Hydraulic-driven deformable caudal fin of a robotic fish and working method thereof

Abstract

The present application belongs to the technical field of underwater bionic robots, and particularly relates to a deformable tail fin of a robot fish based on hydraulic drive and a working method thereof. The robot fish based on hydraulic drive is designed, a four-cylinder plunger pump is arranged in a fish head as a hydraulic power source, a fish body comprises three connecting bodies of large, medium and small, the large connecting body divides hydraulic oil into a bionic drive unit group of joint I, left and right bending of the fish body is realized, the hydraulic oil is delivered to the medium connecting body through an oil delivery pipe, after pressure synchronization is ensured through an internal pressure equalizing annular pipeline, a piston of joint II is driven to move, the fish tail is designed as a deformable tail fin, the tail arm is rotated through the piston in synchronous movement, and then the tail edge pipe is deformed and relatively displaced, so that the fish tail can dynamically change area, camber and shape in swimming, thereby adapting to different swimming speeds and maneuverability requirements. Through centralized hydraulic system and bionic structure design, active controllable adjustment of the deformable tail fin form is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater bionic robots, and particularly relates to a deformable tail fin of a robot fish based on hydraulic driving and a working method thereof. BACKGROUND

[0002] Many efficient swimming fish (such as tuna and mackerel) and marine mammals (such as whales and dolphins) in nature do not adopt fixed tail fin postures. They can dynamically adjust the attack angle, area and even shape (such as from crescent to fan) of the tail fin according to the swimming speed, maneuvering mode (such as acceleration, cruising and turning) and load condition. This active deformation capability enables them to maintain high efficiency and high maneuverability under a wide range of working conditions, which is incomparable to traditional rigid and fixed shape propellers or tail fins.

[0003] With the deepening of bionics research and the refinement of underwater robot application requirements, the deformable tail fin structure gradually becomes the research focus of improving bionic propulsion performance. Compared with the traditional fixed shape tail fin design, the deformable tail fin can dynamically adjust its geometric shape (such as area, camber, aspect ratio, etc.), so as to maintain the optimal propulsion efficiency under a wide range of swimming speeds and maneuvering conditions. SUMMARY

[0004] The application aims to provide a deformable tail fin.

[0005] A deformable tail fin comprises a main piston rod and two groups of side piston rods arranged symmetrically along a central axis plane, a tail arm, a connecting rod, a connecting rod fixer, a tail edge pipe and a tail edge pipe fixer; the main piston rod is arranged on the central axis plane; the head part of the two groups of tail arms is hingedly connected, a groove is arranged at the head part of the tail arm, a sliding rod is arranged in the groove, and the two groups of side piston rods are connected with the two groups of sliding rods respectively; for the tail arm, the connecting rod and the connecting rod fixer on the same side of the central axis plane, one end of the connecting rod is hingedly connected with the middle part of the tail arm, and the other end of the connecting rod is hingedly connected with the connecting rod fixer; one end of the tail edge pipe is hingedly connected with the tail part of the tail arm, and the other end of the tail edge pipe sequentially passes through one group of tail edge pipe fixers, one group of connecting rod fixers, the tail part of the main piston rod, the other group of connecting rod fixers and is finally fixed in the other group of tail edge pipe fixers.

[0006] Further, the linear motion of the two groups of side piston rods is converted into the sliding motion of the sliding rods in the grooves, which drives the two groups of tail arms to rotate around the hinged connection at the head part; the linear motion of the main piston rod drives the two groups of tail edge pipes to rotate around the hinged connection at the tail part of the tail arm, and the connecting rod, the connecting rod fixer and the tail edge pipe fixer move accordingly, so as to achieve the deformation of the tail fin.

[0007] Further, an elastic skin is further included, which wraps the whole tail fin without affecting the deformation of the tail fin.

[0008] Further, the tail arm comprises a head acute angle end, a head obtuse angle end and a tail acute angle end, and the three ends and the outer wall surface are curved and smoothed, and the head acute angle ends of the two groups of tail arms are hinged.

[0009] Further, the tail edge pipe is connected with the tail of the tail arm through a tail edge pipe connector, and the tail edge pipe connector is hinged with the tail of the tail arm.

[0010] Further, the connecting rod is hinged with the head of the connecting rod fixator, the tail of the connecting rod fixator is provided with an upper connecting port and a lower connecting port, the tail of the main piston rod is provided with an upper connecting port and a lower connecting port, and the tail edge pipe fixator is provided with an upper connecting port and a lower connecting port.

[0011] One end of the first tail edge pipe is connected with the tail of the first tail arm, the other end of the first tail edge pipe passes through the lower connecting port of the first tail edge pipe fixator, the lower connecting port of the tail of the first connecting rod fixator, the lower connecting port of the tail of the main piston rod, the lower connecting port of the tail of the second connecting rod fixator in sequence, and is finally fixed in the lower connecting port of the second tail edge pipe fixator.

[0012] One end of the second tail edge pipe is connected with the tail of the second tail arm, the other end of the second tail edge pipe passes through the upper connecting port of the second tail edge pipe fixator, the upper connecting port of the tail of the second connecting rod fixator, the upper connecting port of the tail of the main piston rod, the upper connecting port of the tail of the first connecting rod fixator in sequence, and is finally fixed in the upper connecting port of the first tail edge pipe fixator.

[0013] The application further provides a hydraulic driving-based machine fish with a deformable tail fin, comprising a fish head and a fish body, and the fish body is connected with the deformable tail fin through a tail connecting body.

[0014] The fish body comprises a middle connecting body, a small connecting body and a joint II flexible matrix between the two, and a main piston pipe and a side piston pipe are arranged in the joint II flexible matrix; the head of the main piston rod passes through the tail connecting body and the small connecting body and extends into the main piston pipe; the heads of the two groups of side piston rods pass through the tail connecting body and the small connecting body respectively and extend into the two groups of side piston pipes.

[0015] Further, a four-cylinder plunger pump is arranged in the fish head; the fish body further comprises a large connecting body and a joint I flexible matrix between the large connecting body and the middle connecting body, a joint I oil conveying pipe and a joint I driving unit group are arranged in the joint I flexible matrix, and a joint II oil conveying pipe, an upper oil conveying pipe and a lower oil conveying pipe are arranged in the joint II flexible matrix.

[0016] A first group of oil conveying ports of the four-cylinder plunger pump is connected with the joint I driving unit group through pipelines in the large connecting body, a second group of oil conveying ports of the four-cylinder plunger pump is connected with the input end of the joint I oil conveying pipe through pipelines in the large connecting body, and the output end of the joint I oil conveying pipe is connected with the input ends of the joint II oil conveying pipe and the upper oil conveying pipe through pipelines in the middle connecting body.

[0017] The output end of the joint II oil delivery pipe is connected with the input end of the main piston pipe; the upper oil delivery pipe is communicated with the lower oil delivery pipe through an oil delivery elbow, and the output ends of the upper oil delivery pipe and the lower oil delivery pipe are respectively connected with the input ends of the two groups of side piston pipes.

[0018] The application further provides a working method of the machine fish based on hydraulic driving, the length of the main piston rod is L;

[0019] If efficiency is prior, the main piston rod is controlled to extend outward relative to the tail connecting body , and the two groups of side piston rods are controlled to make the tail arm and the tail connecting body form an included angle;

[0020] If acceleration is prior, the main piston rod is controlled to extend outward relative to the tail connecting body , and the two groups of side piston rods are controlled to make the tail arm and the tail connecting body form an included angle;

[0021] If maneuverability is prior, the main piston rod is controlled to extend outward relative to the tail connecting body , and the two groups of side piston rods are controlled to make the tail arm and the tail connecting body form an included angle.

[0022] If efficiency and acceleration are considered, the main piston rod is controlled to extend outward relative to the tail connecting body , and the two groups of side piston rods are controlled to make the tail arm and the tail connecting body form an included angle;

[0023] If acceleration and maneuverability are considered, the main piston rod is controlled to extend outward relative to the tail connecting body , and the two groups of side piston rods are controlled to make the tail arm and the tail connecting body form an included angle;

[0024] If efficiency and maneuverability are considered, the main piston rod is controlled to extend outward relative to the tail connecting body , and the two groups of side piston rods are controlled to make the tail arm and the tail connecting body form an included angle.

[0025] The application has the following beneficial effects:

[0026] The machine fish based on hydraulic drive designed in the application, the fish head is internally provided with a four-cylinder plunger pump as a hydraulic power source, the fish body contains three connecting bodies of large, medium and small, the large connecting body divides the hydraulic oil into the bionic drive unit group of joint I, realizes the left and right bending of the fish body, simultaneously sends the hydraulic oil to the medium connecting body through the oil delivery pipe, ensures the synchronous pressure after the synchronous movement of the piston of joint II through the internal pressure equalizing annular pipeline, drives the piston movement of joint II, the fish tail is designed as a deformable tail fin, the tail arm is rotated by the piston of synchronous movement, and then drives the tail edge pipe to change the shape and relative displacement, so that the fish tail can dynamically change the area, camber and shape (such as from crescent to fork shape) in swimming, thereby adapting to different swimming speed and maneuverability requirements. Through the centralized hydraulic system and bionic structure design, the application realizes the active controllable adjustment of the deformable tail fin shape, solves the problems of low energy density and slow response of the traditional flexible machine fish, significantly improves the propulsion efficiency and motion flexibility, and has outstanding application value in underwater detection, rescue and other fields. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the overall structure schematic diagram of a machine fish based on hydraulic drive in the application.

[0028] Figure 2 is the exploded view of the fish head in the application.

[0029] Figure 3 is the axial view of the fish body in the application.

[0030] Figure 4 is the structure diagram of joint II in the fish body in the application.

[0031] Figure 5 is the internal structure schematic diagram of a deformable tail fin in the application.

[0032] Figure 6 is the overall schematic diagram of a deformable tail fin in the application (with a skin).

[0033] Figure 7 is the deformation diagram of the tail fin in the application.

[0034] Figure 8 is the working method schematic diagram of a deformable tail fin of a machine fish based on hydraulic drive in the application. DETAILED DESCRIPTION

[0035] The application will be further described below in combination with the drawings.

[0036] In order to enable more detailed understanding of the features and technical contents of the application, the implementation of the application embodiments will be described in detail below in combination with the drawings, and the drawings are only used for reference and do not limit the application embodiments.

[0037] In the embodiments of the present application, unless otherwise specified and limited, the term "connection" should be understood in a broad sense, for example, it can be an electrical connection, or a connection between two elements, or a direct connection, or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above-mentioned term according to the specific circumstances.

[0038] In the present application, unless otherwise explicitly specified and limited, "on" or "under" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "over" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. "Under", "below" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0039] In the embodiments of the present application, it should be pointed out that, unless otherwise specified and limited, the term "front side" refers to the side close to the head of the fish, and the term "rear side" refers to the side close to the tail of the fish. Those skilled in the art can understand the specific meaning of the above-mentioned terms according to the specific circumstances.

[0040] Embodiment 1:

[0041] A deformable tail fin in the embodiment comprises a main piston rod 2-13 and two groups of side piston rods 2-14 arranged symmetrically along the median plane, a tail arm 3-2, a connecting rod 3-3, a connecting rod fixer 3-4, a tail edge tube 3-5 and a tail edge tube fixer 3-6. The main piston rod 2-13 is arranged on the median plane. The head end of the two groups of tail arms 3-2 is hinged, a channel 3-2-4 is arranged at the head of the tail arm 3-2, a sliding rod 2-14-1 is arranged in the channel 3-2-4, and the two groups of side piston rods 2-14 are connected with the two groups of sliding rods 2-14-1 respectively. For the tail arm 3-2, the connecting rod 3-3 and the connecting rod fixer 3-4 on the same side of the median plane, one end of the connecting rod 3-3 is hinged with the middle part of the tail arm 3-2, and the other end of the connecting rod 3-3 is hinged with the connecting rod fixer 3-4. One end of the tail edge tube 3-5 is hinged with the tail of the tail arm 3-2, and the other end of the tail edge tube 3-5 passes through a group of tail edge tube fixers 3-6, a group of connecting rod fixers 3-4, the tail of the main piston rod 2-13 and another group of connecting rod fixers 3-4 in sequence, and is finally fixed in another group of tail edge tube fixers 3-6.

[0042] The linear motion of the two groups of side piston rods 2-14 is converted into the sliding of the slide rods 2-14-1 in the grooves 3-2-4, which drives the two groups of tail arms 3-2 to rotate around the head articulations; the linear motion of the main piston rod 2-13 drives the two groups of tail edge pipes 3-5 to rotate around the tail articulations of the tail arms 3-2, and the connecting rods 3-3, the connecting rod fixers 3-4 and the tail edge pipe fixers 3-6 move accordingly, achieving the deformation of the tail fins.

[0043] Embodiment 2:

[0044] As shown in Figure 5 , the tail arm 3-2 is provided with a tail arm lower connecting hole 3-2-1, a tail arm upper connecting hole 3-2-2 and a tail arm middle connecting hole 3-2-3, and the tail arm 3-2 includes a head acute angle end, a head obtuse angle end and a tail acute angle end, and the three ends and the outer side wall surface are curved and smoothly processed, and the head acute angle ends of the two groups of tail arms 3-2 are articulated.

[0045] The connecting rod 3-3 contains a connecting rod lower connecting hole 3-3-1 and a connecting rod upper connecting hole 3-3-2, the head of the connecting rod fixer is provided with a connecting rod fixer connecting hole 3-4-1, the tail of the connecting rod fixer 3-4 is provided with an upper connecting port and a lower connecting port, the tail of the main piston rod 2-13 is provided with an upper connecting port and a lower connecting port, and the tail edge pipe fixer 3-6 is provided with an upper connecting port and a lower connecting port.

[0046] The connecting rod 3-3 is articulated with the head of the connecting rod fixer 3-4, the connecting rod lower connecting hole 3-3-1 and the tail arm middle connecting hole 3-2-3 coincide and are articulated, the connecting rod upper connecting hole 3-3-2 and the connecting rod fixer connecting hole 3-4-1 coincide and are articulated, one end of the tail edge pipe 3-5 is connected with the tail edge pipe connector 3-5-1, and the other end is articulated with the tail arm 3-2 at the coinciding position of the tail edge pipe fixer connecting hole 3-5-2 and the tail arm upper connecting hole 3-2-2, and the other end of the tail edge pipe 3-5 is fixed by the tail edge pipe fixer 3-6, and the two tail edge pipes 3-5 pass through the main piston rod 2-13 at the central axis.

[0047] Specifically, one end of the first tail edge pipe is connected with the tail of the first tail arm, the other end of the first tail edge pipe passes through the lower connecting port of the first tail edge pipe fixer, the lower connecting port of the tail of the first connecting rod fixer, the lower connecting port of the tail of the main piston rod 2-13, the lower connecting port of the tail of the second connecting rod fixer, and finally is fixed in the lower connecting port of the second tail edge pipe fixer.

[0048] One end of the second tail edge pipe is connected with the tail of the second tail arm, and the other end of the second tail edge pipe passes through the upper connecting port of the second tail edge pipe fixer, the upper connecting port of the tail of the second connecting rod fixer, the upper connecting port of the tail of the main piston rod 2-13, the upper connecting port of the tail of the first connecting rod fixer, and finally is fixed in the upper connecting port of the first tail edge pipe fixer.

[0049] Embodiment 3:

[0050] As shown in Figure 6 The elastic skin 3-7 of the deformable tail fin 3 wraps and fixes the whole deformable tail fin 3 structure, and the elastic skin 3-7 has good elasticity and can change with the change of the tail fin shape, ensuring that the elastic skin 3-7 can always wrap the deformable tail fin 3 structure without affecting the change of the deformable tail fin 3 shape.

[0051] Embodiment 4:

[0052] As shown in Figure 1 A hydraulic drive-based robotic fish with a deformable tail fin, comprising a fish head 1, a fish body 2 and a deformable tail fin 3. The fish head 1 is provided with a four-cylinder plunger pump 1-2, the fish body 2 comprises a large connecting body 2-1, a middle connecting body 2-5, a joint I flexible matrix 2-2 between the large connecting body 2-1 and the middle connecting body 2-5, a small connecting body 2-15, a joint II flexible matrix 2-6 between the middle connecting body 2-5 and the small connecting body 2-15;

[0053] The fish body 2 is connected with the deformable tail fin through a tail connecting body 3-1;

[0054] A joint I oil delivery pipe 2-3 and a joint I drive unit group 2-4 are arranged in the joint I flexible matrix 2-2, a joint II oil delivery pipe 2-7, an upper oil delivery pipe 2-8 and a lower oil delivery pipe 2-10 are arranged in the joint II flexible matrix 2-6; a main piston pipe 2-11 and a side piston pipe 2-12 are arranged in the joint II flexible matrix 2-6; a head portion of a main piston rod 2-13 passes through the tail connecting body 3-1 and the small connecting body 2-15 and extends into the main piston pipe 2-11; head portions of two groups of side piston rods 2-14 pass through the tail connecting body 3-1 and the small connecting body 2-15 respectively and extend into the two groups of side piston pipes 2-12.

[0055] A first group of oil delivery ports 1-2-1 of the four-cylinder plunger pump 1-2 is connected with the joint I drive unit group 2-4 through a pipeline in the large connecting body 2-1, a second group of oil delivery ports 1-2-2 of the four-cylinder plunger pump 1-2 is connected with an input end of the joint I oil delivery pipe 2-3 through a pipeline in the large connecting body 2-1, and an output end of the joint I oil delivery pipe 2-3 is connected with input ends of the joint II oil delivery pipe 2-7 and the upper oil delivery pipe 2-8 through a pipeline in the middle connecting body 2-5 respectively;

[0056] An output end of the joint II oil delivery pipe 2-7 is connected with an input end of the main piston pipe 2-11, the upper oil delivery pipe 2-8 communicates with the lower oil delivery pipe 2-10 through an oil delivery elbow 2-9, and output ends of the upper oil delivery pipe 2-8 and the lower oil delivery pipe 2-10 are connected with input ends of the two groups of side piston pipes 2-12 respectively.

[0057] Embodiment 5:

[0058] As shown in Figure 2As shown, the fish head 1 is mainly composed of two parts, the outer shell 1-1 and the four-cylinder piston pump 1-2.

[0059] The four-cylinder piston pump 1-2 includes two pairs of oil inlets, the upper oil inlet 1-2-1 and the lower oil inlet 1-2-2. The pistons in the four-cylinder piston pump 1-2 continuously move to control the oil inlets of the two pairs of oil inlets, the upper oil inlet 1-2-1 and the lower oil inlet 1-2-2, and further control the swinging of joint I and the movement of the pistons in joint II. Each cylinder of the four-cylinder piston pump is independent, so the oil inlets can be simultaneously increased or decreased.

[0060] As shown in Figure 3 and Figure 4 The symmetry plane of the fish body 2 is defined as the central axis plane, and the fish body 2 contains flexible joint I and joint II. The large connector 2-1 of the fish body 2 is connected with the outer shell 1-1 of the fish head 1, and the two pairs of oil inlets 1-2-1 and 1-2-2 of the four-cylinder piston pump 1-2 in the front side are connected with the corresponding oil inlets in the large connector 2-1. The upper oil inlet 1-2-1 is divided by the pipeline in the large connector 2-1, and then flows into the ten muscle tubes of the joint I drive unit group 2-4 through the ten oil inlets. The lower oil inlet 1-2-2 is divided by the pipeline in the large connector 2-1, and then is connected with the two joint I oil pipes 2-3. The joint I drive unit group 2-4 and the joint I oil pipe 2-3 are wrapped and fixed by the joint I flexible matrix 2-2.

[0061] The oil inlets of the middle connector 2-5 are connected with the joint I oil pipe 2-3 and the joint I drive unit group 2-4. The middle connector 2-5 contains a pipeline inside to modify the position of the oil inlets and connect with the joint II oil pipe 2-7 and the upper oil pipe 2-8. The upper oil pipe 2-8 is connected with the lower oil pipe 2-10 through the oil elbow 2-9. The main piston pipe 2-11 contains the main piston rod 2-13 which can slide in the pipe. The side piston pipe 2-12 contains the side piston rod 2-14 which can slide in the pipe. The tail of the side piston rod 2-14 has a slide rod 2-14-1. The joint II oil pipe 2-7, the upper oil pipe 2-8, the oil elbow 2-9, the lower oil pipe 2-10, the main piston pipe 2-11 and the side piston pipe 2-12 are wrapped and fixed by the joint II flexible matrix 2-6.

[0062] The fish body 2 also contains a small connector 2-15, which is penetrated by the main piston rod 2-13 and the side piston rod 2-14 and connected with the components in the deformable tail fin 3, and the small connector 2-13 is directly connected with the tail connector 3-1.

[0063] The joint I driving unit group 2-4 adopts the McKibben type driving unit, which is cylindrical and will shrink axially and expand radially under the action of pressure. When the driving medium is pumped into the joint I driving unit group 2-4 by the four-cylinder plunger pump 1-2 through the upper oil inlet 1-2-1 via the large connector 2-1, the left and right deflection of the joint I occurs due to the different driving medium pressures on the left and right sides. The driving medium is pumped into the joint I oil pipe 2-3 by the four-cylinder plunger pump 1-2 through the lower oil inlet 1-2-2 via the large connector 2-1, flows into the joint II oil pipe 2-7 and the upper oil pipe 2-8 via the oil pipeline in the middle connector 2-5, and then flows into the lower oil pipe 2-10 through the oil elbow 2-9, thereby realizing the same liquid pressure in the side piston pipe 2-12. When the driving medium flows in the joint II oil pipe 2-7, the upper oil pipe 2-8 and the lower oil pipe 2-10, the driving medium pushes the main piston rod 2-13 and the side piston rod 2-14 to move in the main piston pipe 2-11 and the side piston pipe 2-12 respectively according to the movement state of the four-cylinder plunger pump 1-2. Since the upper oil pipe 2-8 and the lower oil pipe 2-10 are connected via the oil elbow 2-9 and the liquid pressure in them is the same, the movement of the side piston rod 2-14 in the side piston pipe 2-12 is the same.

[0064] The movement of the side piston rod 2-14 is transmitted by the sliding of the slide rod 2-14-1 on the channel 3-2-4, thereby driving the two tail arms 3-2 to rotate around the tail arm lower connecting hole 3-2-1. Since the movement of the side piston rod 2-14 in the side piston pipe 2-12 is the same, the angles of rotation of the two tail arms 3-2 are the same. The movement of the main piston rod 2-13 drives the two tail edge pipes 3-5 to move forward and backward. At the same time, the movement of the tail arm 3-2 and the tail edge pipe 3-5 drives the movement of the connecting rod 3-3, thereby ensuring the stability of the structure. The tail edge pipe connector 3-5-1 rotates around the tail edge pipe fixer connecting hole 3-5-2 with the movement of the tail arm 3-2 and the tail edge pipe 3-5, which can ensure the stability of the structure and the change of the tail fin shape. The tail edge pipe fixer 3-6 also moves with the movement of the two tail edge pipes 3-5, thereby ensuring that the two tail edge pipes 3-5 are always fixed together.

[0065] Embodiment 6:

[0066] As shown in Figure 7 , the length of the main piston rod 2-13 is L;

[0067] When the main piston rod 2-13 extends outward relative to the tail connector 3-1 , the two groups of side piston rods 2-14 drive the tail arm 3-2 to rotate around the tail arm lower connecting hole 3-2-1, so that the tail arm 3-2 and the tail connector 3-1 form an included angle, which is an A-shaped tail fin. The A-shaped tail fin can balance efficiency and acceleration during movement.

[0068] When the main piston rod 2-13 extends outward relative to the tail connector 3-1 , the tail arm 3-2 is at an angle with the tail connector 3-1, it is a B-shaped tail fin, and the B-shaped tail fin has priority in efficiency during movement.

[0069] When the main piston rod 2-13 extends outward relative to the tail connector 3-1 , the tail arm 3-2 is at an angle with the tail connector 3-1, it is a C-shaped tail fin, and the C-shaped tail fin has priority in acceleration during movement.

[0070] When the main piston rod 2-13 extends outward relative to the tail connector 3-1 , the tail arm 3-2 is at an angle with the tail connector 3-1, it is a D-shaped tail fin, and the D-shaped tail fin has priority in acceleration and maneuvering during movement.

[0071] When the main piston rod 2-13 extends outward relative to the tail connector 3-1 , the tail arm 3-2 is at an angle with the tail connector 3-1, it is an E-shaped tail fin, and the E-shaped tail fin has priority in efficiency and maneuvering during movement.

[0072] When the main piston rod 2-13 extends outward relative to the tail connector 3-1 , the tail arm 3-2 is at an angle with the tail connector 3-1, it is an F-shaped tail fin, and the F-shaped tail fin has priority in maneuvering during movement.

[0073] Example 7:

[0074] As shown in Figure 8 , the robotic fish carries sensors during movement to perceive the movement environment, analyzes the movement demand according to the perceived data and working requirements, and then makes tail fin deformation decisions according to the working characteristics of tail fins of different shapes.

[0075] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A deformable tail fin, characterized in that: It includes the main piston rod (2-13) and two sets of side piston rods (2-14) symmetrically arranged along the central axis, tail arm (3-2), connecting rod (3-3), connecting rod retainer (3-4), tail edge tube (3-5) and tail edge tube retainer (3-6). The main piston rod (2-13) is mounted on the central axis surface; The two sets of tail arms (3-2) are hinged at one end of their heads. A channel (3-2-4) is provided at the head of the tail arm (3-2). A sliding rod (2-14-1) is provided in the channel (3-2-4). The two sets of side piston rods (2-14) are respectively connected to the two sets of sliding rods (2-14-1). For the tail arm (3-2), connecting rod (3-3), and connecting rod retainer (3-4) on the same side of the central axis plane, one end of the connecting rod (3-3) is hinged to the middle of the tail arm (3-2), and the other end of the connecting rod (3-3) is hinged to the connecting rod retainer (3-4). One end of the tail edge tube (3-5) is hinged to the tail of the tail arm (3-2), and the other end of the tail edge tube (3-5) passes through a set of tail edge tube retainers (3-6), a set of connecting rod retainers (3-4), the tail of the main piston rod (2-13), another set of connecting rod retainers (3-4), and is finally fixed in another set of tail edge tube retainers (3-6). The linear motion of the two sets of side piston rods (2-14) is converted into the sliding of the slide rod (2-14-1) in the channel (3-2-4), which drives the two sets of tail arms (3-2) to rotate around the head hinge; the linear motion of the main piston rod (2-13) drives the two sets of tail edge tubes (3-5) to rotate around the tail hinge of the tail arm (3-2), and the connecting rod (3-3), connecting rod retainer (3-4) and tail edge tube retainer (3-6) move accordingly to achieve the deformation of the tail fin.

2. A deformable tail fin according to claim 1, wherein: It also includes elastic skin (3-7) to completely wrap the tail fin without affecting its deformation.

3. A deformable tail fin according to claim 1, wherein: The tail arm (3-2) includes an acute-angled end of the head, an obtuse-angled end of the head, and an acute-angled end of the tail. The three ends and the outer wall surface are smoothed with curves. The acute-angled ends of the heads of the two tail arms (3-2) are hinged together.

4. The deformable tail fin of claim 1, wherein: The tail edge tube (3-5) is connected to the tail of the tail arm (3-2) via the tail edge tube connector (3-5-1), and the tail edge tube connector (3-5-1) is hinged to the tail of the tail arm (3-2).

5. The deformable tail fin of claim 1, wherein: The connecting rod (3-3) is hinged to the head of the connecting rod retainer (3-4), and the tail of the connecting rod retainer (3-4) is provided with an upper connection port and a lower connection port; the tail of the main piston rod (2-13) is provided with an upper connection port and a lower connection port; the tail edge tube retainer (3-6) is provided with an upper connection port and a lower connection port.

6. A deformable tail fin according to claim 5, wherein: One end of the first tail edge tube is connected to the tail of the first tail arm, and the other end of the first tail edge tube passes through the lower connection port of the first tail edge tube retainer, the lower connection port of the tail of the first connecting rod retainer, the lower connection port of the tail of the main piston rod (2-13), the lower connection port of the tail of the second connecting rod retainer, and is finally fixed to the lower connection port of the second tail edge tube retainer. One end of the second tail tube is connected to the tail of the second tail arm, and the other end of the second tail tube passes through the upper connection port of the second tail tube retainer, the upper connection port of the tail of the second connecting rod retainer, the upper connection port of the tail of the main piston rod (2-13), the upper connection port of the tail of the first connecting rod retainer, and finally is fixed to the upper connection port of the first tail tube retainer.

7. A hydraulic-driven based robotic fish with the deformable caudal fin of claim 1, characterized in that: It includes a fish head (1) and a fish body (2), the fish body (2) being connected to a deformable tail fin via a tail connector (3-1); The fish body (2) includes a middle connector (2-5) and a small connector (2-15) and a joint II flexible matrix (2-6) between them. A main piston tube (2-11) and a side piston tube (2-12) are provided in the joint II flexible matrix (2-6). The head of the main piston rod (2-13) passes through the tail connector (3-1) and the small connector (2-15) and extends into the main piston tube (2-11). The heads of the two sets of side piston rods (2-14) pass through the tail connector (3-1) and the small connector (2-15) respectively and extend into the two sets of side piston tubes (2-12).

8. The hydraulic-driven robotic fish according to claim 7, wherein: The fish head (1) is equipped with a four-cylinder plunger pump (1-2); the fish body (2) also includes a large connector (2-1) and a joint I flexible matrix (2-2) between the large connector (2-1) and the middle connector (2-5). The joint I flexible matrix (2-2) is equipped with a joint I oil pipe (2-3) and a joint I drive unit group (2-4). The joint II flexible matrix (2-6) is equipped with a joint II oil pipe (2-7), an upper oil pipe (2-8) and a lower oil pipe (2-10). The first set of oil inlets (1-2-1) of the four-cylinder plunger pump (1-2) is connected to the joint I drive unit group (2-4) through the pipeline in the large connector (2-1), the second set of oil inlets (1-2-2) of the four-cylinder plunger pump (1-2) is connected to the input end of the joint I oil pipe (2-3) through the pipeline in the large connector (2-1), and the output end of the joint I oil pipe (2-3) is connected to the input ends of the joint II oil pipe (2-7) and the upper oil pipe (2-8) through the pipeline in the middle connector (2-5); The output end of the joint II oil supply pipe (2-7) is connected to the input end of the main piston pipe (2-11); the upper oil supply pipe (2-8) is connected to the lower oil supply pipe (2-10) through the oil supply bend (2-9), and the output ends of the upper oil supply pipe (2-8) and the lower oil supply pipe (2-10) are respectively connected to the input ends of the two sets of side piston pipes (2-12).

9. The working method of the hydraulic drive-based robotic fish in claim 7, characterized in that: The length of the main piston rod (2-13) is L; If efficiency is preferred, control the main piston rod (2-13) to extend outward relative to the tail connector (3-1) , control the two groups of side piston rods (2-14) to make the tail arm (3-2) and the tail connector (3-1) form An angle If acceleration priority, the main piston rod (2-13) extends outward relative to the tail connector (3-1) , control two groups of side piston rod (2-14) to make the tail arm (3-2) and tail connector (3-1) angle ; If maneuverability is prioritized, the main piston rod (2-13) extends outward relative to the tail connector (3-1) , and the two groups of side piston rods (2-14) are controlled to make the tail arm (3-2) and the tail connector (3-1) form an angle.

10. The working method of a hydraulically driven robotic fish according to claim 9, characterized in that: If both efficiency and acceleration are taken into account, the control main piston rod (2-13) is extended outward relative to the tail connector (3-1) , and the two groups of side piston rods (2-14) are controlled to make the tail arm (3-2) and the tail connector (3-1) form An angle If both acceleration and maneuverability are taken into account, the control main piston rod (2-13) is extended outward relative to the tail connector (3-1) , and the two groups of side piston rods (2-14) are controlled to make the tail arm (3-2) and the tail connector (3-1) form An angle If efficiency and maneuverability are taken into account, the control main piston rod (2-13) extends outward relative to the tail connector (3-1) , and the two groups of side piston rods (2-14) are controlled to make the tail arm (3-2) and the tail connector (3-1) form An angle.

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