Vibration-driven microminiature bionic robotic fish and manufacturing method thereof

Abstract

The invention relates to a vibration-driven microminiature bionic robotic fish and a manufacturing method thereof, the robotic fish comprises a bionic fish body, bionic fins are flexibly connected to the two sides and the tail of the bionic fish body, each bionic fin comprises a connecting rod, a motor device and a swing part, one end of the motor device is in transmission connection with the bionic fish body through the connecting rod, and the other end of the motor device is in transmission connection with the swing part. The other end of the motor device is connected with a swing part, the cross section of the connecting rod is a rectangle with the length larger than the width, the first-order inherent frequency of the bionic fish fin is smaller than the second-order inherent frequency of the bionic fish fin, one end of the connecting rod is flexibly connected into the bionic fish body, the other end of the connecting rod is connected with a swing device, and the cross section of the connecting rod is a rectangle with the length larger than the width. According to the bionic robotic fish, the difference value between the first-order inherent frequency and the second-order inherent frequency of the bionic fish fin can be increased under the condition that the cross sectional area is fixed, it is guaranteed that when resonance occurs, the vibration mode of the bionic fish fin is mainly the first-order vibration mode, and the movement mode of the bionic robotic fish conforms to the fish swimming mode.

Description

Technical Field

[0001] The invention relates to the technical field of bionic underwater robotic fish, and in particular to a vibration-driven micro-sized bionic robotic fish and a manufacturing method thereof. Background Art

[0002] The ocean contains abundant resources, including oil, natural gas, biological genetic resources and rare earth resources. However, due to the complex and harsh conditions of the deep sea environment, such as the narrow space and low visibility of trenches, it is particularly difficult for humans to conduct direct exploration in the deep sea environment.

[0003] The power mechanism of traditional bionic robot fish achieves propulsion by simulating the low-frequency swinging of fish. The propulsion efficiency of low-frequency swinging bionic robot fish is relatively low. In addition, the vibration frequency of the transmission device of traditional bionic robot fish does not match the vibration frequency of the vibration motor. Due to the inconsistency of the vibration frequency, the transmission device cannot achieve efficient capture and transmission of the motor output energy, thereby limiting the improvement of the bionic robot fish's swimming efficiency. Therefore, it is necessary to coordinate the frequency between the transmission device and the vibration motor to ensure that its vibration frequency matches the vibration frequency of the motor to improve the energy transfer efficiency and thus enhance the swimming performance of the bionic robot fish. Summary of the invention

[0004] In view of the shortcomings of the background technology, the purpose of the present invention is to provide a vibration-driven micro-bionic robotic fish and a manufacturing method thereof.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A vibration-driven micro-bionic robotic fish comprises a bionic fish body, characterized in that bionic fins are flexibly connected to both sides and the tail of the bionic fish body, the bionic fins comprise a connecting rod, a motor device and a swinging piece, one end of the motor device is connected to the bionic fish body through the connecting rod, the other end of the motor device is connected to the swinging piece, the cross-section of the connecting rod is a rectangle whose length is greater than its width, so that the first-order natural frequency of the bionic fish fin is less than the second-order natural frequency of the bionic fish fin; a control device and a battery are arranged in the bionic fish body, the control device and the battery are electrically connected to the motor device, a switch device is flexibly and sealably connected to the surface of the bionic fish body, and the switch device is electrically connected to the control device.

[0007] Furthermore, the length of the connecting rod is 10-30 mm, and the aspect ratio of the cross section of the connecting rod is 2.5:1.

[0008] Further, the bionic fish body includes a first bionic fish body and a second bionic fish body that are detachably connected to each other. The outer wall of the first bionic fish body is provided with a first assembly cavity, the outer wall of the second bionic fish body is provided with a second assembly cavity, and the tail of the first bionic fish body or the tail of the second bionic fish body is provided with a third assembly cavity. The connecting rod is flexibly connected to the first assembly cavity, the second assembly cavity, and the third assembly cavity.

[0009] Further, the first bionic fish body and the second bionic fish body are in a streamlined structure.

[0010] Further, the motor device includes a motor cabin, a vibration motor is assembled in the motor cabin, one end of the motor cabin is connected to the connecting rod, and the other end of the motor cabin is connected to the swinging member.

[0011] Further, the swinging member includes a connecting layer and a swinging piece. One end of the connecting layer is connected to the motor cabin, and the other end of the connecting layer is inserted with the swinging piece.

[0012] Further, it further includes a lighting device, the lighting device is flexibly and hermetically connected to the head of the bionic fish body, and the lighting device is electrically connected to the control device.

[0013] Further, it further includes a charging interface, the charging interface is flexibly and hermetically connected to the surface of the bionic fish body, and the charging interface is electrically connected to the battery.

[0014] A manufacturing method of a vibration-driven micro-miniature bionic robotic fish includes the following steps:

[0015] S1 3D print and manufacture the first bionic fish body and the second bionic fish body using resin materials;

[0016] S2 Place the bionic fish fins in the first assembly cavity, the second assembly cavity, and the third assembly cavity of the first bionic fish body and the second bionic fish body; the bionic fish fins are flexibly connected to the first assembly cavity, the second assembly cavity, and the third assembly cavity;

[0017] S3 Weld the leads of the battery, the lighting device, the start-stop switch, and the charging interface to the control device;

[0018] S4 Vertically place the control device and the battery in the bionic fish body, place the lighting device, the start-stop switch, and the charging interface at the corresponding positions of the first bionic fish body and the second bionic fish body respectively, and seal them;

[0019] S5 Align and position the first bionic fish body and the second bionic fish body, and adhesively fix them.

[0020] Further, the manufacturing process of the bionic fish fin in S2 includes the following steps:

[0021] S10 3D print and manufacture the models of the motor device and the swinging member using resin materials;

[0022] S20 Mold the swinging member using a flexible material;

[0023] S30 Cut the swinging piece into a specific shape, and then insert the swinging piece into the connecting layer and fix it by gluing;

[0024] S40 Embed the vibrating motor into the motor fixing cavity of the motor device and fix it by gluing;

[0025] S50 Glue and fix the motor device assembled with the vibrating motor to the swinging member.

[0026] The beneficial effects of the present invention are as follows:

[0027] 1. A vibration-driven micro bionic robotic fish and its manufacturing method proposed by the present invention. The bionic robotic fish designs the structure of the connecting rod on the bionic fish fin, sets the cross-section of the connecting rod as a rectangle with a length greater than the width. Under the condition of ensuring the cross-section of the connecting rod remains unchanged, increasing the aspect ratio of the length to the width of the cross-section of the connecting rod can increase the difference between the first natural frequency and the second natural frequency of the bionic fish fin, and can ensure that when resonance occurs, the vibration mode of the bionic fish fin is mainly the first vibration mode. And setting the cross-section of the connecting rod as a rectangle with a length greater than the width can make the vibration mode of the bionic fish fin be a swing perpendicular to the length direction of the connecting rod, which conforms to the movement mode of fish.

[0028] 2. A vibration-driven micro bionic robotic fish and its manufacturing method proposed by the present invention. The bionic robotic fish uses an eccentric wheel vibrating motor to achieve high-frequency vibration propulsion. Compared with traditional thrusters, this high-frequency vibration can not only improve the propulsion efficiency, but also enable the robotic fish to swim fast with a smaller volume. Due to the high-frequency characteristics of the eccentric wheel vibrating motor, the robotic fish can swim more precisely and quickly. At the same time, the motion mechanism driven by vibration is flexibly designed without a transmission mechanism, which is convenient to realize the compactness of the robotic fish structure, and this is crucial for the navigation and obstacle avoidance capabilities in complex underwater environments.

[0029] 3. A vibration-driven micro bionic robotic fish and its manufacturing method proposed by the present invention. The bionic fish body is composed of a first bionic fish body and a second bionic fish body. The streamlined bionic fish body accurately simulates the body shape characteristics and swimming patterns of real fish, can significantly improve the flexibility, mobility, concealment and environmental adaptability of the robotic fish, and at the same time realizes modularization for easy maintenance and upgrade, so as to show excellent performance in complex and changeable underwater environments.

[0030] 4. A vibration-driven micro bionic robotic fish and its manufacturing method proposed by the present invention. The bionic fish fin consists of a connecting rod, a motor device, and a swinging member. The motor cabin surrounding the motor device is made of rigid material, and the swinging member is made of flexible material. The motor cabin made of rigid material provides a stable support structure for the fish fin, and the flexible swinging member helps to maintain a certain shape and angle during the swinging process, thus more effectively converting energy into thrust. It can simulate the swinging mode of real fish fins, generate a trailing vortex for propulsion, and further optimize the fluid performance. This combination makes the bionic fish fin superior to the traditional propeller in terms of propulsion efficiency.

[0031] 5. A vibration-driven micro bionic robotic fish and its manufacturing method proposed by the present invention. The bionic fish body and the motor cabin are both manufactured using 3D printing technology, which can precisely control the structures of the motor cabin and the fish body of the bionic robotic fish, and better achieve the required shape design. At the same time, the application of 3D printing technology provides the possibility for low-cost and green manufacturing of composite materials. Compared with traditional machining, 3D printing reduces material waste, lowers manufacturing costs, and reduces the impact on the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 It is the overall schematic diagram of the present invention;

[0034] Figure 2 It is the exploded view of the overall structure of the present invention;

[0035] Figure 3 It is the schematic diagram of the first bionic fish body of the present invention;

[0036] Figure 4 It is the schematic diagram of the second bionic fish body of the present invention;

[0037] Figure 5 It is the schematic diagram of the control device of the present invention;

[0038] Figure 6 It is the exploded view of the bionic fish fin of the present invention.

[0039] In the figure, 10, bionic fish fin; 101, connecting rod; 102, motor compartment; 1021, vibration motor; 103, swing member; 1031, connecting layer; 1032, swing piece; 201, first bionic fish body; 202, second bionic fish body; 301, first assembly cavity; 302, second assembly cavity; 303, third assembly cavity; 40, control device; 50, battery; 60, lighting device; 70, charging interface; 80, switch device. DETAILED DESCRIPTION

[0040] Combine the following Figure 1-6 The present invention is described in detail.

[0041] A vibration-driven micro-sized bionic robot fish comprises a bionic fish body, bionic fish fins 10 are flexibly connected to both sides and the tail of the bionic fish body by using organic silicon sealant, the bionic fish fins 10 comprise a connecting rod 101, a motor device and a swinging member 103, one end of the motor device is connected to the bionic fish body by transmission through the connecting rod 101, and the other end of the motor device is fixedly connected to the swinging member 103 by adhesive, a control device 40 and a battery 50 are arranged in the bionic fish body, the control device 40 and the battery 50 are electrically connected to a vibration motor 1021, a switch device 80 is flexibly sealed and connected to the surface of the bionic fish body, and the switch device 80 is electrically connected to the control device 40. A vibration motor 1021 is arranged in the motor device, and the robot fish is propelled to move by driving by the vibration motor 1021, which can avoid the problem that a traditional propeller propeller may cause harm to underwater organisms, and the water flow distribution is more uniform, which helps to improve the propulsion efficiency and maneuverability.

[0042] Specifically, the cross section of the connecting rod 101 is a rectangle whose length is greater than its width, so that the first-order natural frequency of the bionic fish fin 10 is less than the second-order natural frequency of the bionic fish fin 10, and there is a hollow area in the middle, which can accommodate the conductive wire of the vibration motor 1021 to pass through and connect with the bionic fish body. The cross section of the connecting rod 101 is a rectangle whose length is greater than its width. When the vibration frequency of the vibration motor 1021 is determined and the cross-sectional area remains unchanged, as the aspect ratio increases, the difference between the first-order natural frequency and the second-order natural frequency of the bionic fish fin 10 also increases. When the bionic fish fin 10 reaches the first-order resonance, the vibration mode is a swing perpendicular to the length direction of the connecting rod 101. When the second-order natural frequency is reached, the vibration mode of the bionic fish fin 10 is a swing perpendicular to the width direction of the connecting rod 101. However, the driving mode of fish swimming is a vibration mode that is perpendicular to the length direction of the connecting rod 101, that is, the first-order natural frequency vibration mode. Therefore, the cross-section of the connecting rod 101 is set to a shape where the length is greater than the width, which is conducive to the bionic fish fin 10 and the vibration motor 1021 reaching resonance with the first-order natural frequency vibration mode as the main one, thereby ensuring the movement of the bionic robot fish.

[0043] In this embodiment, the connecting rod 101 has a length of 10 - 30 mm, and the aspect ratio of the length to the width of the cross-section of the connecting rod 101 is 2.5:1.

[0044] Preferably, the connecting rod 101 is made of resin material. The connecting rod 101 has a length of 10 mm, and the cross-section of the connecting rod 101 is a rectangle with a length of 7.5 mm and a width of 3 mm.

[0045] In this embodiment, the motor device includes a motor cabin 102. One end of the motor cabin 102 is connected to the connecting rod 101, and the other end of the motor cabin 102 is connected to a swinging member 103.

[0046] Preferably, the motor cabin 102 is made of resin material. The motor cabin 102 is a cylinder with an outer diameter of 11 mm and a length of 15.5 mm. The motor cabin 102 includes a motor fixing cavity of 5.5 * 5 * 7 mm and a rotor accommodating cavity with a diameter of 9 mm and a depth of 6.5 mm. The motor part of the vibration motor 1021 can be adapted to the motor fixing cavity, and the rotor part of the vibration motor 1021 can be adapted to the rotor accommodating cavity. The motor cabin 102 and the vibration motor 1021 are connected by adhesive fixation.

[0047] In this embodiment, the swinging member 103 includes a connecting layer 1031 and a swinging piece 1032. One end of the connecting layer 1031 is connected to the motor cabin 102, and the other end of the connecting layer 1031 is inserted with the swinging piece 1032. The swinging member 103 is made of a flexible material, such as composed of PI and PDMS bonded together. Among them, the connecting layer 1031 is made by PDMS casting, the swinging piece 1032 is made of PI film material, and the swinging piece 1032 is cut into a specific shape by laser.

[0048] Specifically, the swinging piece 1032 is adhesively fixed in the connecting layer 1031, and the length of the swinging piece 1032 is between 9 - 18 mm. Limiting the length of the swinging piece 1032 can adjust the natural frequency of the bionic fish fin 10 with the parameters of the connecting rod 101 already determined, and can enable the bionic fish fin 10 to achieve a better vibration transmission effect.

[0049] Preferably, the length of the swinging piece 1032 is 15 mm. At this time, the first natural frequency of the bionic fish fin 10 can exactly resonate with the vibration frequency of the vibration motor 1021, and the resonance frequency is 141.49 Hz. Thus, without the need for a complex mechanical transmission mechanism, the rotation of the vibration motor 1021 can be converted into the swing of the bionic fish fin 10.

[0050] In this embodiment, the vibration motor 1021 is an eccentric wheel vibration motor 1021, and the rotational speed of the eccentric wheel vibration motor 1021 increases monotonically but non-linearly with the increase of voltage. Due to the high-frequency characteristics of the eccentric wheel vibration motor 1021, the bionic fish can swim more precisely and quickly. At the same time, the motion mechanism driven by vibration is flexibly designed. When the eccentric wheel vibration motor 1021 is applied to the bionic fish, by only adjusting the first natural frequency of the whole bionic fish fin 10 to match the frequency of the eccentric wheel vibration motor 1021 to achieve resonance, the rotation of the eccentric wheel vibration motor 1021 can be converted into the swing of the bionic fish fin 10 without a complex mechanical transmission mechanism, realizing the high-frequency vibration drive of the robotic fish, which is convenient for achieving the compactness of the robotic fish structure and is crucial for the navigation and obstacle avoidance capabilities in complex underwater environments.

[0051] In this embodiment, the bionic fish body includes a first bionic fish body 201 and a second bionic fish body 202 that are detachably connected to each other. The first bionic fish body 201 and the second bionic fish body 202 are in a streamlined structure. The streamlined bionic fish body precisely simulates the body shape characteristics and swimming patterns of real fish, which can significantly improve the flexibility, mobility, concealment, and environmental adaptability of the robotic fish. At the same time, it realizes modularization for easy maintenance and upgrade, thus demonstrating excellent performance in complex and changeable underwater environments. The inner plane of the first bionic fish body 201 is provided with positioning posts, and the inner plane of the second bionic fish body 202 is provided with positioning holes adapted to the positioning posts. Moreover, the first bionic fish body 201 and the second bionic fish body 202 are fixed by adhesive sealing, making the connection between the first bionic fish body 201 and the second bionic fish body 202 more firm. The first bionic fish body 201 and the second bionic fish body 202 are the outer shells of the robotic fish of the present invention, used to form an accommodation space for facilitating the setting of some components of the bionic fish, and serving as a support body to provide support for the setting of some components of the robotic fish.

[0052] Preferably, positioning posts are provided at the head and abdomen of the inner plane of the first bionic fish body 201, and positioning holes are provided at the head and abdomen of the inner plane of the second bionic fish body 202. The positioning posts of the first bionic fish body 201 cooperate with the positioning holes of the second bionic fish body 202.

[0053] In this embodiment, a first assembly cavity 301 is provided on the outer side wall of the first bionic fish body 201, a second assembly cavity 302 is provided on the outer side wall of the second bionic fish body 202, and a third assembly cavity 303 is provided at the tail of the first bionic fish body 201 or the second bionic fish body. The connecting rod 101 is flexibly connected in the first assembly cavity 301, the second assembly cavity 302 and the third assembly cavity 303. After the first bionic fish body 201 and the second bionic fish body 202 are assembled, they can be hermetically connected inside to form a fourth assembly cavity. A control device 40 and a battery 50 are arranged in the fourth assembly cavity, and the battery 50 is connected to the control device 40. In this embodiment, it is also allowed that the first assembly cavity 301 communicates with the inside of the first bionic fish body 201, the second assembly cavity 302 communicates with the inside of the second bionic fish body 202, and the third assembly cavity 303 communicates with the inside of the first bionic fish body 201 or the second bionic fish body 202.

[0054] Specifically, a cylindrical positioning post and a positioning hole are respectively arranged at the front and lower parts of the inner sides of the first bionic fish body 201 and the second bionic fish body 202 for positioning the two. The control device 40 and the battery 50 are vertically placed in the fourth assembly cavity. The control device 40 is a remotely controllable remote control device 40, which is provided with a wireless receiving module. The battery 50 is a small lithium battery 50. The bionic fish provides power through the small lithium battery 50. Wires are arranged inside the bionic fish. The eccentric wheel vibration motor 1021 is connected to the control device 40 through wires, and the control device 40 can be remotely controlled by an electromagnetic wave signal, so as to realize the separate control of the eccentric wheel vibration motors 1021 assembled in the three assembly cavities.

[0055] Preferably, the third assembly cavity 303 is arranged on the first bionic fish body 201. The lengths of the first bionic fish body 201 and the second bionic fish body 202 are both 55 mm, and the maximum height is 38 mm. The first bionic fish body 201 and the second bionic fish body 202 are made by 3D printing with resin materials.

[0056] In this embodiment, the bionic fish further includes a lighting device 60. The lighting device 60 is flexibly and hermetically connected to the head of the bionic fish body, and the lighting device 60 is electrically connected to the control device 40. The lighting device 60 is powered by the small lithium battery 50 arranged in the fourth assembly cavity of the bionic fish body.

[0057] Specifically, the lighting device 60 is an LED lamp.

[0058] Preferably, the LED lamp is flexibly and hermetically connected to both sides of the head of the bionic fish body by silicone sealant.

[0059] In this embodiment, the bionic robotic fish further includes a charging interface 70. The charging interface 70 is flexibly and hermetically connected to the center of the top of the bionic fish body. The charging interface 70 is electrically connected to the battery 50, and the charging interface 70 replenishes electrical energy to the small lithium battery 50 disposed in the fourth assembly cavity of the bionic fish body.

[0060] Preferably, the charging interface 70 is flexibly and hermetically connected to the connection part between the first bionic fish body 201 and the second bionic fish body 202 by using silicone sealant.

[0061] In this embodiment, the usage process of the bionic robotic fish is as follows: The user turns on the switch and puts the bionic fish into the water area. When the battery 50 of the bionic robotic fish is powered on, a signal is sent to the wireless receiving module on the control device 40 through an electromagnetic wave signal. The electromagnetic wave signal is stored in the memory on the wireless receiving module and is converted into a corresponding electrical signal. The eccentric wheel vibration motors 1021 on the bionic fish fins 10 disposed in the first assembly cavity 301, the second assembly cavity 302, and the third assembly cavity 303 are connected to the control device 40 through wires inside the bionic fish body. Then, the electrical signal is transmitted to the eccentric wheel vibration motors 1021 to achieve the control of the eccentric wheel vibration motors 1021. When the vibration frequency of the eccentric wheel vibration motors 1021 reaches the resonance state with the first natural frequency of the bionic fish fins 10, the bionic fish fins 10 swing perpendicular to the length direction of the connecting rod 101, and the swimming mode of the bionic robotic fish is the same as that of fish swimming. When it is necessary to stop the movement of the bionic robotic fish, a stop signal is sent to the wireless receiving module on the control device 40 through an electromagnetic wave signal. The electromagnetic wave signal is stored in the memory on the wireless receiving module and is converted into a corresponding electrical signal, so that the eccentric wheel vibration motors 1021 connected to the assembly cavity of the bionic fish body stop vibrating.

[0062] In this embodiment, manufacturing the bionic fish fins 10 includes the following steps:

[0063] Step 1: Complete the three-dimensional CAD modeling of the motor device and the shape mold of the swinging member 103, and use resin material to manufacture the motor device by 3D printing. When manufacturing the motor device, the 3D printing technology is adopted, which can precisely control the structure of the motor device and the fish body of the bionic robotic fish, and better achieve the required shape design. At the same time, the application of 3D printing technology provides the possibility for realizing low-cost and green manufacturing of composite materials. Compared with traditional machining, 3D printing reduces material waste, lowers manufacturing costs, and reduces the impact on the environment.

[0064] Step 2: The connecting layer 1031 of the swinging member 103 is made by casting with PDMS material, and a slit with a certain depth is cut on the center line of the connecting layer 1031.

[0065] Step 3: Use a laser to cut the swing piece 1032 into a specific shape. The swing piece 1032 is made of PI film material. Then insert the swing piece 1032 into the gap of the PDMS connection layer 1031 and adhesively fix it to complete the production of the swing member 103.

[0066] Step 4: Weld the positive and negative electrodes of the eccentric wheel vibration motor 1021 to the lead wires, lead them out from the hollow area in the middle of the connecting rod 101 of the motor device, and then embed the eccentric wheel vibration motor 1021 into the motor fixing cavity of the motor device and adhesively fix it.

[0067] Step 5: Adhesively fix the motor device with the eccentric wheel vibration motor 1021 to the swing member 103 to complete the manufacture of the bionic fish fin 10.

[0068] In this embodiment, the steps for preparing a vibration-driven micro bionic robotic fish are as follows:

[0069] Step 10: Establish 3D CAD models of the first bionic fish body 201 and the second bionic fish body 202, and use resin materials for 3D printing and manufacturing.

[0070] Step 20: Apply silicone electrical adhesive to the insertion end of the connecting rod 101 of the motor device of the bionic fish fin 10, and place it in the first assembly cavity 301, the second assembly cavity 302, and the third assembly cavity 303 inside the first bionic fish body 201 and the second bionic fish body 202 for flexible connection.

[0071] Step 30: Weld the lead wires of the battery 50, the lighting device 60, the start-stop switch, and the interface to the control device 40.

[0072] Step 40: Vertically place the control device 40 and the battery 50 inside the bionic fish body, place the lighting device 60, the switch device 80, and the charging interface 70 at the corresponding positions of the first bionic fish body 201 and the second bionic fish body 202 respectively, and seal them with silicone sealant.

[0073] Step 50: Align the first bionic fish body 201 and the second bionic fish body 202 through the positioning holes with the positioning group, and adhesively fix them with glue to complete the preparation of a vibration-driven micro bionic robotic fish.

[0074] The glue used for the above adhesive fixation is epoxy resin or other substances that can bond two surfaces.

[0075] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it, and cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A vibration-driven micro-scale bionic robotic fish, comprising a bionic fish body, characterized in that: Bionic fins are flexibly connected to the tail of the bionic fish body on both sides, and the bionic fish fins include a connecting rod, a motor device and a swinging piece. One end of the motor device is connected to the bionic fish body through the connecting rod, and the other end of the motor device is connected to the swinging piece. The cross-section of the connecting rod is a rectangle with a length greater than a width, so that the first-order natural frequency of the bionic fish fin is smaller than the second-order natural frequency of the bionic fish fin; a control device and a battery are arranged in the bionic fish body, and the control device and the battery are electrically connected to the motor device. A switch device is flexibly and sealably connected to the surface of the bionic fish body, and the switch device is electrically connected to the control device.

2. A vibration-driven micro-bionic robotic fish as claimed in claim 1, characterized in that: The length of the connecting rod is 10-30 mm, and the aspect ratio of the cross section of the connecting rod is 2.5:

1.

3. A vibration-driven micro-bionic robotic fish as claimed in claim 1, characterized in that: The bionic fish body comprises a first bionic fish body and a second bionic fish body which are detachably connected to each other, the outer wall of the first bionic fish body is provided with a first assembly cavity, the outer wall of the second bionic fish body is provided with a second assembly cavity, the tail of the first bionic fish body or the tail of the second bionic fish body is provided with a third assembly cavity, and the connecting rod is flexibly connected to the first assembly cavity, the second assembly cavity and the third assembly cavity.

4. A vibration-driven micro-bionic robotic fish as claimed in claim 2, characterized in that: The first bionic fish body and the second bionic fish body are streamlined structures.

5. The vibration-driven micro-bionic robotic fish according to claim 1, characterized in that: The motor device comprises a motor cabin, in which a vibration motor is installed, one end of the motor cabin is connected to the connecting rod, and the other end of the motor cabin is connected to the swinging member.

6. A vibration-driven micro-bionic robotic fish as claimed in claim 5, characterized in that: The swing member comprises a connecting layer and a swing piece. One end of the connecting layer is connected to the motor cabin, and the other end of the connecting layer is plugged with the swing piece.

7. A vibration-driven micro-bionic robotic fish as claimed in claim 1, characterized in that: It also includes a lighting device, which is flexibly sealed and connected to the head of the bionic fish body, and is electrically connected to the control device.

8. The vibration-driven micro-bionic robotic fish according to claim 1, characterized in that: It also includes a charging interface, which is flexibly sealed and connected to the surface of the bionic fish body, and is electrically connected to the battery.

9. A method for manufacturing a vibration-driven micro-scale bionic robotic fish according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1 3D prints the first bionic fish body and the second bionic fish body using resin material; S2: placing the bionic fish fin in the first assembly cavity, the second assembly cavity and the third assembly cavity of the first bionic fish body and the second bionic fish body; the bionic fish fin is flexibly connected to the first assembly cavity, the second assembly cavity and the third assembly cavity; S3 welds the leads of the battery, lighting equipment, start-stop switch and charging interface to the control device; S4 vertically placing the control device and the battery in the bionic fish body, and placing the lighting device, the start / stop switch and the charging port in corresponding positions of the first bionic fish body and the second bionic fish body respectively, and sealing them; S5: aligning and gluing the first bionic fish body and the second bionic fish body.

10. The method for manufacturing a vibration-driven micro-scale bionic robotic fish according to claim 9, characterized in that: The manufacturing process of the bionic fish fin in S2 comprises the following steps: S10 uses resin material to 3D print the model of the motor device and the model of the swing part; S20: the swinging member is formed by reverse molding using a flexible material; S30 cuts the swing sheet into a specific shape, and then inserts the swing sheet into the connection layer and fixes it by gluing; S40: embedding the vibration motor into the motor fixing cavity of the motor device and fixing it by gluing; S50: The motor device assembled with the vibration motor is glued and fixed to the swing member.

Images