Acceleration bionic fish with tail capable of being broken

Abstract

The invention discloses a tail-breakable acceleration bionic fish, and relates to the technical field of bionic fish, the tail-breakable acceleration bionic fish comprises a bionic fish head module, a bionic fish body module and a bionic fish tail module which are connected in sequence, the bionic fish head module is provided with a control unit, an energy storage device, pectoral fins and dorsal fins, the control unit is electrically connected with the energy storage device, the pectoral fin assembly can swing, and the dorsal fins are connected with the energy storage device. A propelling mechanism is arranged at the tail of the bionic fish body module, a tail breaking mechanism is arranged on the bionic fish tail module, the tail breaking mechanism can enable a tail fin to be separated from the bionic fish tail module and can accelerate bionic fish, a rigidity adjusting mechanism is arranged on the bionic fish body module, and the rigidity adjusting mechanism can enable the axial length of the bionic fish body module to be shortened. The rigidity adjusting mechanism and the propelling mechanism are both in communication connection with the control unit. The variable-stiffness design of the fish body is added, the self-stiffness can be adjusted, and short-distance accelerated sprint can be achieved; the propellers can be selected for propelling, and the fins can swing for propelling so as to adapt to different underwater environments.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic fish, and particularly to a bionic fish with a breakable tail for acceleration. Background Art

[0002] As a special type of underwater robot, bionic robotic fish have gradually received extensive attention and applications. Bionic robotic fish are the product of the combination of robotics and bionics technology. Thanks to their fish-like swimming and extremely high concealment, they can achieve a concealed effect that blends into nature.

[0003] Compared with traditional underwater robots based on propeller propulsion, bionic robotic fish have the advantages of high propulsion efficiency, low energy consumption, good maneuverability, low noise, and high concealment. Therefore, bionic robotic fish have broad application prospects in the fields of exploration and development of marine resources, military reconnaissance, underwater archaeology, underwater biological observation, etc.

[0004] Biological research believes that while fish drive the tail to swing through their own muscles, some muscles are also used for body elasticity adjustment to achieve high propulsion efficiency. Tuna regulate the tail elasticity by controlling the tendon system throughout the body through muscles. However, due to its structural characteristics, we have no way to directly test the influence of dynamic elasticity adjustment on swimming performance on live tuna.

[0005] Current bionic robotic fish can generally be divided into propeller propulsion and fish-tail swing propulsion. Fish-tail swing propulsion has high efficiency and low noise, but small power; propeller propulsion has large power and natural movement, but low efficiency, high noise, and greater environmental impact. Most bionic robotic fish can only rely on the fish-tail swing for propulsion and cannot achieve acceleration, and will appear to be underpowered in waters where strong power is required.

[0006] Research shows that fish can adjust the stiffness of their tails in real time to adapt to the surrounding water flow environment and improve swimming performance. The current bionic fish have redundant and complex structures, and all focus on the propulsion mechanism, hoping to improve the propulsion efficiency of bionic robotic fish by optimizing the propulsion method. However, most of the work ignores the stiffness change of the fish body and regards the fish body as a multi-joint mechanism with constant stiffness. Such robotic fish still cannot obtain the desired thrust and swimming speed when the tail beat frequency is high. Therefore, there is an urgent need for an accelerable bionic fish. Summary of the Invention

[0007] The purpose of the present invention is to provide a bionic fish with a breakable tail for acceleration to solve the problems existing in the above-mentioned prior art, enabling the bionic robotic fish to adjust the stiffness of the fish body and also achieve short-distance acceleration through tail breaking to obtain a greater speed.

[0008] To achieve the above purpose, the present invention provides the following solutions:

[0009] The present invention provides a severable-tail accelerating bionic fish, which comprises a bionic fish head module, a bionic fish body module and a bionic fish tail module connected in sequence. A control unit, an energy storage device, pectoral fins and a dorsal fin are arranged on the bionic fish head module. The control unit is electrically connected to the energy storage device. The pectoral fin assembly can swing. A propulsion mechanism is arranged at the tail of the bionic fish body module. A severing mechanism is arranged on the bionic fish tail module. The severing mechanism can make the caudal fin separate from the bionic fish tail module and can accelerate the bionic fish. A stiffness adjustment mechanism is arranged on the bionic fish body module. The stiffness adjustment mechanism can shorten the axial length of the bionic fish body module. Both the stiffness adjustment mechanism and the propulsion mechanism are communicatively connected to the control unit.

[0010] Preferably, the bionic fish head module comprises an outer housing, a support framework, a sealing end cover and a control platform. The outer housing is connected to a plurality of the support frameworks at intervals by bolts. The support framework is circular and has a size matching that of the outer housing. The circumferential direction of the sealing end cover is hermetically connected to the end of the outer housing by bolts. The control platform is horizontally arranged in the middle of the outer housing. One end of the control platform is connected to the support framework with the smallest size, and the other end is connected to the sealing end cover. The control unit, the energy storage device and the driving assembly of the tail-swinging mechanism are arranged on the control platform. A camera is arranged at the front end of the outer housing. The camera is communicatively connected to the control unit. The dorsal fin assembly is arranged at the top of the outer housing. The dorsal fin assembly comprises a dorsal fin and a communication module. The dorsal fin is fixedly connected to the outer housing. The communication module is communicatively connected to the control unit. A gyroscope and a speed sensor are arranged on the control platform. A water depth sensor is arranged below the outer housing. The water depth sensor, the gyroscope and the speed sensor are all communicatively connected to the control unit. Both the pectoral fins and the dorsal fin are made of flexible materials.

[0011] Preferably, a floating and sinking mechanism is arranged below the outer housing of the bionic fish head module, and pectoral fin power generation assemblies are arranged on both sides. A triboelectric nanogenerator unit is arranged on the surface of the outer housing. The floating and sinking mechanism is communicatively connected to the control unit. Both the pectoral fin power generation assembly and the triboelectric nanogenerator are electrically connected to the energy storage device. The floating and sinking mechanism comprises a water filling chamber, an oil bladder, a filter valve, a two-way gear pump and an oil storage barrel. A water inlet is arranged at one end of the water filling chamber. The water inlet matches the opening below the outer housing. The oil bladder is arranged in the water filling chamber. The oil bladder is made of flexible material and its volume can change. The oil bladder is communicated with the oil storage barrel through the filter valve and the two-way gear pump.

[0012] Preferably, two sets of pectoral fin power generation components are provided, and each includes a pectoral fin, a swing rod, a fixed shaft, a connecting rod, a cylinder, an impeller, and a generator. Each pectoral fin is bolted to both sides of the outer housing. One end of the swing rod is inserted into the pectoral fin, the middle part is hinged to the fixed shaft, and the other end is hinged to the lower end of the piston rod of the cylinder through the connecting rod. An air inlet and an air outlet are provided on the cylinder. The impeller is connected to the rotating shaft of the generator, and the impeller is located above the air inlet and the air outlet. Check valves with opposite directions are provided on the air inlet and the air outlet, and the air flows at the air inlet and the air outlet can both make the impeller rotate in the same direction. A plurality of the swing rods, the connecting rods, the cylinders, and the impellers are provided and are connected in one-to-one correspondence. Two generators are provided and are connected by a rotating shaft. A plurality of the impellers are evenly distributed on the rotating shaft, and each impeller corresponds to a set of the air inlet and the air outlet. The impeller and the rotating shaft are located in a sealing cover. The sealing cover is a transparent cylindrical body, and both ends of the sealing cover are hermetically connected to one of the generators. The sealing cover is communicated with each of the air inlets and the air outlets through pipelines. The generator is a brushless generator. The triboelectric nanogenerator unit includes a triboelectric nanogenerator. A plurality of serially connected triboelectric nanogenerators are evenly distributed on the surface of the outer housing, and the triboelectric nanogenerator is electrically connected to the energy storage device.

[0013] Preferably, the bionic fish body module includes a plurality of shaped trunk brackets, a front baffle, a tail plate, and a tail swinging mechanism. Adjacent trunk brackets are hinged by hinges, and the trunk brackets at both ends are respectively hinged to the front baffle and the tail plate. The middle part of the front baffle is bolted to the sealing end cover of the bionic fish head module, and the circumference is hermetically clamped to the outer housing of the bionic fish head module through a sealing ring. The propulsion mechanism is provided on the tail plate, and the tail plate is detachably connected to the bionic fish tail module. The tail swinging mechanism is symmetrically and movably arranged on both sides of the trunk bracket.

[0014] Preferably, the tail swinging mechanism includes a motor, a winch, and a wire. The rotating shaft of the motor is connected to the winch. The motor and the winch are both arranged on the control platform of the bionic fish head module. One end of the wire is wound around the winch, and the other end sequentially passes through the front baffle and each trunk bracket and is fixedly connected to the tail plate. The axes of the motor and the winch are both perpendicular to the horizontal plane. An auxiliary support plate is arranged between the center and the edge of each trunk bracket, and the auxiliary support plate can at least divide the trunk bracket into a storage area and a wire passing area.

[0015] Preferably, the stiffness adjustment mechanism includes a turntable, a torsion rope, and a telescopic hinge. The hinges hinged between adjacent torso brackets, between the front baffle and the tail plate and the torso brackets are all telescopic hinges. At least two torsion ropes are provided. One end of each torsion rope is connected to the turntable, and the other end sequentially passes through each torso bracket and is fixed to the last torso bracket. The turntable is rotatably connected to the front baffle. Four torsion ropes are provided. A torsion disk is bolted to the middle hole of each auxiliary support plate. The end of each torsion rope sequentially passes through each torsion disk and is fixed to the last torsion disk. A number of arc-shaped holes are symmetrically arranged at the center of the torsion disk. The radii of the torsion disks at both ends of the arc-shaped holes are different. The torsion ropes pass through the arc-shaped holes in one-to-one correspondence. The telescopic hinge includes a hinge ear plate, a pin shaft, and a spring. A hinge ear plate is provided on both sides of each torso bracket. A waist-shaped hole is provided on each of the two plates of the hinge ear plate. Springs are provided at both ends of the waist-shaped hole. The pin shaft is inserted into the waist-shaped holes of a pair of hinge ear plates, and the pin shaft abuts against the two springs in the same waist-shaped hole respectively.

[0016] Preferably, the propulsion mechanism includes a fairing assembly and a thruster. The fairing assemblies are fixedly arranged in the middle hole of the tail plate of the bionic fish body module. The thruster is fixed to the tail plate and one end is sleeved in the fairing assembly. The fairing assembly includes a fairing and a fairing ring. The middle of the fairing is fixed in the middle hole of the tail plate through a support leg. A number of flow splitting pieces are evenly distributed along the circumference at one end of the fairing, and the fairing ring is rotatably sleeved at the other end. The fairing is in a hollow cylindrical shape. The motor of the thruster is sleeved in the fairing and an overcurrent gap is left. The fairing is located in front of the tail plate, and the propeller of the thruster is located behind the tail plate.

[0017] Preferably, the bionic fish tail module includes a tail fin, a fixed cover, and a detachment cover. The fixed cover is fixedly connected to the tail plate of the bionic fish body module. The propeller of the propulsion mechanism is located in the middle hole of the fixed cover. The detachment cover is fixedly connected to the tail fin through bolts. The tail-breaking mechanism includes an electromagnet. An electromagnet is provided on the fixed cover and the detachment cover respectively. The electromagnet can make the fixed cover and the detachment cover adsorb or separate by controlling the current direction. The port of the detachment cover is clamped on the fixed cover.

[0018] Preferably, the cross-sectional shapes of the fixing cover and the detachment cover are oval; a mechanical tail-breaking mechanism is further provided on the fixing cover. The mechanical tail-breaking mechanism includes a plurality of telescopic slider assemblies evenly distributed in the circumferential direction. A plurality of clamping grooves are evenly distributed in the circumferential direction in the connection groove of the detachment cover. The number and positions of the clamping grooves and the telescopic slider assemblies correspond to each other in a one-to-one manner. The telescopic slider assembly includes a fixed disk, a toothed ring, a driving gear, an eccentric disk, a push rod and a slider. A plurality of directional sliding grooves are provided on the fixed disk. One end of the slider is slidably arranged in the directional sliding groove and can be clamped with the clamping groove, and the other end is hinged to one end of the push rod. The other end of the push rod is hinged to the eccentric disk. The toothed ring is coaxially rotatably arranged in the fixed disk. One end of the driving gear is connected to the motor, and the other end is meshed with the toothed ring. The eccentric disk includes a transmission gear and a disk which are integrally and coaxially arranged. The transmission gear is meshed with the toothed ring. An eccentric hole is provided on the disk. The push rod is hinged to the eccentric hole. Two eccentric holes are symmetrically arranged at the center of each disk. Each eccentric hole is connected to a push rod, so that one eccentric disk drives two sliders to slide. An annular sealing cover is clamped on the toothed ring.

[0019] The present invention has achieved the following technical effects compared with the prior art:

[0020] The accelerable bionic fish of the present invention adds a variable stiffness design to the fish body. The stiffness adjustment mechanism can shorten the axial length of the bionic fish body module, can adjust its own stiffness according to the sea surface wave conditions, can realize short-distance acceleration sprints through the tail-breaking mechanism, and can also select propeller propulsion or fin swing propulsion to adapt to different underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 Structural schematic diagram of the tail-breaking and accelerating bionic fish in the embodiment of the present invention Figure 1 ;

[0023] Figure 2 Structural schematic diagram of the tail-breaking and accelerating bionic fish in the embodiment of the present invention Figure 2 ;

[0024] Figure 3 Structural schematic diagram of the tail-breaking and accelerating bionic fish in the embodiment of the present invention Figure 3 ;

[0025] Figure 4 Structural schematic of the tail - detachable and acceleration - enhanced bionic fish in the embodiment of the present invention Figure 4 ;

[0026] Figure 5 Structural schematic of the pectoral fin power - generation component in the embodiment of the present invention Figure 1 ;

[0027] Figure 6 Structural schematic of the pectoral fin power - generation component in the embodiment of the present invention Figure 2 ;

[0028] Figure 7 Partial structural schematic diagram of the tail - detachable and acceleration - enhanced bionic fish in the embodiment of the present invention;

[0029] Figure 8 Structural schematic diagram of the floating and sinking mechanism in the embodiment of the present invention;

[0030] Figure 9 Structural schematic diagram of the triboelectric nanogenerator unit in the embodiment of the present invention;

[0031] Figure 10 Structural schematic diagram of the bionic fish body module in the embodiment of the present invention;

[0032] Figure 11 Structural schematic of the mechanical tail - detaching mechanism in the embodiment of the present invention Figure 1 ;

[0033] Figure 12 Structural schematic of the mechanical tail - detaching mechanism in the embodiment of the present invention Figure 2 ;

[0034] Figure 13 Structural schematic diagram of the sealed end - cover of the tail - detachable and acceleration - enhanced bionic fish in the embodiment of the present invention;

[0035] In the figure: 1 - bionic fish head module, 2 - bionic fish body module, 3 - bionic fish tail module, 4 - control unit, 5 - communication module, 6 - energy storage device, 7 - dorsal fin, 8 - outer housing, 9 - camera, 10 - support skeleton, 11 - control platform, 12 - sealing end cover, 13 - sealing groove, 14 - water filling chamber, 15 - oil bladder, 16 - filter valve, 17 - two-way gear pump, 18 - oil storage barrel, 19 - water inlet, 20 - pectoral fin, 21 - swing rod, 22 - fixed shaft, 23 - connecting rod, 24 - cylinder, 25 - impeller, 26 - generator, 27 - air inlet, 28 - air outlet, 29 - check valve, 30 - sealing cover, 31 - triboelectric nanogenerator, 32 - torso bracket, 33 - front baffle, 34 - tail plate, 35 - motor, 36 - winch, 37 - wire rope, 38 - storage area, 39 - auxiliary support plate, 40 - turntable, 41 - torsion disc, 42 - torsion rope, 43 - hinge ear plate, 44 - arc-shaped hole, 45 - pin shaft, 46 - spring, 47 - thruster, 48 - fairing, 49 - fairing ring, 50 - caudal fin, 51 - fixed cover, 52 - detachment cover, 53 - electromagnet, 54 - fixed disc, 55 - gear ring, 56 - driving gear, 57 - eccentric disc, 58 - push rod, 59 - slider, 60 - directional sliding groove. Detailed implementation mode

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] The purpose of the present invention is to provide a bionic fish capable of tail-breaking acceleration to solve the problems existing in the prior art, enabling the bionic robot fish to adjust the stiffness of the fish body and also achieve short-distance acceleration through tail-breaking to obtain a greater speed.

[0038] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0039] Embodiment 1

[0040] As Figures 1 to 13As shown in the figure, in this embodiment, a severable-tail accelerating bionic fish is provided, which includes a bionic fish head module 1, a bionic fish body module 2, and a bionic fish tail module 3 connected in sequence. A control unit 4, an energy storage device 6, pectoral fins 20, and a dorsal fin 7 are arranged on the bionic fish head module 1. The control unit 4 is electrically connected to the energy storage device 6. The pectoral fin assembly can swing. A propulsion mechanism is arranged at the tail of the bionic fish body module 2. A severing mechanism is arranged on the bionic fish tail module 3. The severing mechanism can separate the caudal fin 50 from the bionic fish tail module 2 and can accelerate the bionic fish. A stiffness adjustment mechanism is arranged on the bionic fish body module 2. The stiffness adjustment mechanism can shorten the axial length of the bionic fish body module 2. Both the stiffness adjustment mechanism and the propulsion mechanism are communicatively connected to the control unit 4.

[0041] As an alternative solution, in this embodiment, the bionic fish head module 1 includes an outer cover 8, a support skeleton 10, a sealing end cap 12, and a control platform 11. The outer cover 8 is connected to a plurality of support skeletons 10 at intervals by bolts. The support skeleton 10 is circular and has a size matching that of the outer cover 8. The circumference of the sealing end cap 12 is hermetically connected to the end of the outer cover 8 by bolts. The control platform 11 is horizontally arranged in the middle of the outer cover 8. One end of the control platform 11 is connected to the support skeleton 10 with the smallest size, and the other end is connected to the sealing end cap 12. A control unit 4, an energy storage device 6, and a driving component of the tail-swinging mechanism are arranged on the control platform 11. Among them, sealing grooves 13 are arranged at the joints of each outer cover 8, and adjacent outer covers 8 are hermetically connected by inserting a sealing ring into the sealing grooves 13 to ensure the waterproof and airtight performance of the electronic devices in the fish head.

[0042] As an alternative solution, a camera 9 is arranged at the front end of the outer cover 8 in this embodiment. The camera 9 is communicatively connected to the control unit 4; a transparent flow divider for tracking the camera 9 is installed at the front end of the outer cover 8, which can make the underwater situation be recorded and observed more intuitively. The control unit 4 can also use the camera 9 for target tracking. A dorsal fin assembly is arranged on the top of the outer cover 8. The dorsal fin assembly includes a dorsal fin 7 and a communication module 5. A buoyancy signal line is connected to the dorsal fin 7. The dorsal fin 7 is fixedly connected to the outer cover 8. The communication module 5 is communicatively connected to the control unit 4, and the communication antenna can be hidden in the dorsal fin 7; the pectoral fins 20, caudal fins 50, and dorsal fins 7 are all made of flexible materials, which are flexible and easy to conform to the shape and swing with the waves. A gyroscope and a speed sensor are arranged on the control platform 11 of this embodiment. A water depth sensor is arranged below the (fish belly position) of the outer cover 8. The water depth sensor is used to detect the depth of the water area where the fish body is located. The water depth sensor, gyroscope, and speed sensor are all communicatively connected to the control unit 4. The gyroscope is preferably an MPU6500 attitude gyroscope sensor. The camera 9 can identify and lock the target and then move towards the target. The gyroscope is used to obtain the current body attitude to control the balance.

[0043] As an alternative, in this embodiment, a floating and sinking mechanism is provided below the outer cover 8 of the bionic fish head module 1, pectoral fin power generation components are provided on both sides, and a triboelectric nanogenerator unit is provided on the surface of the outer cover 8. The floating and sinking mechanism is communicatively connected to the control unit 4, and both the pectoral fin power generation component and the triboelectric nanogenerator 31 are electrically connected to the energy storage device 6, and the energy storage device 6 is preferably a battery module. In this embodiment, a mechanical power generation component structure that utilizes the swinging of the pectoral fins 20 to generate electricity is designed in combination with biological characteristics. At the same time, in combination with the changeable environment of the sea surface, a pressure-resistant triboelectric nanogenerator unit structure is designed, and the collected electric energy is stored in the energy storage device 6, so as to achieve the purpose of operating on the sea surface for a long time.

[0044] As an alternative, in this embodiment, the floating and sinking mechanism includes a water filling chamber 14, an oil bladder 15, a filter valve 16, a two-way gear pump 17 and an oil storage barrel 18. An inlet 19 is provided at one end of the water filling chamber 14, and the inlet 19 is matched with the opening below the outer cover 8. An oil bladder 15 is arranged in the water filling chamber 14. The oil bladder 15 is made of flexible material and its volume can change. The oil bladder 15 is communicated with the oil storage barrel 18 through the filter valve 16 and the two-way gear pump 17. There is an air port at the top of the oil storage barrel 18 to maintain air pressure balance. In this embodiment, the filter valve 16 and the two-way gear pump 17 are both sleeved in an oil barrel. When it is necessary to float, the two-way gear pump 17 rotates clockwise to move the two-way piston in its barrel forward, and the hydraulic oil can push the two-way piston forward after flowing through the oil storage barrel 18, which is equivalent to pressurizing to make the oil bladder 15 expand and discharge the seawater; when it is necessary to sink, the reverse operation can be performed.

[0045] As an alternative, in this embodiment, two groups of pectoral fin power generation components are provided and each includes a pectoral fin 20, a swing rod 21, a fixed shaft 22, a connecting rod 23, a cylinder 24, an impeller 25 and a generator 26. Each pectoral fin 20 is bolted to both sides of the outer cover 8. One end of the swing rod 21 is inserted into the pectoral fin 20, the middle part is hinged to the fixed shaft 22, and the other end is hinged to the lower end of the piston rod of the cylinder 24 through the connecting rod 23. A bushing is sleeved on the fixed shaft 22, and the bushing is located between adjacent swing rods 21 to limit the distance between the swing rods. An air inlet 27 and an air outlet 28 are provided on the cylinder 24. An impeller 25 is connected to the rotating shaft of the generator 26, and the impeller 25 is located above the air inlet 27 and the air outlet 28. Check valves 29 with opposite directions are provided on the air inlet 27 and the air outlet 28. The air flows at the air inlet 27 and the air outlet 28 can both make the impeller 25 rotate in the same direction, so that the impeller 25 rotates continuously and the power generation efficiency is improved.

[0046] As an alternative, in this embodiment, a plurality of swing rods 21, connecting rods 23, cylinders 24 and impellers 25 are provided and are connected in one-to-one correspondence. The lengths of the swing rods 21 are different and match the size of the pectoral fin 20. The swing rods 21 are arranged on the symmetry plane of the pectoral fin 20. Two generators 26 are provided and are connected by a rotating shaft. A plurality of impellers 25 are evenly distributed on the rotating shaft. Each impeller 25 corresponds to a set of air inlets 27 and air outlets 28, so that the impeller 25 can keep rotating during air intake and exhaust; the impeller 25 and the rotating shaft are located in a sealing cover 30. The sealing cover 30 is correspondingly provided with an air inlet 27 and an air outlet 28 with the cylinder 24. The sealing cover 30 is a transparent cylindrical body, which is convenient for viewing the internal structure and movement conditions. The two ends of the sealing cover 30 are respectively hermetically connected to a generator 26. The sealing cover 30 is communicated with each air inlet 27 and air outlet 28 through pipelines, and directly conveys the air flow to the corresponding impeller 25 in a directional manner; the generator 26 is a brushless generator.

[0047] Specifically, the swing rod assembly in the bionic pectoral fins 20 on both sides drives the piston in the cylinder 24 to move, further forming a pressure difference to push the impeller 25, thereby driving the brushless generator 26 to generate electricity. Combining with the amplitudes of different sea waves and selecting the pneumatic method to cooperate with the one-way valves 29 in positive and negative directions, it is possible to drive the brushless generator 26 to continuously generate electricity regardless of the amplitude of the pectoral fin 20. When the sea wave pushes the pectoral fin 20 to move upward, the uneven swing rods 21 embedded in the soft bionic pectoral fin 20 will move upward to different degrees. The piston is pulled downward by the swing rod 21, and the sealed inner cavity forms a pressure. Through the two one-way valves 29 in different directions on the top cover, an air circulation circuit is formed. The setting of the four inner cavities can make the impeller 25 rotate continuously. In this embodiment, the wave energy is converted into mechanical energy and then into electrical energy by using pneumatics. On the one hand, it can adapt to different amplitudes of sea waves, and on the other hand, it can make the impeller 25 achieve the maximum rotation speed. Traditional mechanical structures have dead points, complex structures and poor shock resistance. In the pectoral fin power generation assembly of this embodiment, when the sea wave pulls the pectoral fin 20 to move downward, the piston is pushed upward by the swing rod 21 and the connecting rod 23. The sealed inner cavity forms a pressure, and an air circulation circuit can still be formed through the two one-way valves 29 in different directions on the top cover, thereby pushing the rotation of the impeller 25, and then driving the brushless generators 26 on both sides to generate electricity.

[0048] As an alternative, in this embodiment, the triboelectric nanogenerator unit includes a triboelectric nanogenerator 31. A plurality of serially connected triboelectric nanogenerators 31 are evenly distributed on the surface of the outer cover 8. The triboelectric nanogenerator 31 is electrically connected to the energy storage device 6 for storing electric energy. Among them, the triboelectric nanogenerator unit is easy to manufacture, has high efficiency and power density, is light in weight, and has various forms of mechanical triggering methods, is easy to expand, and can effectively collect mechanical energy in the low-frequency band and high-frequency range.

[0049] As an alternative, in this embodiment, the bionic fish body module 2 includes a plurality of contoured trunk brackets 32, a front baffle 33, a tail plate 34 and a tail swinging mechanism. The adjacent trunk brackets 32 are hinged by hinges. The trunk brackets 32 at both ends are respectively hinged to the front baffle 33 and the tail plate 34. The middle of the front baffle 33 is connected to the sealing end cover 12 of the bionic fish head module 1 by bolts, and the circumference is hermetically clamped to the outer cover 8 of the bionic fish head module 1 through a sealing ring. A propulsion mechanism is provided on the tail plate 34. The tail plate 34 is detachably connected to the bionic fish tail module 2. The tail swinging mechanisms are symmetrically and movably arranged on both sides of the trunk bracket 32, facilitating controlling the fish body to swing left and right as needed.

[0050] As an alternative, in this embodiment, the tail swinging mechanism includes a motor 35, a winch 36 and a wire rope 37. The rotating shaft of the motor 35 is connected to the winch 36. The motor 35 and the winch 36 are both arranged on the control platform 11 of the bionic fish head module 1. One end of the wire rope 37 is wound around the winch 36, and the other end sequentially passes through the front baffle 33 and each trunk bracket 32 and is fixedly connected to the tail plate 34. The axes of the motor 35 and the winch 36 are both perpendicular to the horizontal plane. The motor 35 is preferably a servo motor and is communicatively connected to the control unit 4. The wire rope 37 is preferably a steel wire rope. In this embodiment, two servo motors are placed on the bionic fish body to control the wire ropes 37 on both sides of the fish body respectively. Each trunk bracket 32 is connected in series by a hinged manner. By controlling the pulling and retracting of the wire rope 37, each trunk bracket 32 swings accordingly, thereby realizing the swinging of the fish body and the fish tail. When the two motors 35 rotate clockwise at the same time, the winch 36 on the left feeds the wire rope 37 forward, and the winch 36 on the right pulls the wire rope 37 backward. The winch 36 drives the wire rope 37 to move, thereby forming the fish body and the fish tail swinging to the right. Connected together, it forms the movement of the fish body swinging left and right, thereby realizing the swimming of the fish body; when turning, only need to make the motor 35 pull and retract the wire rope 37 to achieve turning.

[0051] As an alternative, in this embodiment, an auxiliary support plate 39 is provided between the center and the edge of each trunk bracket 32. The auxiliary support plate 39 can at least divide the trunk bracket 32 into a storage area 38 and a wire threading area. In this embodiment, the tail structure is reasonably arranged and a storage bin structure is specifically set up to carry materials. In this embodiment, the trunk bracket 32 is preferably provided with five I-shaped plates. A groove for fixing the fish tail is provided on the periphery of the fifth I-shaped plate. The I-shaped plate can reserve storage space and wire routing space, and a groove for installing a protective net can be provided on the outside of the I-shaped plate to prevent water debris from impacting the fish body.

[0052] As an alternative, in this embodiment, the stiffness adjustment mechanism includes a turntable 40, a torsion rope 42, and a telescopic hinge. The hinges between adjacent torso brackets 32, and between the front baffle 33 and the tail plate 34 and the torso brackets 32 are all telescopic hinges, facilitating the realization of the telescopic adjustment of the fish body length and the change of stiffness. At least two torsion ropes 42 are provided. One end of each torsion rope 42 is connected to the turntable 40, and the other end sequentially passes through each torso bracket 32 and is fixed to the last torso bracket 32. The turntable 40 is rotatably connected to the front baffle 33. The turntable 40 includes a motor 35 and a flange. The rotating shaft of the motor 35 is connected with a flange, and four torsion ropes 42 are fixed on the flange. In this embodiment, the attitude coordinate position of the fish body can be obtained through the MPU6500 attitude gyroscope sensor, and these data are integrated through Matrix Laboratory (MATLAB) to draw an image. If the data waveform shows turbulence at a position with a low amplitude, the sea wave is small. On the contrary, the obtained attitude data are divided into different wave levels, and different data correspond to different self-stiffness values, always maintaining the self-stiffness within a certain range to avoid too high stiffness resulting in a small swing amplitude of the fish body and too low stiffness resulting in a low swing frequency of the fish body. In this embodiment, the stiffness of its tail can be adjusted in real time to adapt to the surrounding water flow environment and improve the swimming performance.

[0053] As an alternative, in this embodiment, four torsion ropes 42 are provided. A torsion disk 41 is bolted to the central hole of each auxiliary support plate 39. The end of each torsion rope 42 sequentially passes through each torsion disk 41 and is fixed to the last torsion disk 41. When the torsion rope 42 is twisted due to the rotation of the turntable, the length of the torsion rope 42 can be shortened, thereby reducing the total length of the fish body and increasing the stiffness of the fish body at the same time.

[0054] As an alternative, the telescopic hinge in this embodiment includes hinge lugs 43, a pin shaft 45, and a spring 46. A triangular hinge lug 43 is provided on each side of each torso bracket 32. A waist-shaped hole is provided on each of the two plates of the hinge lug 43. A spring 46 is provided at each end of the waist-shaped hole. The pin shaft 45 is inserted into the waist-shaped holes of a pair of hinge lugs 43, and the pin shaft 45 abuts against the two springs 46 in the same waist-shaped hole respectively. When the stiffness adjustment mechanism in this embodiment performs on-line variable stiffness adjustment, the torsion rope 42 is tightened by the rotational movement of the motor 35. While the rope is tightened along the track, the overall fish body is also tightened. The shortening and resetting of the distance between the torso brackets 32 are realized by the spring 46 in the hinge lug 43. In this embodiment, a plurality of arc-shaped holes 44 are symmetrically arranged at the center of the torsion disk 41. The radii of the torsion disk 41 where the two ends of the arc-shaped hole 44 are located are different. The torsion ropes 42 respectively pass through the arc-shaped holes 44 in a one-to-one correspondence. The turntable 40 is controlled by the motor 35 to tightly wind and twist the four torsion ropes 42, so that the total length of the torsion ropes 42 is shortened, thereby tightening the distance between the respective Chinese character 'yin'-shaped plates. At the same time, the position of the Chinese character 'yin'-shaped plates can be restored by relying on the springs 46 embedded in the hinge lugs 43 on the Chinese character 'yin'-shaped plates. By appropriately adjusting the rotation angle of the motor 35, the distance between the Chinese character 'yin'-shaped plates can be adjusted, so as to realize the length change of the rear part of the fish body, and further cooperate with the swing of the fish body to achieve variable-frequency propulsion.

[0055] As an alternative, the propulsion mechanism in this embodiment includes a rectifying assembly and a thruster 47. The rectifying assemblies are fixedly arranged in the middle holes of the tail plates 34 of the bionic fish body module 2. The thruster 47 is fixed on the tail plate 34 and one end is sleeved in the rectifying assembly. In this embodiment, the tail-embedded propeller propulsion method is added. The rectifying assembly and the thruster 47 are both embedded in the middle holes of the fifth Chinese character 'yin'-shaped plate, so as to achieve the purpose of carrying materials and accelerating to approach the target in a short distance.

[0056] As an alternative, the rectifying assembly in this embodiment includes a fairing 48 and a rectifying ring 49. The middle part of the fairing 48 is fixed in the middle hole of the tail plate 34 through legs. A plurality of shunt fins are evenly distributed along the circumference at one end of the fairing 48, and a rectifying ring 49 is rotatably sleeved at the other end. The fairing 48 is in the shape of a hollow cylinder. The motor 35 of the thruster 47 is sleeved in the fairing 48 with an over-flow gap left. The fairing 48 is located in front of the tail plate 34, and the propeller of the thruster 47 is located behind the tail plate 34, which is convenient for shunting and rectifying the water flow near the thruster 47. On the one hand, the fan wheel on the fairing 48 is to reduce the water flow resistance, and on the other hand, it is to stabilize the water flow passing through the propeller of the thruster 47, while the rectifying ring 49 is to accelerate the water flow.

[0057] As an alternative, in this embodiment, the bionic fish tail module 2 includes a caudal fin 50, a fixed cover 51 and a detachment cover 52. The fixed cover 51 is fixedly connected to the tail plate 34 of the bionic fish body module 2. The propeller of the propulsion mechanism is located in the central hole of the fixed cover 51. The detachment cover 52 is fixedly connected to the caudal fin 50 by bolts. The tail-breaking mechanism includes an electromagnet 53. An electromagnet 53 is provided on each of the fixed cover 51 and the detachment cover 52. The electromagnet 53 can make the fixed cover 51 and the detachment cover 52 adsorb or separate by controlling the direction of the current. The port of the detachment cover 52 is clamped on the fixed cover 51. In this embodiment, a mechanical tail-breaking device and an electromagnet 53 are embedded at the rear end of the fifth yin-shaped plate.

[0058] As an alternative, in this embodiment, the cross-sectional shapes of the fixed cover 51 and the detachment cover 52 are oval, which is convenient for positioning and limit clamping. A mechanical tail-breaking mechanism is provided on the fixed cover 51. The mechanical tail-breaking mechanism includes a plurality of telescopic slider assemblies evenly distributed along the circumference. A plurality of clamping grooves are evenly distributed along the circumference in the connection groove of the detachment cover 52. The number and position of the clamping grooves correspond to those of the telescopic slider assemblies one by one. The further connection of the fish body is realized by the clamping of the slider 59 and the clamping groove of the detachment cover 52. When tail-breaking is required, the slider 59 retracts, and the detachment of the fish body from the detachment cover 52 can be realized. Usually, when the stiffness of the fish body is adjusted to the maximum, tail-breaking is carried out, which can quickly increase the speed of the fish body.

[0059] As an alternative, in this embodiment, the telescopic slider assembly includes a fixed disk 54, a gear ring 55, a driving gear 56, an eccentric disk 57, a push rod 58 and a slider 59. A plurality of directional sliding grooves 60 are provided on the fixed disk 54. One end of the slider 59 is slidably arranged in the directional sliding groove 60 and can be clamped with the clamping groove, and the other end is hinged to one end of the push rod 58. The other end of the push rod 58 is hinged to the eccentric disk 57. The gear ring 55 is coaxially and rotatably arranged in the fixed disk 54. One end of the driving gear 56 is connected to the motor 35, and the other end is meshed with the gear ring 55. The eccentric disk 57 includes a transmission gear and a disk integrally and coaxially arranged. The transmission gear is meshed with the gear ring 55. An eccentric hole is provided on the disk. The push rod 58 is hinged to the eccentric hole. Two eccentric holes are symmetrically arranged at the center of each disk, and each eccentric hole is connected to a push rod 58, so that one eccentric disk 57 drives two sliders 59 to slide. An annular sealing cover is clamped on the gear ring 55 for sealing and waterproof design. One eccentric disk 57 drives two groups of sliders 59 to expand and contract, improving the working efficiency of the machine. Among them, the push rod 58 is preferably an S-shaped push rod.

[0060] As an alternative, the tail-breaking speed-increasing device in this embodiment includes a mechanical, physical, and electromagnetic combined tail-breaking: the mechanical method uses a sun gear plus a push rod 58, the physical method relies on the concave-convex matching method to ensure the stability of the fish tail, and the electromagnetic method relies on the on-off of the electromagnetic chuck to suck and release the iron plate fixed on the fish tail; when approaching the target, first control the rotation of the motor 35 to drive the gear 56 to mesh with the gear ring 55, which is equivalent to the driving gear meshing with the sun gear to drive the sun gear to rotate. The sun gear drives the gears of the upper and lower eccentric disks 57 to rotate, and then drives the S-shaped push rod to tighten the plunger. Further control the electromagnetic chuck to cut off the power or apply a reverse current, thereby generating a repulsive force. At this time, the water flow thrust generated by starting the propeller will remove the fish tail.

[0061] In this embodiment, combined with the propulsion method of the submarine propeller, it is combined with the bionic fish and embedded in the fish tail, so that the propulsion methods include fish tail swing and propeller propulsion, and it can also achieve short-distance combination with the camera 9 to track and accelerate the strike on the target; control the turntable 40 by the motor 35 to tightly twist the four torsion ropes 42, thereby tightening the distance between the various yin-shaped plates. Rely on the hinge ear plates 43 of the embedded springs 46 connected to the upper part of the yin-shaped plates to restore the positions of the yin-shaped plates. By appropriately adjusting the rotation angle of the motor 35, the distance between the various yin-shaped plates can be adjusted, so as to change the length of the rear part of the fish body, and then cooperate with the fish tail swing to achieve variable-frequency propulsion. Control the turntable 40 by the motor 35 to tightly wind the four torsion ropes 42 on the parts with a fixed trajectory, thereby tightening the distance between the various yin-shaped plates. Rely on the hinge ear plates 43 of the embedded springs 46 connected to the upper part of the yin-shaped plates to restore the positions of the yin-shaped plates. By appropriately adjusting the rotation angle of the turntable 40, the distance between the various yin-shaped plates can be adjusted, so as to change the length of the rear part of the fish body, and then cooperate with the fish tail swing to achieve variable-frequency propulsion; the tail-breaking speed-increasing device combines the propulsion method of the submarine, combines it with the bionic fish, and embeds it in the fish tail, so that the propulsion methods include fish tail swing and propeller propulsion, and it can also combine with the camera 9 to track and achieve short-distance accelerated pursuit of the target.

[0062] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A bionic fish capable of tail-breaking acceleration, characterized in that: The bionic fish head module comprises a bionic fish head module, a bionic fish body module and a bionic fish tail module which are connected in sequence. The bionic fish head module is provided with a control unit, an energy storage device, a pectoral fin and a dorsal fin. The control unit is electrically connected to the energy storage device. The pectoral fin assembly can swing. The tail of the bionic fish body module is provided with a propulsion mechanism. The bionic fish tail module is provided with a tail breaking mechanism. The tail breaking mechanism can make the tail fin detach from the bionic fish tail module and accelerate the bionic fish. The bionic fish body module is provided with a stiffness adjustment mechanism. The stiffness adjustment mechanism can shorten the axial length of the bionic fish body module. Both the stiffness adjustment mechanism and the propulsion mechanism are communicatively connected with the control unit.

2. The tail-breaking accelerating bionic fish according to claim 1, characterized in that: The bionic fish head module comprises an outer cover, a support frame, a sealing end cover and a control platform, wherein the outer cover is connected to a plurality of the support frames at intervals by bolts, the support frame is annular and its size matches that of the outer cover, the sealing end cover is sealed and connected to the end of the outer cover in the circumference by bolts, the control platform is horizontally arranged in the middle of the outer cover, one end of the control platform is connected to the support frame of the smallest size, and the other end is connected to the sealing end cover, the control platform is provided with the control unit, the energy storage device and the driving assembly of the tail swinging mechanism; a camera is provided at the front end of the outer cover, and the camera is communicatively connected with the control unit; the dorsal fin assembly is provided at the top of the outer cover, and the dorsal fin assembly comprises a dorsal fin and a communication module, the dorsal fin is fixedly connected with the outer cover, and the communication module is communicatively connected with the control unit; a gyroscope and a speed sensor are provided on the control platform, a water depth sensor is provided below the outer cover, and the water depth sensor, the gyroscope and the speed sensor are all communicatively connected with the control unit; the pectoral fin and the dorsal fin are both made of flexible material.

3. The tail-breaking accelerating bionic fish according to claim 1, characterized in that: A floating and sinking mechanism is arranged below the outer cover of the bionic fish head module, and pectoral fin power generation components are arranged on both sides. A friction nano power generation unit is arranged on the surface of the outer cover. The floating and sinking mechanism is communicatively connected with the control unit, and the pectoral fin power generation component and the friction nano generator are both electrically connected with the energy storage device; the floating and sinking mechanism includes a water filling tank, an oil bag, a filter valve, a two-way gear pump and an oil storage barrel. A water inlet is arranged at one end of the water filling tank, and the water inlet matches the opening below the outer cover. The oil bag is arranged in the water filling tank. The oil bag is made of a flexible material and its volume can be changed. The oil bag is connected with the oil storage barrel through the filter valve and the two-way gear pump.

4. The tail-breaking accelerating bionic fish according to claim 3, characterized in that: The pectoral fin power generation assembly is provided with two groups and both include the pectoral fin, a rocker arm, a fixed shaft, a connecting rod, a cylinder, an impeller and a generator. Each of the pectoral fins is connected to both sides of the outer cover by bolts. One end of the rocker arm is inserted into the pectoral fin, the middle part is hinged on the fixed shaft, and the other end is hinged to the lower end of the piston rod of the cylinder through the connecting rod. The cylinder is provided with an air inlet and an air outlet. The impeller is connected to the rotating shaft of the generator, and the impeller is located above the air inlet and the air outlet. The air inlet and the air outlet are provided with one-way valves in opposite directions, and the airflows of the air inlet and the air outlet can make the impeller rotate in the same direction. The cylinder and the impeller are both provided with a plurality of impellers and are connected one-to-one, the generator is provided with two impellers and are connected through a rotating shaft, the rotating shaft is evenly distributed with a plurality of impellers, and each impeller corresponds to a group of the air inlet and the air outlet; the impeller and the rotating shaft are located in a sealing cover, the sealing cover is a cylinder made of transparent material, the two ends of the sealing cover are respectively sealed and connected with a generator, the sealing cover is connected with each of the air inlet and the air outlet through a pipeline, and the generator is a brushless generator; the friction nano power generation unit includes a friction nano generator, and the surface of the outer cover is evenly distributed with a plurality of the friction nano generators connected in series, and the friction nano generator is electrically connected to the energy storage device.

5. The tail-breaking accelerating bionic fish according to claim 1, characterized in that: The bionic fish body module includes a plurality of contoured trunk supports, a front baffle, a tail plate and a tail swinging mechanism. The adjacent trunk supports are hinged by hinges, and the trunk supports at both ends are hinged to the front baffle and the tail plate respectively. The middle part of the front baffle is connected to the sealing end cover of the bionic fish head module by bolts, and is circumferentially sealed and clamped to the outer cover of the bionic fish head module by a sealing ring. The propulsion mechanism is arranged on the tail plate, and the tail plate is detachably connected to the bionic fish tail module. The tail swinging mechanism is symmetrically and movably arranged on both sides of the trunk support.

6. The tail-breaking accelerating bionic fish according to claim 5, characterized in that: The tail-swinging mechanism includes a motor, a winch and a pull wire, the rotating shaft of the motor is connected to the winch, and the motor and the winch are both arranged on the control platform of the bionic fish head module. One end of the pull wire is wound around the winch, and the other end passes through the front baffle and each trunk bracket in sequence and is fixedly connected to the tail plate; the axial directions of the motor and the winch are both arranged perpendicular to the horizontal plane; an auxiliary support plate is arranged between the center and the edge of each trunk bracket, and the auxiliary support plate can divide the trunk bracket into at least a storage area and a threading area.

7. The tail-breaking accelerating bionic fish according to claim 5, characterized in that: The stiffness adjustment mechanism includes a turntable, a torsion rope and a retractable hinge. The hinges between adjacent trunk brackets, the front baffle plate and the tail plate and the trunk bracket are all retractable hinges. At least two torsion ropes are provided, one end of each torsion rope is connected to the turntable, and the other end passes through each trunk bracket in turn and is fixed to the last trunk bracket. The turntable is rotatably connected to the front baffle plate; four torsion ropes are provided, and a torsion disk is connected to the middle hole of each auxiliary support plate by bolts, and the end of each torsion rope passes through each of the The torsion disk is fixed on the last torsion disk; a plurality of arc-shaped holes are symmetrically arranged on the center of the torsion disk, the radii of the torsion disks at both ends of the arc-shaped holes are different, and the torsion ropes pass through the arc-shaped holes one by one; the retractable hinge includes an articulated ear plate, a pin and a spring, each of the two sides of the torso bracket is provided with an articulated ear plate, and a waist-shaped hole is provided on the two plates of the articulated ear plate, and a spring is provided on both ends of the waist-shaped hole, and the pin is inserted into the waist-shaped holes of a pair of the articulated ear plates, and the pin is respectively in conflict with the two springs in the same waist-shaped hole.

8. The tail-breaking accelerating bionic fish according to claim 1, characterized in that: The propulsion mechanism includes a fairing assembly and a propeller. The fairing assemblies are fixedly arranged in the middle hole of the tail plate of the bionic fish body module. The propeller is fixed on the tail plate and one end is sleeved in the fairing assembly; the fairing assembly includes a fairing cover and a fairing ring. The middle part of the fairing cover is fixed in the middle hole of the tail plate through legs. One end of the fairing cover is evenly distributed with a plurality of diverter plates along the circumference, and the other end is rotatably sleeved with the fairing ring. The fairing cover is in the shape of a hollow cylinder. The motor of the propeller is sleeved in the fairing cover and a flow gap is left. The fairing cover is located in front of the tail plate, and the propeller of the propeller is located behind the tail plate.

9. The tail-breaking accelerating bionic fish according to claim 1, characterized in that: The bionic fish tail module includes a tail fin, a fixed cover and a detachable cover; the fixed cover is fixedly connected to the tail plate of the bionic fish body module, the propeller of the propulsion mechanism is located in the middle hole of the fixed cover, and the detachable cover is fixedly connected to the tail fin by bolts; the tail breaking mechanism includes an electromagnet, and the fixed cover and the detachable cover are respectively provided with an electromagnet, and the electromagnet can adsorb or separate the fixed cover and the detachable cover by controlling the direction of current, and the port of the detachable cover is clamped on the fixed cover.

10. The tail-breaking accelerating bionic fish according to claim 9, characterized in that: The cross-sectional shapes of the fixed cover and the detachment cover are elliptical; the fixed cover is also provided with a mechanical tail-breaking mechanism, which includes a plurality of telescopic slider assemblies evenly distributed along the circumferential direction, and a plurality of card slots are evenly distributed along the circumferential direction in the connecting groove of the detachment cover, and the card slots correspond to the number and position of the telescopic slider assemblies in a one-to-one manner; the telescopic slider assembly includes a fixed disk, a gear ring, a driving gear, an eccentric disk, a push rod and a slider, and a plurality of directional slide grooves are provided on the fixed disk, one end of the slider is slidably arranged in the directional slide groove and can be engaged with the card slot, and the other end is engaged with the push rod. One end is hinged, and the other end of the push rod is hinged on the eccentric disk. The gear ring is coaxially rotatable in the fixed disk. One end of the driving gear is connected to the motor and the other end is meshed with the gear ring. The eccentric disk includes an integral and coaxial transmission gear and a disk. The transmission gear is meshed with the gear ring. An eccentric hole is provided on the disk, and the push rod is hinged to the eccentric hole. Two eccentric holes are symmetrically arranged on each of the disks, and each of the eccentric holes is connected to a push rod, so that one eccentric disk drives the two sliders to slide, and an annular sealing cover is clamped on the gear ring.

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