, and the first spherical joint 13-3 is hinged to the groove of the left camshaft 11-3 or the groove of the right camshaft 11-4. The second spherical joint 13-4 is arranged on the worm body frame 11-1, and the second spherical joint 13-4 is hinged to the worm body frame 11-1. The tail end of the worm body 11 is fixedly connected to one end of the first fixed joint sleeve 4-1 on the first joint member 4. The first joint member 4, the middle joint member 5, and the last joint member 6 cooperate to drive the worm body 11 to move forward.

[0026] Further, a plurality of appendages 13 are driven by a driving motor 14 to make a coordinated gait planning swinging mode on the insect body 11, wherein the coordinated gait planning swinging mode of the appendages 13 includes an overall alternating gait, a synchronous gait and a segmented alternating gait; the overall alternating gait includes a push phase and a return phase, and the push phase and the return phase constitute a complete swing cycle of the appendage 13, the push phase refers to the stage in which the bionic robot appendage 13 pushes the water flow in a swing cycle, and the appendage 13 generates thrust on the water flow in the push phase to ensure that the robot can swim or crawl; the return phase refers to the stage in which the bionic robot appendage 13 recovers and stores power in a swing cycle, and the appendage 13 does not generate thrust on the water flow in the return phase, and the robot is in a non-moving state; the segmented alternating gait is the same in form as the overall alternating gait, and the segmented alternating gait is a part of the overall alternating gait; Fig.35 It is a schematic diagram of the structure in the synchronous gait state, and the left camshaft 11 - 3 and the right camshaft 11 - 4 are in a non-periodic state corresponding to FIG. 34 (a); Fig.36 It is a schematic diagram of the structure in the overall alternating gait state. The left camshaft 11-3 and the right camshaft 11-4 are in a cycle state corresponding to FIG. 34(b). The movement forms of the left camshaft 11-3 and the right camshaft 11-4 are consistent but in opposite directions. Fig.37 It is a schematic diagram of the structure in two alternating gait states. The left camshaft 11-3 and the right camshaft 11-4 are in a two-cycle state corresponding to FIG. 34 (c). The movement forms of the left camshaft 11-3 and the right camshaft 11-4 are consistent but in opposite directions. Fig.38 It is a schematic diagram of the structure in the three-stage alternating gait state. The left camshaft 11-3 and the right camshaft 11-4 are in the three-cycle state corresponding to FIG. 34 (d). The movement forms of the left camshaft 11-3 and the right camshaft 11-4 are consistent with each other, but in opposite directions. Furthermore, one side of the first fixed joint sleeve 4-1 is fixedly connected to the insect body 11, and can ensure that the insect body 11 moves forward when the first segment 4, the middle segment 5 and the last segment 6 are swinging up and down. A plurality of appendages 13 are arranged under the insect body 11, and the appendages 13 are swung by starting the driving motor 14. When the insect tail swings, the appendages 13 also swing. In the process of the tail driving the insect body 11 to move forward, the appendages 13 can ensure that the insect body 11 maintains a balanced state, deeply restoring the process and swimming method of the insect swimming underwater.

[0027] Specific embodiment eight: This embodiment is a further limitation of specific embodiments one, two, three, four, five, six or seven. The insect body 11 includes an insect body frame 11-1, a front part buckle 11-2, a left camshaft 11-3, a right camshaft 11-4, a rear part buckle 11-5, a support frame 11-6, a first gear 15, a second gear 16 and a third gear 17. The insect body frame 11-1 is an arc groove, and the front part buckle 11-2, the rear part buckle 11-5 and the support frame 11-6 are sequentially arranged in the arc groove. The support frame 11-6, the front part buckle 11-2 and the rear part buckle 11-5 are arranged vertically in parallel, the support frame 11-6 is a semi-elliptical body, one side of the semi-elliptical body is fixedly connected to one end of the insect body frame 11-1, and the other end of the insect body frame 11-1 is fixedly connected to the rear part buckle 11-5, the front part buckle 11-2 is arranged in the arc groove close to the support frame 11-6, the support frame 11-6 is processed with a notch 11-7 along its thickness direction, and a driving motor 14 is arranged on the notch 11-7 to drive The motor 14 is clamped on the notch 11-7, and a first gear 15 is passed through the output shaft of the driving motor 14. The first gear 15 is arranged near the front buckle 11-2. A left camshaft 11-3 and a right camshaft 11-4 are respectively arranged between the front buckle 11-2 and the rear buckle 11-5. The left camshaft 11-3 and the right camshaft 11-4 are arranged horizontally in parallel. The camshafts are cylindrical, and a plurality of grooves are respectively processed on the outer walls of the left camshaft 11-3 and the outer walls of the right camshaft 11-4, and a plurality of grooves are arranged in the grooves. A plurality of appendages 13, one end of the left camshaft 11-3 passes through the front part buckle 11-2 and is detachably connected to the third gear 17, the other end of the left camshaft 11-3 is inserted into the rear part buckle 11-5, one end of the right camshaft 11-4 passes through the front part buckle 11-2 and is detachably connected to the second gear 16, the other end of the right camshaft 11-4 is inserted into the rear part buckle 11-5, the second gear 16 and the third gear 17 are meshed with the first gear 15, and the first gear 15 is meshed with the third gear 17.

[0028] Furthermore, the camshaft is cylindrical, and a plurality of grooves are machined along the outer wall of the camshaft. Fig.35 When the camshaft is in the non-phase state, the directions of the multiple grooves are consistent, and the camshaft drives the appendage 13 to be in a synchronous gait state; Combining Figure 34(b) and Fig.36 , when the camshaft is in a cycle state, the groove tilts from right to left and then to right, and the camshaft drives the appendage 13 to be in an overall alternating gait state; Combining Figure 34(c) and Fig.37, when the camshaft is in the two-cycle state, the distribution of the grooves is twice that of the one-cycle state, and the camshaft drives the appendage 13 to be in two alternating gait states; Combining Figure 34(d) and Fig.38 , when the camshaft is in a three-cycle state, the distribution of the grooves is three times of a one-cycle state, and the camshaft drives the appendage 13 to be in a three-stage alternating gait state; Furthermore, the interior of the insect body 11 is provided with a front part buckle 11-2, a left camshaft 11-3, a right camshaft 11-4, a rear part buckle 11-5, a support frame 11-6, a drive motor 14, a first gear 15, a second gear 16 and a third gear 17. The drive motor 14 is the source of power. The drive motor 14 drives the first gear 15 to rotate itself, the first gear 15 drives the second gear 16 and the third gear 17 to rotate, the second gear 16 and the third gear 17 drive the left camshaft 11-3 and the right camshaft 11-4 to rotate, thereby realizing the gait cycle of the entire appendage 13. The insect body frame 11-1 is a part of the insect body 11, ensuring that the appendage 13 is fixed on the insect body 11.

[0029] Furthermore, after the swing of the appendage 13 is realized, camshafts of different shapes are designed to explore the most suitable leg swimming mode, namely, camshafts with no cycle, one cycle, two cycles and three cycles. In the no cycle state, the camshaft has the same shape; when the camshaft is in one cycle, the profile of the camshaft rotates 30 degrees in sequence, and the 12 cams rotate 360 ​​degrees in total, which is a complete cycle; two cycles are to divide the camshaft into two sections and repeat one cycle; three cycles are three sections. Finally, the most suitable swing mode of the appendage 13 is selected to truly restore the swimming mode of the ancient organism Otocarpus spp.

[0030] Specific implementation method 9: This implementation method is a further limitation of specific implementation methods 1, 2, 3, 4, 5, 6, 7 or 8. Figures 27 to 33 The seven swimming modes of the multi-segmented earworm are as follows: the magnetic field generated by the electromagnetic coil generates a torque driving the magnet and then drives the two movable joints and the tail end. At the same time, the limit card can be used to limit the two movable joints. The limit card is in the fixed joint sleeve or the rotating shaft part of the flexible joint, which can limit the swinging state. In this way, the tail joints of the corresponding number of segments can be swung at one time to determine the fastest swimming speed, thereby simulating the real situation of the ancient biological earworm to the maximum extent. There are a total of 7 combination methods, which are divided into one-time driving of one, two or three joints.

[0031] The specific installation process of the present invention is: The tail end of the multi-section ear material village insect detection device is fixedly connected to one side of the first fixed joint sleeve 4-1 on the first section 4, and the middle section 5 and the end section 6 are installed on the other side of the first fixed joint sleeve 4-1. The first electromagnetic coil 4-2 is installed in the first fixed joint sleeve 4-1 on the first section 4. The first fixed joint sleeve 4-1 is installed with two first joints 4-3-2 on the first connecting component 4-3. One end of the two first joints 4-3-2 is hinged to the first fixed joint sleeve 4-1 through two first hinge holes 4-1-1, and the other end of the two first joints 4-3-2 is fixedly connected to the first square support block 4-3-1. The first square support block 4-3-1 faces the two first joints 4-3-2. A first arc groove 4-3-4 is installed on one side, a first magnetic column 4-3-3 is installed on the first arc groove 4-3-4, the first magnetic column 4-3-3 is arranged in the first electromagnetic coil 4-2, a first square support block 4-3-1 is penetrated on the first shell 4-4 through a first long slot 4-4-1, the other side of the first square support block 4-3-1 is fixedly connected to one side of the second fixed joint sleeve 5-1, a second electromagnetic coil 5-2 is installed in the second fixed joint sleeve 5-1, two second joints 5-3-2 on the second connecting component 5-3 are installed on the second fixed joint sleeve 5-1, one end of the two second joints 5-3-2 is hinged to the second fixed joint sleeve 5-1 through two second hinge holes 5-1-1 -1, the other ends of the two second joints 5-3-2 are fixedly connected to the second square support block 5-3-1, the second square support block 5-3-1 is installed with a second arc groove 5-3-4 on the side facing the two second joints 5-3-2, the second arc groove 5-3-4 is installed with a second magnetic column 5-3-3, the second magnetic column 5-3-3 is arranged in the second electromagnetic coil 5-2, the second square support block 5-3-1 is penetrated on the second shell 5-4 through the second long slot 5-4-1, the other side of the second square support block 5-3-1 is fixedly connected to one side of the third fixed joint sleeve 6-1, the third electromagnetic coil 6-2 is installed in the third fixed joint sleeve 6-1, and the third fixed joint sleeve 6-1 is installed There are two third joints 6-3-2 on the third connecting component 6-3, one end of the two third joints 6-3-2 is hinged on the third fixed joint sleeve 6-1 through two third hinge holes 6-1-1, the other end of the two third joints 6-3-2 is fixedly connected to the U-shaped support block 6-3-1, and the U-shaped support block 6-3-1 is provided with a third arc groove 6-3-4 on one side facing the two third joints 6-3-2, and a third magnetic column 6-3-3 is provided on the third arc groove 6-3-4, and the third magnetic column 6-3-3 is arranged in the third electromagnetic coil 6-2, and the other side of the U-shaped support block 6-3-1 is plugged into the third shell 6-4 through the first slot 6-4-4 and the second slot 6-4-5.

[0032] Working process of the present invention: In the first working process, the first electromagnetic coil 4-2 generates a magnetic field after power is supplied, and the magnetic field can generate a torque drive on the first magnetic column 4-3-3. When the first magnetic column 4-3-3 drives the two first joints 4-3-2 to swing upward or downward on the first fixed joint sleeve 4-1, the second electromagnetic coil 5-2 is then energized to generate a magnetic field, and the magnetic field generates a torque drive on the second magnetic column 5-3-3. The second magnetic column 5-3-3 also drives the two second joints 5-3-2 to swing upward or downward on the second fixed joint sleeve 5-1. Finally, the third electromagnetic coil 6-2 is energized to generate a magnetic field, and the magnetic field generates a torque drive on the third magnetic column 6-3-3. The third magnetic column 6-3-3 also drives the two third joints 6-3-2 to swing upward or downward on the third fixed joint sleeve 6-1. By continuously and repeatedly supplying power, the tail swing of the multi-segment earworm is restored.

[0033] In the second working process, the magnetic field generated by energizing the first electromagnetic coil 4-2 can generate a torque drive on the first magnetic column 4-3-3, thereby driving the two first joints 4-3-2 to swing up and down on the first fixed joint sleeve 4-1, and the first limit card 1 can be used to limit the two first joints 4-3-2 at the tail, thereby ensuring that the first section 4 does not move, the middle section 5 and the last section 6 swing up and down, and the magnetic field generated by energizing the second electromagnetic coil 5-2 can generate a torque drive on the second magnetic column 5-3-3, thereby driving the two second joints 5-3-2 in the second fixed joint sleeve 5-1 swings up and down, the second limit card 2 can be used to limit the two second joints 5-3-2 at the tail, thereby ensuring that the middle section 5 does not move, while the first section 4 and the last section 6 swing up and down, and the magnetic field generated by energizing the third electromagnetic coil 6-2 can generate a torque drive for the third magnetic column 6-3-3 and then drive the two third joints 6-3-2 to swing up and down on the third fixed joint sleeve 6-1. At the same time, the third limit card 3 can be used to limit the two third joints 6-3-2, thereby ensuring that the last section 6 does not move, while the first section 4 and the middle section 5 swing up and down.

Claims

1. A multi-section self-swinging tail piece, characterized in that: The invention comprises a first section (4), a middle section (5), a last section (6), a first limit card (1), a second limit card (2) and a third limit card (3), wherein the first section (4), the middle section (5) and the last section (6) are arranged horizontally in sequence, one end of the first section (4) is hinged to one end of the middle section (5), the other end of the middle section (5) is hinged to one end of the last section (6), the other end of the first section (4) is provided with a first limit card (1), a second limit card (2) is provided between the first section (4) and the middle section (5), a third limit card (3) is provided between the middle section (5) and the last section (6), and the second limit card (1) is provided between the first section (4) and the middle section (5). The limit card (2) is a semi-cylinder, and is processed with a second circular notch (2-1) and two rectangular notches (2-2) along the thickness direction of the semi-cylinder. The two sides of the second circular notch (2-1) are respectively connected to a rectangular notch (2-2). The second limit card (2) is sleeved between the first section (4) and the middle section (5) through the second circular notch (2-1) and the two rectangular notches (2-2). The first section (4), the middle section (5) and the last section (6) cooperate with each other to perform a multi-mode and multi-angle swing process through the first limit card (1), the second limit card (2) and the third limit card (3). The multi-angle swinging process of the first mode is a process in which the first section (4), the middle section (5) and the last section (6) are in a horizontal coaxial state, and the first section (4), the middle section (5) and the last section (6) are limited by the second limit card (2) and the third limit card (3) respectively, and then the first section (4), the middle section (5) and the last section (6) are in a coaxial state, and the first section (4) drives the middle section (5) and the last section (6) to make an up and down swinging motion; The multi-angle swinging process of the second mode is a process in which the first section (4), the middle section (5) and the last section (6) are in a horizontal coaxial state, the other end of the first section (4) is limited by the first limit card (1), and the middle section (5) and the last section (6) are limited by the third limit card (3) to the middle section (5) and the last section (6) are in a coaxial state, and the middle section (5) drives the last section (6) and the first section (4) to make an up and down swinging motion; The multi-angle swinging process of the third mode is a process in which the first section (4), the middle section (5) and the last section (6) are in a horizontal coaxial state, the other end of the first section (4) is limited by a first limit card (1), and the first section (4) and the middle section (5) are limited by a second limit card (2) to a state in which the first section (4) and the middle section (5) are in a horizontal coaxial state, and the last section (6) and the middle section (5) make an up-and-down swinging motion. The multi-angle swinging process of the fourth mode is that the first section (4), the middle section (5) and the last section (6) are in a horizontal coaxial state, and the middle section (5) and the last section (6) are limited by the third limit card (3) to the middle section (5) and the last section (6) being in a coaxial state, and the other end of the first section (4) performs an up-and-down swinging motion at a first position, and the middle section (5) drives the last section (6) and the first section (4) to perform an up-and-down swinging motion at a second position; The multi-angle swinging process of the fifth mode is a process in which the first section (4), the middle section (5) and the last section (6) are in a horizontal coaxial state, and the first section (4) and the middle section (5) are limited by the second limit card (2) to switch to a state in which the first section (4) and the middle section (5) are in a coaxial state, the first section (4) drives the middle section (5) to make an up-and-down swinging motion in a first position, and the last section (6) and the middle section (5) make an up-and-down swinging motion in a second position; The multi-angle swinging process of the sixth mode is a process in which the first section (4), the middle section (5) and the last section (6) are in a horizontal coaxial state, and the other end of the first section (4) is limited by the first limit card (1) to switch to a state in which the first section (4) and the middle section (5) make an up-and-down swinging motion in a first position, and the middle section (5) and the last section (6) make an up-and-down swinging motion in a second position when the first section (4) is in a horizontal coaxial state; The multi-angle swinging process of the seventh mode is that the first section (4), the middle section (5) and the last section (6) are transformed from a horizontal coaxial state to a non-coaxial state between the first section (4), the middle section (5) and the last section (6) to make an up and down swinging motion.

2. A multi-section self-swinging tail piece according to claim 1, characterized in that: The first section (4) comprises a first fixed joint sleeve (4-1), a first electromagnetic coil (4-2), a first connecting component (4-3) and a first outer shell (4-4); the first fixed joint sleeve (4-1) is a hollow cylinder; the first electromagnetic coil (4-2) is coaxially arranged in the first fixed joint sleeve (4-1); the first connecting component (4-3) is horizontally arranged; one end of the first connecting component (4-3) is hinged to the outer wall of the first fixed joint sleeve (4-1); and the first outer shell (4-4) is arranged outside the first connecting component (4-3); The first housing (4-4) comprises a first semicircular block (4-5) and a first arc-shaped plate (4-6); the first semicircular block (4-5) is processed with a first long slot (4-4-1) along the block thickness direction; one side of the first semicircular block (4-5) is fixedly connected to one side of the first arc-shaped plate (4-6).

3. A multi-section self-swinging tail piece according to claim 2, characterized in that: The first connection assembly (4-3) comprises a first square support block (4-3-1), two first joints (4-3-2), a first magnetic column (4-3-3), a second fixed joint sleeve (5-1) and a second electromagnetic coil (5-2); the first square support block (4-3-1) is a flat block; the first square support block (4-3-1) is processed with a first square counterweight opening (7) along its height direction; the first square support block (4-3-1) is inserted through a first long slot (4-4-1) on the first semicircular block (4-5); a second fixed joint sleeve (5-1) is arranged below the first arc plate (4-6); one end of the first square support block (4-3-1) is fixedly connected to one end of the second fixed joint sleeve (5-1); and two sides of the other end of the first square support block (4-3-1) are respectively arranged with A first joint (4-3-2), the first square support block (4-3-1) is hingedly connected to the outer circumferential wall of the first fixed joint sleeve (4-1) through two first joints (4-3-2), a first arc groove (4-3-4) is processed on the outer wall of one end of the first square support block (4-3-1) close to the two first joints (4-3-2), a first magnetic column (4-3-3) is arranged in the first arc groove (4-3-4), the first magnetic column (4-3-3) is a cylinder, the outer wall of the first magnetic column (4-3-3) is fixedly connected to the inner wall of the first arc groove (4-3-4), the first magnetic column (4-3-3) is arranged in the first electromagnetic coil (4-2), the second fixed joint sleeve (5-1) is a hollow cylinder, and the second electromagnetic coil (5-2) is coaxially arranged in the second fixed joint sleeve (5-1).

4. A multi-section self-swinging tail piece according to claim 1 or 3, characterized in that: The middle section (5) comprises a second connecting component (5-3) and a second outer shell (5-4); the second connecting component (5-3) is arranged horizontally, one end of the second connecting component (5-3) is hinged to the outer wall of the second fixed joint sleeve (5-1), and a second outer shell (5-4) is arranged outside the second connecting component (5-3); the second outer shell (5-4) comprises a second semicircular block (5-5) and a second arc plate (5-6); the second semicircular block (5-5) is processed with a second long slot (5-4-1) along its block thickness, and one side of the second semicircular block (5-5) is fixedly connected to one side of the second arc plate (5-6); The second connection assembly (5-3) comprises a second square support block (5-3-1), two second joints (5-3-2), a second magnetic column (5-3-3), a third fixed joint sleeve (6-1) and a third electromagnetic coil (6-2); the second square support block (5-3-1) is in the shape of a flat block; the second square support block (5-3-1) is provided with a second square counterweight opening (8) along its height direction; the second square support block (5-3-1) is inserted through a second long slot (5-4-1) on the second semicircular block (5-5); a third fixed joint sleeve (6-1) is provided below the second arc plate (5-6); one end of the second square support block (5-3-1) is fixedly connected to one end of the third fixed joint sleeve (6-1); and two sides of the other end of the second square support block (5-3-1) are provided with A second joint (5-3-2), the second square support block (5-3-1) is hingedly connected to the outer circumferential wall of the second fixed joint sleeve (5-1) through two second joints (5-3-2), a second arc groove (5-3-4) is processed on the outer wall of one end of the second square support block (5-3-1) close to the two second joints (5-3-2), a second magnetic column (5-3-3) is arranged in the second arc groove (5-3-4), the second magnetic column (5-3-3) is a cylinder, the outer wall of the second magnetic column (5-3-3) is fixedly connected to the inner wall of the second arc groove (5-3-4), the second magnetic column (5-3-3) is arranged in the second electromagnetic coil (5-2), the third fixed joint sleeve (6-1) is a hollow cylinder, and the third electromagnetic coil (6-2) is coaxially arranged in the third fixed joint sleeve (6-1).

5. A multi-section self-swinging tail piece according to claim 1 or 4, characterized in that: The end section (6) comprises a third connecting component (6-3) and a third outer shell (6-4); the third connecting component (6-3) is arranged horizontally, one end of the third connecting component (6-3) is hinged to the outer wall of the third fixed joint sleeve (6-1), and the third outer shell (6-4) is arranged on the third connecting component (6-3); The third shell (6-4) comprises a shell casing (6-4-1), a tail fin ray (6-4-2) and two balancing support angles (6-4-3); the shell casing (6-4-1) is provided with a tail fin ray (6-4-2) and two balancing support angles (6-4-3); one end of the balancing support angle (6-4-3) is a wide end, and the other end of the balancing support angle (6-4-3) is a narrow end; the wide end of each balancing support angle (6-4-3) and the narrow end of the tail fin ray (6-4-2) are fixedly connected to the outer wall of the shell casing (6-4-1); a first slot (6-4-4) and a second slot (6-4-5) are respectively processed in the shell casing (6-4-1); the first slot (6-4-4) and the second slot (6-4-5) are vertically arranged in parallel.

6. A multi-section self-swinging tail piece according to claim 5, characterized in that: The third connection assembly (6-3) comprises a U-shaped support block (6-3-1), two third connectors (6-3-2) and a third magnetic column (6-3-3); one end of the U-shaped support block (6-3-1) is processed with two protrusions, the two protrusions are respectively plugged into and matched with the first slot (6-4-4) and the second slot (6-4-5); two sides of the other end of the U-shaped support block (6-3-1) are respectively provided with a third connector (6-3-2); the U-shaped support block (6-3-1) is connected to the magnetic column through the two third connectors (6-3-2). The third magnetic column (6-3-3) is hinged on the outer circumferential wall of the third fixed joint sleeve (6-1); a third arc groove (6-3-4) is processed on the outer wall of one end of the U-shaped support block (6-3-1) close to the two third joints (6-3-2); a third magnetic column (6-3-3) is arranged in the third arc groove (6-3-4); the third magnetic column (6-3-3) is a cylinder; the outer wall of the third magnetic column (6-3-3) is fixedly connected to the inner wall of the third arc groove (6-3-4); and the third magnetic column (6-3-3) is arranged in the third electromagnetic coil (6-2).

7. A multi-section ear material insect detection device, comprising a multi-section self-swinging tail piece according to claim 1, 2, 3, 4, 5 or 6, characterized in that: The invention comprises an insect body (11), a shell petal (12), an appendage (13) and a driving motor (14), wherein the insect body (11) is respectively provided with two shell petals (12), a plurality of appendages (13) and a driving motor (14), the shell petal (12) is leaf-shaped, one side of each shell petal (12) is fixedly connected to the upper surface of the insect body (11), and a plurality of appendages (13) are provided on the lower surface of the insect body (11), and each appendage (13) comprises a V-shaped support frame (13-1) and a swing plate. (13-2), a first spherical joint (13-3) and a second spherical joint (13-4) are respectively provided at both ends of the V-shaped support frame (13-1), the first spherical joint (13-3) is fixedly connected to one end of the V-shaped support frame (13-1), the second spherical joint (13-4) is fixedly connected to the other end of the V-shaped support frame (13-1), and a swing plate (13-2) is provided on the second spherical joint (13-4), and the swing plate (13-2) comprises A cylindrical support rod (13-5) and a semi-elliptical plate (13-6), wherein the outer wall of the cylindrical support rod (13-5) is fixedly connected to one end of the semi-elliptical plate (13-6), and one end of the cylindrical support rod (13-5) is fixedly connected to a second spherical joint (13-4), wherein the first spherical joint (13-3) is arranged in a groove of a left cam shaft (11-3) or in a groove of a right cam shaft (11-4), and the first spherical joint (13-3) is fixedly connected to the left cam shaft (11-3). 3) or the groove of the right cam shaft (11-4), the second spherical joint (13-4) is arranged on the insect body frame (11-1), the second spherical joint (13-4) is hinged to the insect body frame (11-1), the tail end of the insect body (11) is fixedly connected to one end of the first fixed joint sleeve (4-1) on the first segment (4), and the first segment (4), the middle segment (5) and the last segment (6) cooperate to swing and drive the insect body (11) to move forward.

8. A multi-section earworm detection device according to claim 7, characterized in that: The insect body (11) comprises an insect body frame (11-1), a front portion buckle (11-2), a left camshaft (11-3), a right camshaft (11-4), a rear portion buckle (11-5), a support frame (11-6), a first gear (15), a second gear (16) and a third gear (17); the insect body frame (11-1) is an arc-shaped groove, in which the front portion buckle (11-2), the rear portion buckle (11-5) and the support frame (11-6) are sequentially arranged; the support frame (11-6), the front portion buckle (11-2) and the rear portion buckle (11-5) ) are arranged vertically in parallel, the support frame (11-6) is a semi-elliptical body, one side of the semi-elliptical body is fixedly connected to one end of the insect body frame (11-1), the other end of the insect body frame (11-1) is fixedly connected to the rear part buckle (11-5), the front part buckle (11-2) is arranged in the arc groove close to the support frame (11-6), the support frame (11-6) is processed with a notch (11-7) along its thickness direction, a drive motor (14) is arranged on the notch (11-7), the drive motor (14) is snapped on the notch (11-7), the drive motor (14) ) is provided with a first gear (15) on the output shaft, the first gear (15) being arranged close to the front portion buckle (11-2), a left camshaft (11-3) and a right camshaft (11-4) being arranged between the front portion buckle (11-2) and the rear portion buckle (11-5), the left camshaft (11-3) and the right camshaft (11-4) being arranged horizontally in parallel, the left camshaft (11-3) being cylindrical, a plurality of grooves being machined on the outer walls of the left camshaft (11-3) and the outer walls of the right camshaft (11-4), a plurality of appendages (13) being arranged in the grooves, One end of the left camshaft (11-3) passes through the front portion buckle (11-2) and is detachably connected to the third gear (17), and the other end of the left camshaft (11-3) is inserted through the rear portion buckle (11-5). One end of the right camshaft (11-4) passes through the front portion buckle (11-2) and is detachably connected to the second gear (16), and the other end of the right camshaft (11-4) is inserted through the rear portion buckle (11-5). The second gear (16) and the third gear (17) are meshed with a first gear (15), and the first gear (15) is meshed with the third gear (17).

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