Tail-cuttable acceleration biomimetic fish

Abstract

The application discloses a tail-breaking accelerating bionic fish, and relates to the technical field of bionic fish, which comprises a bionic fish head module, a bionic fish body module and a bionic fish tail module connected in sequence, wherein 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 with the energy storage device, the pectoral fin assembly can swing, the tail part of the bionic fish body module is provided with a propelling mechanism, the bionic fish tail module is provided with a tail-breaking mechanism, the tail-breaking mechanism can make the tail fin separate from the bionic fish tail module and accelerate the bionic fish, the bionic fish body module is provided with a rigidity adjusting mechanism, the rigidity adjusting mechanism can shorten the axial length of the bionic fish body module, and the rigidity adjusting mechanism and the propelling mechanism are in communication connection with the control unit. The bionic fish has the fish body rigidity adjusting design, can adjust the self rigidity, can accelerate and sprint in a short distance, and can select the propeller propulsion and the pectoral fin swing propulsion to adapt to different underwater environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic fish, and particularly relates to a tail-breaking accelerating bionic fish. BACKGROUND

[0002] As a special underwater robot, bionic robotic fish has gradually attracted extensive attention and application. The bionic robotic fish is a product of combination of robot technology and bionic technology, and can achieve the effect of blending into nature due to its fish-like swimming and high concealment.

[0003] Compared with the traditional underwater robot based on propeller propulsion, the bionic robotic fish has the advantages of high propulsion efficiency, low energy consumption, good maneuverability, low noise and high concealment, and therefore, the bionic robotic fish has wide application prospects in the fields of detection and development of ocean resources, military reconnaissance, underwater archaeology, underwater biological observation and the like.

[0004] Biological research shows that fish drives the tail swing by the muscle of the fish itself, and part of the muscle is also applied to the body elasticity adjustment to achieve high propulsion efficiency. The tuna adjusts the elasticity of the tail through the muscle control of the tendon system penetrating the whole body. However, due to the structural characteristics, we cannot directly test the influence of dynamic elasticity adjustment on the swimming performance on the live tuna.

[0005] The current bionic robotic fish can be divided into propeller propulsion and fish tail swing propulsion. The fish tail swing propulsion has high efficiency and low noise, but has small power. The propeller propulsion has large power and natural movement, but has low efficiency, large noise and greater influence on the environment. Most bionic robotic fish can only rely on the tail swing for propulsion and cannot achieve acceleration, and will be slightly insufficient in power in the water area requiring strong power.

[0006] Research shows that fish can adjust the stiffness of the tail in real time to adapt to the surrounding water flow environment and improve the swimming performance. The current bionic fish structure is redundant and complex, and focuses on the propulsion mechanism, expecting to improve the propulsion efficiency of the bionic robotic fish by optimizing the propulsion mode. 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 bionic robotic fish still cannot obtain the expected thrust and swimming speed when the tail beat frequency is high. Therefore, there is an urgent need for a bionic fish capable of acceleration. SUMMARY

[0007] The present application aims to provide a tail-breaking accelerating bionic fish to solve the problems existing in the prior art, so that the bionic robotic fish can adjust the stiffness of the fish body, and can also achieve short-distance acceleration and obtain greater speed by breaking the tail.

[0008] To achieve the above object, the present application provides the following scheme.

[0009] The application provides a tail-breaking and accelerating bionic fish, which comprises a bionic fish head module, a bionic fish body module and a bionic fish tail module 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 with 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 separate from the bionic fish tail module and accelerate the bionic fish, the bionic fish body module is provided with a rigidity adjusting mechanism, the rigidity adjusting mechanism can shorten the axial length of the bionic fish body module, and the rigidity adjusting mechanism and the propulsion mechanism are in communication connection with the control unit.

[0010] Preferably, the bionic fish head module comprises an outer cover, a support framework, a sealing end cover and a control platform, the outer cover is connected with a plurality of support frameworks through bolts, the support framework is a circular ring and the size thereof is matched with the outer cover, the circumferential direction of the sealing end cover is sealingly connected with the end of the outer cover through bolts, the control platform is horizontally arranged at the middle part of the outer cover, one end of the control platform is connected with the smallest support framework and the other end is connected with 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, the front end of the outer cover is provided with a camera, the camera is in communication connection with the control unit, the top of the outer cover is provided with the dorsal fin assembly, 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 in communication connection with the control unit, the control platform is provided with a gyroscope and a speed sensor, the lower part of the outer cover is provided with a water depth sensor, the water depth sensor, the gyroscope and the speed sensor are in communication connection with the control unit, and the pectoral fin and the dorsal fin are made of flexible materials.

[0011] Preferably, the lower part of the outer cover of the bionic fish head module is provided with a floating and sinking mechanism, the two sides of the outer cover are provided with a pectoral fin power generation assembly, the surface of the outer cover is provided with a friction nano power generation unit, the floating and sinking mechanism is in communication connection with the control unit, the pectoral fin power generation assembly and the friction nano power generation unit are electrically connected with the energy storage device, the floating and sinking mechanism comprises a water filling warehouse, an oil bag, a filter valve, a double-way gear pump and an oil storage barrel, one end of the water filling warehouse is provided with a water inlet, the water inlet is matched with the opening in the lower part of the outer cover, the oil bag is arranged in the water filling warehouse, the oil bag is made of flexible material and the volume thereof can be changed, and the oil bag is in communication with the oil storage barrel through the filter valve and the double-way gear pump.

[0012] Preferably, the pectoral fin power generation assembly is provided with two groups and each group comprises the pectoral fin, swing rod, fixed shaft, connecting rod, air cylinder, impeller and generator, each pectoral fin is bolted to the two sides of the outer cover, one end of the swing rod is inserted into the pectoral fin, the middle part is hinged to the fixed shaft, the other end is hinged to the lower end of the piston rod of the air cylinder through the connecting rod, the air cylinder is provided with an air inlet and an air outlet, the rotating shaft of the generator is connected with the impeller, the impeller is located above the air inlet and the air outlet, the air inlet and the air outlet are provided with opposite one-way valves, the airflow of the air inlet and the air outlet can make the impeller rotate in the same direction; the swing rod, the connecting rod, the air cylinder and the impeller are provided with a plurality of and are connected one by one, the generator is provided with two and is connected through the rotating shaft, the rotating shaft is uniformly provided with a plurality of impellers, each impeller corresponds to a group of air inlets and air outlets; the impeller and the rotating shaft are located in a sealed cover, the sealed cover is a transparent cylindrical material, the two ends of the sealed cover are respectively sealed connected with a generator, the sealed cover is communicated with each air inlet and air outlet through a pipeline, and the generator is a brushless generator; the friction nanometer power generation unit comprises a friction nanometer generator, the surface of the outer cover is uniformly provided with a plurality of series connected friction nanometer generators, and the friction nanometer generators are electrically connected with the energy storage device.

[0013] Preferably, the bionic fish body module comprises a plurality of profiled trunk supports, front baffles, tail plates and tail swing mechanisms, adjacent trunk supports are hingedly connected through hinges, the trunk supports at both ends are hingedly connected with the front baffle and the tail plate respectively, the middle part of the front baffle is connected with the sealed end cover of the bionic fish head module through bolts, and the outer cover of the bionic fish head module is sealingly clamped through a sealing ring in the circumferential direction, the tail plate is provided with the propelling mechanism, the tail plate is detachably connected with the bionic fish tail module, and the tail swing mechanisms are symmetrically and movably arranged on both sides of the trunk supports.

[0014] Preferably, the tail swing mechanism comprises a motor, a winch and a pull wire, the rotating shaft of the motor is connected with the winch, the motor and the winch are arranged on the control platform of the bionic fish head module, one end of the pull wire is wound on the winch, and the other end is sequentially penetrated through the front baffle and each trunk support and fixedly connected with the tail plate; the axial directions of the motor and the winch are perpendicular to the horizontal plane; each trunk support is provided with an auxiliary support plate between the center and the edge, and the auxiliary support plate divides the trunk support into at least a storage area and a threading area.

[0015] Preferably, the rigidity adjusting mechanism comprises a rotating disc, a torsion rope and a telescopic hinge, the hinges between adjacent trunk supports, the front baffle and the tail plate and the trunk supports are all telescopic hinges, the torsion rope is provided with at least two, one end of each of the torsion ropes is connected to the rotating disc, the other end of each of the torsion ropes penetrates the trunk supports in sequence and is fixed to the last trunk support, the rotating disc is rotationally connected to the front baffle; the torsion rope is provided with four, each of the auxiliary support plates is provided with a torsion disc through a bolt in the center hole, the end of each of the torsion ropes penetrates the torsion discs in sequence and is fixed to the last torsion disc; the torsion disc is provided with a plurality of arc-shaped holes in the center, the radii of the torsion discs at the two ends of the arc-shaped holes are different, and the torsion ropes correspond to the arc-shaped holes one by one; the telescopic hinge comprises a hinged ear plate, a pin shaft and a spring, each of the trunk supports is provided with a hinged ear plate on both sides, each of the hinged ear plates is provided with a waist-shaped hole on the two plates, each of the waist-shaped holes is provided with a spring at both ends, and the pin shaft is inserted into the waist-shaped holes of a pair of hinged ear plates and abuts against the two springs in the same waist-shaped hole.

[0016] Preferably, the propulsion mechanism comprises a fairing assembly and a propeller, the fairing assembly is fixedly arranged in the center hole of the tail plate of the bionic fish body module, and the propeller is fixed to the tail plate and has one end sleeved in the fairing assembly; the fairing assembly comprises a flow guide cover and a fairing ring, the middle part of the flow guide cover is fixed to the center hole of the tail plate through a support leg, a plurality of flow distribution fins are uniformly distributed on one end of the flow guide cover in the circumferential direction, the other end of the flow guide cover rotationally sleeves the fairing ring, the flow guide cover is in a hollow cylindrical shape, the motor of the propeller is sleeved in the flow guide cover and has a flow gap, the flow guide cover is located in front of the tail plate, and the propeller of the propeller is located behind the tail plate.

[0017] Preferably, the bionic fish tail module comprises a tail fin, a fixing cover and a separation cover; the fixing cover is fixedly connected to the tail plate of the bionic fish body module, the propeller of the propulsion mechanism is located in the center hole of the fixing cover, and the separation cover is fixedly connected with the tail fin through bolts; the tail cutting mechanism comprises an electromagnet, the fixing cover and the separation cover are respectively provided with an electromagnet, the electromagnet can make the fixing cover and the separation cover adsorb or separate by controlling the current direction, and the port of the separation cover is clamped on the fixing cover.

[0018] Preferably, the cross-sectional shape of the fixed cover and the separation cover is oval; the fixed cover is further provided with a mechanical tail cutting mechanism, the mechanical tail cutting mechanism comprises a plurality of telescopic slider assemblies uniformly distributed in the circumferential direction, a plurality of clamping grooves are uniformly distributed in the circumferential direction in the connecting groove of the separation cover, and the number and position of the clamping grooves and the telescopic slider assemblies are one-to-one corresponding and matched; the telescopic slider assembly comprises a fixed disc, a gear ring, a driving gear, an eccentric disc, a push rod and a slider, a plurality of directional sliding grooves are arranged on the fixed disc, one end of the slider is slidingly arranged in the directional sliding groove and can be clamped with the clamping groove, the other end is hinged with one end of the push rod, the other end of the push rod is hinged on the eccentric disc, the gear ring is coaxially arranged in the fixed disc, one end of the driving gear is connected with the motor, and the other end is engaged with the gear ring, the eccentric disc comprises a transmission gear and a disc which are integrally and coaxially arranged, the transmission gear is engaged with the gear ring, and the disc is provided with an eccentric hole, and the push rod is hinged with the eccentric hole; two eccentric holes are symmetrically arranged on each disc, each eccentric hole is connected with a push rod, so that one eccentric disc drives two sliders to slide, and a sealing cover is clamped on the gear ring.

[0019] The present application has the following technical effects relative to the prior art:

[0020] The bionic fish with accelerated speed of the present application increases the fish body rigidity design, the rigidity adjusting mechanism can shorten the axial length of the bionic fish body module, the rigidity can be adjusted according to the sea wave condition, short distance acceleration sprint can be realized through the tail cutting mechanism, and the propeller propulsion and the fish fin swing propulsion can be selected to adapt to different underwater environments. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Figure 1 Structure diagram of the bionic fish with accelerated speed in the embodiment of the present application Figure One ;

[0023] Figure 2 Structure diagram of the bionic fish with accelerated speed in the embodiment of the present application Figure Two ;

[0024] Figure 3 Structure diagram of the bionic fish with accelerated speed in the embodiment of the present application Figure Three ;

[0025] Figure 4 Structure diagram of the tail breakable accelerating bionic fish in the embodiment of the present application Figure Four

[0026] Figure 5 Structure diagram of the pectoral fin power generation assembly in the embodiment of the present application Figure One

[0027] Figure 6 Structure diagram of the pectoral fin power generation assembly in the embodiment of the present application Figure Two

[0028] Figure 7 Structure diagram of the tail breakable accelerating bionic fish in the embodiment of the present application

[0029] Figure 8 Structure diagram of the float-sink mechanism in the embodiment of the present application

[0030] Figure 9 Structure diagram of the friction nano power generation unit in the embodiment of the present application

[0031] Figure 10 Structure diagram of the bionic fish body module in the embodiment of the present application

[0032] Figure 11 Structure diagram of the mechanical tail breakable mechanism in the embodiment of the present application Figure One

[0033] Figure 12 Structure diagram of the mechanical tail breakable mechanism in the embodiment of the present application Figure Two

[0034] Figure 13 Structure diagram of the tail breakable accelerating bionic fish in the embodiment of the present application

[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, 7-dorsal fin, 8-outer cover, 9-camera, 10-supporting framework, 11-control platform, 12-sealing end cover, 13-sealing groove, 14-water filling warehouse, 15-oil tank, 16-filter valve, 17-bi-directional gear pump, 18-oil storage barrel, 19-water inlet, 20-pectoral fin, 21-rocker, 22-fixed shaft, 23-connecting rod, 24-cylinder, 25-impeller, 26-generator, 27-air inlet, 28-air outlet, 29-one-way valve, 30-sealing cover, 31-friction nanometer generator, 32-trunk support, 33-front baffle, 34-tail plate, 35-motor, 36-winch, 37-pull wire, 38-storage area, 39-assistant support plate, 40-rotating disc, 41-twisting disc, 42-twisting rope, 43-hinged ear plate, 44-arc hole, 45-pivot, 46-spring, 47-propeller, 48-duct, 49-thruster ring, 50-tail fin, 51-fixed cover, 52-detaching cover, 53-electromagnet, 54-fixed disc, 55-tooth ring, 56-driving gear, 57-eccentric disc, 58-push rod, 59-sliding block, 60-directional sliding groove. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0037] The present application aims to provide a tail-breaking and accelerating bionic fish to solve the problems in the prior art, so that the bionic fish can adjust the rigidity of the fish body, and can achieve short-distance acceleration and greater speed by breaking the tail.

[0038] To make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0039] Embodiment one

[0040] As Figures 1 to 13As shown, the embodiment provides a tail-breaking acceleration biomimetic fish, which comprises a biomimetic fish head module 1, a biomimetic fish body module 2 and a biomimetic fish tail module 3 connected in sequence, the biomimetic fish head module 1 is provided with a control unit 4, an energy storage device 6, a pectoral fin 20 and a dorsal fin 7, the control unit 4 is electrically connected with the energy storage device 6, the pectoral fin assembly can swing, the tail of the biomimetic fish body module 2 is provided with a propulsion mechanism, the biomimetic fish tail module 3 is provided with a tail-breaking mechanism, the tail-breaking mechanism can make the tail fin 50 separate from the biomimetic fish tail module 2 and accelerate the biomimetic fish, the biomimetic fish body module 2 is provided with a rigidity adjusting mechanism, the rigidity adjusting mechanism can shorten the axial length of the biomimetic fish body module 2, and the rigidity adjusting mechanism and the propulsion mechanism are in communication connection with the control unit 4.

[0041] As an optional solution, the biomimetic fish head module 1 in the embodiment comprises an outer cover 8, a support framework 10, a sealing end cover 12 and a control platform 11, the outer cover 8 is connected with a plurality of support frameworks 10 through bolts, the support framework 10 is a circular ring and the size thereof is matched with the outer cover 8, the circumferential direction of the sealing end cover 12 is sealingly connected with the end of the outer cover 8 through bolts, the control platform 11 is horizontally arranged at the middle part of the outer cover 8, one end of the control platform 11 is connected with the smallest support framework 10 and the other end thereof is connected with the sealing end cover 12, and the control platform 11 is provided with the control unit 4, the energy storage device 6 and a driving assembly of the tail swinging mechanism. Wherein, the joint of each outer cover 8 is provided with a sealing groove 13, the adjacent outer covers 8 are sealingly connected by clamping the sealing rings into the sealing grooves 13, so as to guarantee the waterproof sealing performance of the electronic equipment in the fish head.

[0042] As an optional solution, the front end of the outer cover 8 is provided with a camera 9, the camera 9 is in communication connection with the control unit 4; the front end of the outer cover 8 is provided with a transparent shunt cover for the camera 9, so that the underwater situation can be more intuitively recorded and observed, and the control unit 4 can also track the target by using the camera 9. The top of the outer cover 8 is provided with a dorsal fin assembly, the dorsal fin assembly comprises the dorsal fin 7 and a communication module 5, one buoyancy signal line is connected to the dorsal fin 7, the dorsal fin 7 is fixedly connected with the outer cover 8, the communication module 5 is in communication connection with the control unit 4, and the communication antenna can be hidden in the dorsal fin 7; the pectoral fin 20, the tail fin 50 and the dorsal fin 7 are all of flexible material, which is flexible and convenient for profiling and swinging with the sea waves. The control platform 11 of the embodiment is provided with a gyroscope and a speed sensor, and a water depth sensor is arranged below the outer cover 8 (at the fish belly position), the water depth sensor is used for detecting the depth of the water area where the fish body is located, the water depth sensor, the gyroscope and the speed sensor are all in communication connection with the control unit 4, the gyroscope is preferably an MPU6500 attitude gyroscope sensor, the camera 9 can identify and lock the target and then can move towards the target, and the gyroscope is used for obtaining the current body posture to control the balance.

[0043] As an option, the bionic fish head module 1 in the embodiment is provided with a floating and sinking mechanism below the outer cover 8 and a pectoral fin power generation assembly on both sides, and the surface of the outer cover 8 is provided with a friction nano power generation unit. The floating and sinking mechanism is in communication connection with the control unit 4, and the pectoral fin power generation assembly and the friction nano power generation unit 31 are both in electrical connection with the energy storage device 6, which is preferably a battery module. In the embodiment, a mechanical power generation assembly structure for generating power by swinging the pectoral fin 20 is designed in combination with biological characteristics, and a pressure-resistant friction nano power generation unit structure is designed in combination with the variable environment of the sea surface, so that the collected electric quantity is stored in the energy storage device 6, and the purpose of long-time operation on the sea surface can be achieved.

[0044] As an option, the floating and sinking mechanism in the embodiment includes a water filling bin 14, an oil tank 15, a filter valve 16, a bidirectional gear pump 17 and an oil storage barrel 18. One end of the water filling bin 14 is provided with a water inlet 19 matched with an opening below the outer cover 8. The oil tank 15 is arranged in the water filling bin 14 and is made of flexible material and has a variable volume. The oil tank 15 is in communication with the oil storage barrel 18 through the filter valve 16 and the bidirectional gear pump 17. The top of the oil storage barrel 18 is provided with an air port to keep the air pressure balanced. In the embodiment, the filter valve 16 and the bidirectional gear pump 17 are both sleeved in an oil barrel. When it is needed to float up, the bidirectional gear pump 17 is rotated clockwise to move the bidirectional piston in the barrel forward, and the hydraulic oil can also push the bidirectional piston forward after flowing through the oil storage barrel 18, which is equivalent to pressurization to make the oil tank 15 expand and discharge seawater. When it is needed to sink, the reverse operation can be performed.

[0045] As an option, the pectoral fin power generation assembly in the embodiment is provided with two groups and each includes a pectoral fin 20, a swing rod 21, a fixed shaft 22, a connecting rod 23, a gas cylinder 24, an impeller 25 and a generator 26. Each pectoral fin 20 is connected to the two sides of the outer cover 8 by bolts. 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 gas cylinder 24 through the connecting rod 23. A shaft sleeve is sleeved on the fixed shaft 22 and located between the adjacent swing rods 21 to limit the distance between the swing rods. The gas cylinder 24 is provided with an air inlet 27 and an air outlet 28. The shaft of the generator 26 is connected with the impeller 25, which is located above the air inlet 27 and the air outlet 28. The air inlet 27 and the air outlet 28 are provided with opposite one-way valves 29. The airflow of the air inlet 27 and the air outlet 28 can 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, the swing rod 21, connecting rod 23, cylinder 24 and impeller 25 are provided with several and one-to-one connection in the embodiment, the swing rod 21 is of different lengths and matches the size of the pectoral fin 20, the swing rod 21 is arranged on the symmetry plane of the pectoral fin 20, the generator 26 is provided with two and connected through the rotating shaft, the rotating shaft is uniformly distributed with several impellers 25, each impeller 25 corresponds to a group of air inlets 27 and air outlets 28, so that the impeller 25 can keep rotating in the air inlet and air outlet; the impeller 25 and the rotating shaft are located in a sealed cover 30, the sealed cover 30 is provided with air inlets 27 and air outlets 28 corresponding to the cylinder 24, the sealed cover 30 is a transparent cylindrical material, which is convenient for checking the internal structure and movement, the two ends of the sealed cover 30 are respectively sealed with a generator 26, the sealed cover 30 is communicated with each air inlet 27 and air outlet 28 through a pipeline, and the airflow is directly delivered to the corresponding impeller 25; the generator 26 is a brushless generator.

[0047] Specifically, the swing rod assembly in the bionic pectoral fin 20 on both sides drives the piston in the cylinder 24 to move, further forming a pressure difference to drive the impeller 25, thereby driving the brushless generator 26 to generate electricity. By combining the amplitude of different sea waves, selecting the pneumatic mode with the forward and reverse one-way valve 29, it can be realized that no matter how large the amplitude of the pectoral fin 20 is, the brushless generator 26 can be driven to generate electricity continuously. When the sea wave drives 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 swing rod 21 pulls the piston downward, the pressure in the closed inner chamber is formed, and the two different direction one-way valves 29 on the top cover form an air circulation loop, and the four inner chambers can make the impeller 25 rotate continuously. In the embodiment, the wave energy is converted into mechanical energy and then into electrical energy by using pneumatic, which can adapt to different amplitudes of sea waves on the one hand, and can make the impeller 25 achieve the maximum speed on the other hand. The traditional mechanical structure has a dead point and is complex in structure and poor in impact resistance. When the sea wave drives the pectoral fin 20 to move downward, the pectoral fin power generation assembly in the embodiment drives the piston upward through the swing rod 21 and the connecting rod 23, the pressure in the closed inner chamber is formed, and the two different direction one-way valves 29 on the top cover can still form an air circulation loop, thereby driving the rotation of the impeller 25, thereby driving the brushless generator 26 on both sides to generate electricity.

[0048] As an alternative, the friction nanometer power generation unit in the embodiment includes a friction nanometer generator 31, the surface of the outer cover 8 is uniformly distributed with several series of friction nanometer generators 31, the friction nanometer generator 31 is electrically connected with the energy storage device 6 for storing electricity. The friction nanometer power generation unit is easy to manufacture, has high efficiency and power density, is light in weight, and has various mechanical triggering modes, is easy to expand, and can effectively collect mechanical energy in the low frequency band and high frequency range.

[0049] As an optional solution, the bionic fish body module 2 in the embodiment includes a plurality of shaped trunk supports 32, a front baffle 33, a tail plate 34 and a tail swinging mechanism. Adjacent trunk supports 32 are hingedly connected, and the two end trunk supports 32 are hingedly connected with the front baffle 33 and the tail plate 34 respectively. The middle part of the front baffle 33 is connected with the sealing end cover 12 of the bionic fish head module 1 through bolts, and is sealingly clamped with the outer cover 8 of the bionic fish head module 1 through a sealing ring in the circumferential direction. The tail plate 34 is provided with a propelling mechanism, and the tail plate 34 is detachably connected with the bionic fish tail module 2. The tail swinging mechanism is symmetrically and movably arranged on both sides of the trunk support 32, facilitating control of the fish body to swing left and right as needed.

[0050] As an optional solution, the tail swinging mechanism in the embodiment includes a motor 35, a winch 36 and a pull wire 37. The rotating shaft of the motor 35 is connected with the winch 36, and the motor 35 and the winch 36 are arranged on the control platform 11 of the bionic fish head module 1. One end of the pull wire 37 is wound on the winch 36, and the other end is sequentially penetrated through the front baffle 33 and each trunk support 32 and fixedly connected with the tail plate 34. The axial directions of the motor 35 and the winch 36 are perpendicular to the horizontal plane. The motor 35 is preferably a servo motor and is communicatively connected with the control unit 4. The pull wire 37 is preferably a steel wire rope. In the embodiment, two servo motors are placed on the bionic fish body to control the pull wires 37 on both sides of the fish body. Each trunk support 32 is connected in series through a hinged manner. By controlling the pulling of the pull wire 37, each trunk support 32 swings, and the swinging of the fish body and the fish tail is realized. When the two motors 35 simultaneously rotate clockwise, the left winch 36 sends the pull wire 37 forward, and the right winch 36 pulls the pull wire 37 backward. The winch 36 drives the pull wire 37 to move, and then the fish body and the fish tail swing to the right. The movement of the fish body swinging left and right is formed in succession, and then the swimming of the fish body is realized. When turning, only the motor 35 needs to pull the pull wire 37 to relax and pull, and the turning can be realized.

[0051] As an optional solution, an auxiliary support plate 39 is arranged between the center and the edge of each trunk support 32 in the embodiment. The auxiliary support plate 39 divides the trunk support 32 into at least a storage area 38 and a wire passing area. In the embodiment, the tail structure is reasonably arranged and a storage compartment structure is specially provided to carry materials. In the embodiment, the trunk support 32 preferably has five Chinese character-shaped plates. A groove for fixing the fish tail is arranged on the periphery of the fifth Chinese character-shaped plate. The Chinese character-shaped plate can reserve a storage space and a wire routing space. A groove for adding a protective net is arranged on the outer side of the Chinese character-shaped plate to prevent underwater debris from impacting the fish body.

[0052] As an alternative, the rigidity adjusting mechanism in the embodiment comprises a rotating disc 40, torsion ropes 42 and telescopic hinges, the hinges between adjacent trunk supports 32, the front baffle 33 and the tail plate 34 and the trunk supports 32 are all telescopic hinges, which facilitates the realization of the extension and contraction of the fish body length and the adjustment of the rigidity change, the torsion ropes 42 are provided with at least two, one end of each torsion rope 42 is connected to the rotating disc 40, the other end of each torsion rope 42 is sequentially penetrated through each trunk support 32 and fixed to the last trunk support 32, the rotating disc 40 is rotationally connected to the front baffle 33, the rotating disc 40 comprises a motor 35 and a flange plate, the flange plate is connected to the rotating shaft of the motor 35, and four torsion ropes 42 are fixed to the flange plate. In the embodiment, the fish body posture coordinate position can be obtained by the MPU6500 posture gyroscope sensor, the data is integrated by the matrix laboratory (MATLAB) to draw an image, if the data waveform appears turbulent wave at a low amplitude position, the sea wave is small, otherwise the obtained posture data is divided into different wave levels, different data corresponds to different self-rigidity values, the self-rigidity is always maintained in a certain range, so as to avoid that the fish body swing amplitude is small due to too high rigidity and the fish body swing frequency is low due to too low rigidity. In the embodiment, the rigidity of the tail part can be adjusted in real time to adapt to the surrounding water flow environment and improve the swimming performance.

[0053] As an alternative, the torsion ropes 42 in the embodiment are provided with four, one torsion disc 41 is connected to each middle hole of the auxiliary support plate 39 through a bolt, and the end of each torsion rope 42 is sequentially penetrated through each torsion disc 41 and fixed to the last torsion disc 41. When the torsion rope 42 is twisted due to the rotation of the rotating disc, the length of the torsion rope 42 can be shortened, thereby reducing the total length of the fish body and improving the rigidity of the fish body.

[0054] As an optional solution, the telescopic hinge in the embodiment includes the hinged lug 43, the pin shaft 45 and the spring 46. The hinged lug 43 in a triangular shape is arranged on each side of the trunk support 32. The waist-shaped hole is arranged on each plate of the hinged lug 43. The spring 46 is arranged at both ends of the waist-shaped hole. The pin shaft 45 is inserted into the waist-shaped hole of the pair of hinged lugs 43. The pin shaft 45 respectively abuts against the two springs 46 in the same waist-shaped hole. In the embodiment, when the rigidity adjusting mechanism is adjusted in the online variable rigidity mode, the torsion rope 42 is tightened through the rotating movement of the motor 35. The rope is tightened according to the track. The whole fish body is also tightened. The shortening and resetting of the distance between the trunk supports 32 are realized through the spring 46 in the hinged lug 43. In the embodiment, the torsion disc 41 is centrally and symmetrically provided with a plurality of arc-shaped holes 44. The radii of the torsion disc 41 at both ends of the arc-shaped hole 44 are different. The torsion rope 42 is correspondingly inserted through the arc-shaped hole 44. The four torsion ropes 42 are tightly wound and twisted through the control of the motor 35 on the rotating disc 40. The total length of the torsion rope 42 is shortened. The distance between the various herringbone plates is tightened. At the same time, the position of the herringbone plate is reset by relying on the spring 46 embedded in the hinged lug 43 on the herringbone plate. The distance between the herringbone plates is adjusted by appropriately adjusting the rotating angle of the motor 35. The length change of the rear part of the fish body is realized. The variable frequency propulsion is realized by cooperating with the swing of the fish body.

[0055] As an optional solution, the propulsion mechanism in the embodiment includes the fairing assembly and the propeller 47. The fairing assembly is fixedly arranged in the middle hole of the tail plate 34 of the bionic fish body module 2. The propeller 47 is fixed on the tail plate 34 and one end of the propeller 47 is sleeved in the fairing assembly. In the embodiment, the tail embedded propeller propulsion mode is added. The fairing assembly and the propeller 47 are embedded in the middle hole of the fifth herringbone plate. The purpose of carrying materials to accelerate to approach the target in a short distance is achieved.

[0056] As an optional solution, the fairing assembly in the embodiment includes the fairing cover 48 and the fairing ring 49. The middle part of the fairing cover 48 is fixed in the middle hole of the tail plate 34 through the support leg. The fairing cover 48 is uniformly distributed with a plurality of shunt pieces at one end along the circumference. The other end is rotatably sleeved with the fairing ring 49. The fairing cover 48 is in a hollow cylindrical shape. The motor 35 of the propeller 47 is sleeved in the fairing cover 48 and has a flow gap. The fairing cover 48 is located in front of the tail plate 34. The propeller of the propeller 47 is located behind the tail plate 34. It is convenient to shunt and straighten the water flow near the propeller 47. The fan wheel on the fairing cover 48 is used to reduce the water flow resistance on one hand and to stabilize the water flow passing through the propeller of the propeller 47 on the other hand. The fairing ring 49 is used to accelerate the water flow.

[0057] As an optional solution, the bionic fish tail module 2 in the embodiment includes a tail fin 50, a fixed cover 51 and a separation cover 52, the fixed cover 51 is fixedly connected to the tail plate 34 of the bionic fish body module 2, and the propeller of the propulsion mechanism is located in the middle hole of the fixed cover 51, the separation cover 52 is fixedly connected to the tail fin 50 through bolts; the tail cutting mechanism includes an electromagnet 53, the fixed cover 51 and the separation cover 52 are respectively provided with an electromagnet 53, the electromagnet 53 can make the fixed cover 51 and the separation cover 52 adsorb or separate by controlling the current direction, and the port of the separation cover 52 is clamped on the fixed cover 51. In the embodiment, the mechanical tail cutting device and the electromagnet 53 are embedded at the rear end of the fifth character-shaped plate.

[0058] As an optional solution, the cross-sectional shape of the fixed cover 51 and the separation cover 52 in the embodiment is oval, which is convenient for positioning and limiting clamping; the fixed cover 51 is provided with a mechanical tail cutting mechanism, the mechanical tail cutting mechanism includes a plurality of telescopic slider assemblies uniformly distributed in the circumferential direction, the connection groove of the separation cover 52 is uniformly provided with a plurality of clamping grooves in the circumferential direction, the number and position of the clamping grooves and the telescopic slider assemblies are one-to-one corresponding and matched, the further connection of the fish body is realized by clamping the clamping grooves of the separation cover 52 through the slider 59, when the tail needs to be cut, the slider 59 is retracted, and the separation of the fish body and the separation cover 52 can be realized. Generally, when the fish body rigidity is adjusted to the maximum, the tail is cut, and the speed of the fish body can be quickly improved.

[0059] As an optional solution, the telescopic slider assembly in the embodiment includes a fixed disc 54, a gear ring 55, a driving gear 56, an eccentric disc 57, a push rod 58 and a slider 59, the fixed disc 54 is provided with a plurality of directional sliding grooves 60, one end of the slider 59 is slidingly arranged in the directional sliding groove 60 and can be clamped with the clamping groove, 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 disc 57, the gear ring 55 is coaxially arranged in the fixed disc 54, one end of the driving gear 56 is connected to the motor 35, and the other end is engaged with the gear ring 55, the eccentric disc 57 includes a transmission gear and a disc which are integrally and coaxially arranged, the transmission gear is engaged with the gear ring 55, the disc is provided with an eccentric hole, and the push rod 58 is hinged to the eccentric hole; two eccentric holes are symmetrically arranged on each disc, and each eccentric hole is connected to a push rod 58, so that one eccentric disc 57 drives two sliders 59 to slide, the gear ring 55 is clamped with a ring-shaped sealing cover for sealing and waterproof design; one eccentric disc 57 drives two groups of sliders 59 to stretch and retract, improving the working efficiency of the machine. The push rod 58 is preferably an S-shaped push rod.

[0060] As an optional solution, the tail-breaking speed-increasing device in this embodiment includes mechanical, physical, and electromagnetic combined tail-breaking methods: the mechanical method uses a sun gear plus a push rod 58, the physical method relies on a concave-convex matching method to ensure the stability of the fish tail, and the electromagnetic method relies on the switch of the electromagnetic suction cup to cut off the power to absorb and release the iron plate fixed on the fish tail; when approaching the target, first control the motor 35 to rotate, and the driving gear 56 engages with the ring gear 55, which is equivalent to the active gear engaging the sun gear to drive the sun gear to rotate, and the sun gear drives the gears of the upper and lower eccentric plates 57 to rotate, and then drives the S-shaped push rod to tighten the plunger, and further controls the electromagnetic suction cup to cut off the power or reverse the current, thereby forming a repulsive force, and at this time the water flow thrust generated by the propeller is started to remove the fish tail.

[0061] This embodiment combines the propulsion method of a submarine propeller with that of a bionic fish. Embedded in the tail of the fish, this propulsion method combines tail swinging with propeller propulsion, and also enables short-range tracking and acceleration of targets with camera 9. A motor 35 controls a turntable 40, tightly twisting four torsion ropes 42, thereby tightening the distance between the various U-shaped plates. The U-shaped plates are restored to their original position by hinged lugs 43, which are embedded with springs 46. By appropriately adjusting the rotation angle of the motor 35, the distance between the U-shaped plates can be adjusted, thereby varying the length of the rear of the fish, thereby achieving variable-frequency propulsion in conjunction with the swinging of the fish's tail. The motor 35 controls the turntable 40, tightly wrapping the four torsion ropes 42 around a component with a fixed trajectory, thereby tightening the distance between the U-shaped plates. The position of the U-shaped plate is restored by relying on the hinged ear plate 43 with an embedded spring 46 connected to the upper part of the U-shaped plate. The distance between each U-shaped plate can be adjusted by appropriately adjusting the rotation angle of the turntable 40, thereby realizing the length change of the rear part of the fish body, and then cooperating with the swing of the tail to realize variable frequency propulsion; the tail-breaking speed-increasing device is combined with the propulsion method of the submarine, combined with it with the bionic fish, and embedded in the tail of the fish body so that the propulsion methods include tail swing and propeller propulsion, and can also be combined with the camera 9 to track and realize short-distance acceleration to pursue the target.

[0062] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A bionic fish capable of tail-breaking acceleration, characterized by: The bionic fish comprises a bionic fish head module, a bionic fish body module and a bionic fish tail module connected in sequence. The bionic fish head module is provided with a control unit, an energy accumulator, pectoral fins and a dorsal fin. The control unit is electrically connected to the energy accumulator. The pectoral fins are capable of swinging. 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 separate the tail fin 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. The stiffness adjustment mechanism and the propulsion mechanism are both communicatively connected to the control unit. The bionic fish body module includes a plurality of contoured trunk supports, a front baffle, a tail plate and a tail swing 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 the circumference is sealed and clamped with the outer cover of the bionic fish head module by 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 swing mechanism is symmetrically and movably arranged on both sides of the trunk support. The propulsion mechanism includes a fairing assembly and a propeller, the fairing assembly is fixedly arranged in the middle hole of the tail plate of the bionic fish body module, and the propeller 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 part of the fairing is fixed in the middle hole of the tail plate through a support leg, one end of the fairing 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 is in the shape of a hollow cylinder, the motor of the propeller is sleeved in the fairing and leaves an overflow gap, the fairing is located in front of the tail plate, and the propeller of the propeller is located behind the tail plate; 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 a mechanical tail breaking mechanism, the fixed cover is provided with the mechanical tail breaking mechanism, the mechanical tail breaking mechanism includes a plurality of telescopic slider assemblies uniformly distributed along the circumferential direction, and the connecting groove of the detachable cover is uniformly distributed along the circumferential direction, and the number and position of the card slots are matched one by one with the telescopic slider assembly; the telescopic slider assembly includes a fixed plate, a gear ring, a driving gear, an eccentric plate, a push rod and a slider, and a plurality of directional slide grooves are provided on the fixed plate The gear ring is coaxially arranged in the fixed plate, and one end of the driving gear is connected to the motor and the other end is meshed with the gear ring. The eccentric plate includes an integrated and coaxial transmission gear and a disc, and the transmission gear is meshed with the gear ring. An eccentric hole is provided on the disc, and the push rod is hinged to the eccentric hole; two eccentric holes are symmetrically provided on the center of each disc, and each eccentric hole is connected to a push rod, so that one eccentric plate drives the two sliders to slide, and an annular sealing cover is clamped on the gear ring.

2. The tail-breaking accelerating bionic fish according to claim 1, characterized in that: The bionic fish head module includes an outer cover, a support frame, a sealing end cover and a control platform. The outer cover is connected to several support frames at intervals by bolts. The support frame is annular and its size matches that of the outer cover. The circumference of the sealing end cover is sealed with bolts to the end of the outer cover. 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 a drive assembly of the control unit, energy storage device and tail swing mechanism; a camera is provided at the front end of the outer cover, and the camera is communicatively connected to the control unit; a dorsal fin assembly is provided at the top of the outer cover, and the dorsal fin assembly includes a dorsal fin and a communication module. The dorsal fin is fixedly connected to the outer cover, and the communication module is communicatively connected to the control unit; a gyroscope and a speed sensor are provided on the control platform, and a water depth sensor is provided below the outer cover. The water depth sensor, the gyroscope and the speed sensor are all communicatively connected to 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 2, characterized in that: A floating and sinking mechanism is provided below the outer cover of the bionic fish head module, and pectoral fin power generation components are provided on both sides. A friction nano power generation unit is provided on the surface of the outer cover, and the friction nano power generation unit includes a friction nano generator. Several friction nano generators connected in series are distributed 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 to the energy storage device; the floating and sinking mechanism includes a water filling tank, an oil bag, a filter valve, a bidirectional gear pump and an oil storage barrel. A water inlet is provided at one end of the water filling tank, and the water inlet matches the opening below the outer cover. The oil bag is provided 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 to the oil storage barrel through the filter valve and the bidirectional 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 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. 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. The air inlet and the air outlet are provided with one-way valves in opposite directions. The airflow at the air outlet can make the impeller rotate in the same direction; the rocker arm, the connecting rod, the cylinder and the impeller are provided in plurality and connected one-to-one, the generator is provided with two and connected by a rotating shaft, and a plurality of impellers are evenly distributed on the rotating shaft, 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, and the sealing cover is a cylinder made of transparent material, and the two ends of the sealing cover are respectively sealed with a generator, and the sealing cover is connected to each of the air inlet and the air outlet through a pipeline, and the generator is a brushless generator.

5. The tail-breaking accelerating bionic fish according to claim 1, 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. 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 provided 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.

6. 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 supports and between the front baffle and the tail plate and the trunk support are all retractable hinges. There are at least two torsion ropes, one end of each torsion rope is connected to the turntable, and the other end passes through each trunk support in turn and is fixed to the last trunk support. The turntable is rotatably connected to the front baffle.

7. The tail-breaking accelerating bionic fish according to claim 6, characterized in that: There are four torsion ropes, and a torsion disk is connected to the central hole of each auxiliary support plate by a bolt, and the end of each torsion rope passes through each torsion disk in turn and is fixed to the last torsion disk; a number of arc-shaped holes are symmetrically arranged on the center of the torsion disk, and 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 a hinged ear plate, a pin and a spring, and each of the two sides of the torso bracket is provided with a hinged ear plate, and a waist-shaped hole is provided on the two plates of the hinged 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 hinged ear plates, and the pin respectively conflicts 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 tail cutting mechanism also includes an electromagnet, and one electromagnet is respectively provided on the fixed cover and the detachable cover. The electromagnet can adsorb or separate the fixed cover and the detachable cover by controlling the direction of the current, and the port of the detachable cover is clamped on the fixed cover.

9. The tail-breaking accelerating bionic fish according to claim 1, characterized in that: The cross-sections of the fixing cover and the detaching cover are elliptical.

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