Electric fish
By designing a three-section rotating electric fish body and drive module, combined with a control and detection module, the electric fish's diverse movements and automatic direction adjustment were realized, solving the problem of the electric fish's monotonous movement and improving the simulation accuracy and convenience.
Patent Information
- Application Number
- CN202520027864.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-06
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2035-01-06
AI Technical Summary
Existing electric fish have a limited swimming method and require dragging to change direction, which is physically demanding.
Design an electric fish comprising three segments that rotate relative to each other in sequence. The head and tail are driven by drive modules respectively. The fish moves forward and turns by the relative rotation of the segments. Combined with a control module and a detection module, the fish automatically adjusts its motion state.
It achieves diverse motion states of the electric fish, can automatically change direction, has high simulation accuracy, simple structure, wireless surface, and its movement is close to that of a real fish.
Smart Images
Figure CN223590959U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to an artificial animal, in particular to an electric fish. BACKGROUND
[0002] At present, the common electric fish on the market realizes its swimming through vibration or through the way of water drainage.
[0003] However, the swimming mode of these electric fish with the swimming mode is single, and does not have the rotation function. When it is necessary to change the swimming direction of the electric fish, it is necessary to change the swimming direction by dragging the electric fish, which consumes physical strength. SUMMARY
[0004] In order to solve at least one of the above problems, an electric fish is provided.
[0005] The electric fish comprises a fish body, the fish body comprises at least three sections of bodies connected in sequence and relatively rotatable, at least one of the sections of bodies is a head of the fish body, and at least one of the sections of bodies is a tail of the fish body; and at least two groups of driving modules, at least one of the groups of driving modules is a first driving module and is arranged to drive the head of the fish body to rotate around a first pivot axis relative to the section of body adjacent to the head, and at least one of the groups of driving modules is a second driving module and is arranged to drive the tail of the fish body to rotate around a second pivot axis relative to the section of body adjacent to the tail.
[0006] Since the fish body of the electric fish comprises at least three sections of bodies connected in sequence and relatively rotatable, the forward movement and turning of the fish body in water can be realized through the relative rotation of the sections of bodies; and since the head and the tail of the electric fish are driven by the first driving module and the second driving module respectively, the movement states of the head and the tail can be different, so that the movement state of the electric fish is more diverse, for example, when the head and the tail are both pivotally moved, the fish body in water swims forward; when the head swings to one side and stops moving, and the tail reciprocally rotates, the fish body in water can be turned.
[0007] In some embodiments, the electric fish further comprises a control module and a detection module; the control module is arranged to control the fish body to move in a first movement state when the detection module detects that there is no obstacle in front of the fish body, and to control the fish body to move in a second movement state when the detection module detects that there is an obstacle in front of the fish body; one of the first movement state and the second movement state corresponds to the first driving module and the second driving module driving the adjacent sections of bodies to relatively reciprocally rotate at the same time; the other corresponds to one of the first driving module and the second driving module driving the adjacent sections of bodies to relatively reciprocally rotate, and the other driving the adjacent sections of bodies to relatively rotate in one direction.
[0008] When the first driving module and the second driving module simultaneously drive the corresponding adjacent segments to relatively reciprocate, the fish body in water swims forward; when one of the first driving module and the second driving module drives the adjacent segments to relatively reciprocate (i.e. the adjacent segments swing relatively), and the other of the first driving module and the second driving module drives the adjacent segments to relatively rotate in one direction (i.e. the adjacent segments swing relatively), the fish body in water can change the swimming direction.
[0009] In some embodiments, the electric fish further comprises a battery, the battery powers at least one of the control module, the detecting module and the driving module. Thus, the surface of the electric fish can be wireless, and the electric fish can be more imitated.
[0010] In some embodiments, the driving module is a magnetic suspension motor.
[0011] In some embodiments, the control module is configured to control the battery to power the driving module by a set duty cycle. Thus, the time interval of the battery powering the driving module can be controlled by the control module, and the working time of the driving module can be controlled.
[0012] In some embodiments, at least one of the battery and the control module is sealed in the accommodating cavity of the head of the fish body. Thus, the battery and the control module can be protected by the head of the fish body; and thus, the weight of the head of the fish body can be increased, so that the turning of the electric fish can be controlled by controlling the turning of the head of the fish body, and the stability of the turning can be ensured.
[0013] In some embodiments, the detecting module is arranged on the head of the fish body. So that the obstacle in front of the head of the fish body can be detected by the detecting module.
[0014] In some embodiments, the first driving module is configured to drive the head of the fish body to rotate around the first pivot axis relative to the segment adjacent to the head. The first driving module comprises a first rotating shaft parallel to the first pivot axis, the head of the fish body and the segment adjacent to the head are connected to rotate around the first pivot axis by the first rotating shaft, the first driving module further comprises a swing member capable of swinging relative to the first rotating shaft around the first pivot axis, one of the head of the fish body and the segment adjacent to the head is provided with a first avoiding slot avoiding the swing member of the first driving module, and the other is fixed relative to the swing member of the first driving module. Thus, the head of the fish body and the segment adjacent to the head can be rotated around the first pivot axis by the first driving module, so as to ensure the simplicity of the structure of the electric fish.
[0015] In some embodiments, the second drive module is configured to drive the tail of the fish body to rotate relative to its adjacent segment about a second pivot axis. This is achieved by the second drive module including a second pivot axis parallel to the second pivot axis, with the tail of the fish body and its adjacent segment rotatably connected via the second pivot axis. The second drive module also includes a swinging member capable of oscillating relative to the second pivot axis. One of the tail of the fish body and its adjacent segment is provided with a second clearance groove to avoid the swinging member of the second drive module, while the other is fixed relative to the swinging member of the second drive module. Thus, the second drive module enables the tail of the fish body and its adjacent segment to rotate about the second pivot axis, ensuring the simplicity of the electric fish's structure.
[0016] In some embodiments, a first limiting structure is provided on the head of the first drive module or the fish body to limit the swing angle of the swinging component of the first drive module; a second limiting structure is provided on the adjacent segment of the tail of the second drive module or the fish body to limit the swing angle of the swinging component of the second drive module. Thus, the angle of rotation of the head of the fish body relative to its adjacent segment can be adjusted by the first limiting structure; and the angle of rotation of the tail of the fish body relative to its adjacent segment can be adjusted by the second limiting structure.
[0017] In some embodiments, the first pivot axis and the second pivot axis are arranged parallel to each other. This allows the movement of the fish body during its split pivoting motion to more closely resemble the movement pattern of a real fish.
[0018] In some embodiments, the first and second pivot axes are perpendicular to the extension direction from the head to the tail of the fish body; and / or in some embodiments, the first and second pivot axes are parallel to the extension direction from the back to the belly of the fish body. This allows the fish body's movement during its split pivoting motion to more closely resemble the movement pattern of a real fish, making it suitable for use as bait or as an ornamental fish in an aquarium. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of the structure of an electric fish according to one embodiment of the present invention;
[0020] Figure 2 for Figure 1 The diagram shows a structural schematic of one decomposed state of the electric fish.
[0021] Figure 3 for Figure 1 A schematic diagram of another decomposed state of the electric fish shown.
[0022] Figure 4 This is a schematic diagram of the module structure of an electric fish according to one embodiment of the present invention;
[0023] Figure 5 is a structural schematic view of the driving module shown in FIG. 1;
[0024] Figure 6 is a structural schematic view of the driving module shown in FIG. 1 from another perspective; Figure 5 is a structural schematic view of the driving module shown in FIG. 1 from another perspective;
[0025] Figure 7 is a structural schematic view of the driving module shown in FIG. 1 from another perspective; Figure 6 is a structural schematic view of the driving module shown in FIG. 1 along the direction of A-A;
[0026] Figure 8 is a structural schematic view of the driving module shown in FIG. 1 along the direction of B-B; Figure 6
[0027] Figure 9 is a structural schematic view of the driving module shown in FIG. 1 along the direction of C-C; Figure 6
[0028] Figure 10 is a structural schematic view of the driving module shown in FIG. 1 in an exploded state; Figure 5
[0029] Reference signs: 20, driving module; 20a, first driving module; 20b, second driving module; 21, base; 211, seat body; 2110, first opening; 2111, bottom plate; 2112, first side wall; 2113, second side wall; 2114, clamping block; 212, first support; 2121, clamping groove; 213, second support; 22, coil; 221, electric wire; 23, swing rod; 24, magnetic piece; 241, first magnetic block; 242, second magnetic block; 243, third magnetic block; 244, fourth magnetic block; 25, swing piece; 26, rotating unit; 261, rotating piece; 2611, threaded through hole; 262, screw rod; 27, limiting part; 28, oil-containing bearing; 31, fish body; 311, split body; 311a, head part; 311a-1, accommodating cavity; 311b, tail part; 3112, first pivot shaft; 3113, second pivot shaft; 3114a, first avoiding groove; 3114b, second avoiding groove; 312, fish back; 313, fish belly; 41, control module; 42, detection module; 43, battery. DETAILED DESCRIPTION
[0030] It should be noted that the embodiments and features in the embodiments in the present application can be combined with each other without conflict.
[0031] It is also important to note that the terms "first" and "second" and the like are used herein merely to distinguish one element from another, and are not necessarily intended to indicate temporal or chronological order. Furthermore, the terms "comprises", "comprising", "includes", "including" and the like can be used herein simply to denote inclusion of a stated element or process, without necessarily excluding the presence of other elements or processes. In other words, the terms "comprises", "comprising", "includes", "including" and the like specify the presence of stated elements or processes, but do not preclude the presence or addition of one or more other elements or processes, unless otherwise dictated by context. The terms "a" and "an" and "the" and similar referents in the context of an embodiment description are to be construed to be inclusive of both singular and plural, unless otherwise indicated.
[0032] Furthermore, spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, can be used herein for ease of description to describe one element or component's or portion's relationship to another element or component(s) or portion(s) as illustrated in the various figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
[0033] In order to make the purposes, technical schemes and advantages of the embodiments of the present application clearer, the technical schemes of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some 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 other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0034] Figures 1 to 4 An electric fish according to an embodiment of the present application is schematically shown.
[0035] As Figures 1 to 3As shown, the electric fish comprises a fish body 31 and at least two groups of driving modules 20. The fish body 31 comprises at least three sections of bodies 311 connected in sequence and relatively rotatable, and at least one of the sections of bodies 311 is a head 311a of the fish body 31, and at least one of the sections of bodies 311 is a tail 311b of the fish body 31; at least one of the groups of driving modules 20 is a first driving module 20a and is arranged to drive the head 311a of the fish body 31 to rotate around a first pivot axis 3112 relative to the section of body 311 adjacent to the head 311a, and at least one of the groups of driving modules 20 is a second driving module 20b and is arranged to drive the tail 311b of the fish body 31 to rotate around a second pivot axis 3113 relative to the section of body 311 adjacent to the tail 311b.
[0036] Since the fish body 31 of the electric fish comprises at least three sections of bodies 311 connected in sequence and relatively rotatable, the forward movement and turning of the fish body 31 in water can be realized through the relative rotation of the sections of bodies 311; and since the head 311a and the tail 311b of the electric fish are respectively driven by the first driving module 20a and the second driving module 20b, the movement states of the head 311a and the tail 311b can be different, so that the movement state of the electric fish is more diverse, for example, when the head 311a and the tail 311b are both pivotally moved, the fish body 31 in water moves forward; when the head 311a swings to one side and stops moving, the fish body 31 in water can be turned by the movement of the tail 311b.
[0037] In some preferred embodiments, as shown in FIG. 1, the electric fish comprises a fish body 31 and at least two groups of driving modules 20. The fish body 31 comprises at least three sections of bodies 311 connected in sequence and relatively rotatable, and at least one of the sections of bodies 311 is a head 311a of the fish body 31, and at least one of the sections of bodies 311 is a tail 311b of the fish body 31; at least one of the groups of driving modules 20 is a first driving module 20a and is arranged to drive the head 311a of the fish body 31 to rotate around a first pivot axis 3112 relative to the section of body 311 adjacent to the head 311a, and at least one of the groups of driving modules 20 is a second driving module 20b and is arranged to drive the tail 311b of the fish body 31 to rotate around a second pivot axis 3113 relative to the section of body 311 adjacent to the tail 311b. Figure 4As shown, the electric fish further comprises a control module 41 and a detection module 42; the control module 41 is configured to control the fish body 31 to move in a first movement state when the detection module 42 detects that there is no obstacle in front of the fish body 31, and to control the fish body 31 to move in a second movement state when the detection module 42 detects that there is an obstacle in front of the fish body 31; one of the first movement state and the second movement state corresponds to the first driving module 20a driving the head 311a to rotate reciprocally (i.e. swing) relative to the adjacent segment 311 thereof, and the second driving module 20b driving the tail 311b to rotate reciprocally relative to the adjacent segment 311 thereof; the other of the first movement state and the second movement state corresponds to one of the first driving module 20a and the second driving module 20b driving the adjacent segment 311 to rotate reciprocally; the other of the first driving module 20a and the second driving module 20b drives the adjacent segment 311 to rotate relative to each other in one direction, so that the adjacent segments 311 are deflected. In the present application, the adjacent segments 311 are deflected, i.e. the adjacent segments 311 are not located in the same plane, and form an included angle therebetween which is neither 0° nor 180°. When the first driving module 20a and the second driving module 20b simultaneously drive the corresponding adjacent segments 311 to rotate reciprocally, the fish body 31 in water moves forward; when one of the first driving module 20a and the second driving module 20b drives the adjacent segments 311 to rotate reciprocally, and the other of the first driving module 20a and the second driving module 20b drives the adjacent segments 311 to rotate relative to each other in one direction, the fish body 31 in water can change the moving direction.
[0038] As one of the embodiments of the control module 41, the control module 41 can adopt the PLC or MCU commonly used in the prior art.
[0039] As one of the embodiments of the detection module 42, the detection module 42 can adopt the infrared sensor, distance sensor, ultrasonic sensor, laser sensor, etc. commonly used in the prior art.
[0040] In some preferred embodiments, as shown in Figure 1 and Figure 2 As shown, the first pivot shaft 3112 and the second pivot shaft 3113 are perpendicular to the extension direction of the head 311a of the fish body 31 to the tail 311b of the fish body 31, and the first pivot shaft 3112 and the second pivot shaft 3113 are parallel to the extension direction of the back 312 of the fish body 31 to the belly 313 of the fish body 31. Thus, when the segments 311 of the fish body 31 pivot, the movement of the fish body 31 is closer to the movement mode of a real fish.
[0041] In some preferred embodiments, as shown in Figures 2 to 4As shown, the electric fish further comprises a battery 43, which supplies power to at least one of the control module 41, the detection module 42 and the driving module 20. Thus, the surface of the electric fish can be wireless, and the electric fish can be more imitated.
[0042] In some preferred embodiments, as shown in Figure 4 The control module 41 is configured to control the battery 43 to supply power to the driving module 20 through a set duty cycle. Thus, the working time of the driving module 20 can be controlled by controlling the time interval of the battery 43 supplying power to the driving module 20 through the control module 41.
[0043] In some preferred embodiments, as shown in Figure 1 and Figure 2 The first pivot shaft 3112 and the second pivot shaft 3113 are arranged in parallel with each other. Thus, when the sub-body 311 of the fish body 31 is pivoted, the movement of the fish body 31 is closer to the movement mode of a real fish.
[0044] In some preferred embodiments, as shown in Figure 2 and Figure 3 At least one of the battery 43 and the control module 41 is arranged in the accommodating cavity 311a-1 of the head 311a of the fish body 31. Thus, the problem that the battery 43 and the control module 41 are easily damaged due to water immersion can be avoided.
[0045] In some preferred embodiments, the detection module 42 is arranged on the head 311a of the fish body 31. Thus, the accuracy of the detection module 42 can be improved.
[0046] Figures 5 to 10 The driving module 20 according to the first embodiment of the present application is schematically shown.
[0047] The driving module 20 is a magnetic levitation motor. In some embodiments, as shown in Figure 10 The driving module 20 comprises a base 21, a coil 22, a swing rod 23 and a magnetic piece 24. As shown in Figure 9 The swing rod 23 is rotatably arranged on the base 21. As shown in Figure 8As shown, the magnetic member 24 is provided with four groups, namely the first magnetic block 241, the second magnetic block 242, the third magnetic block 243 and the fourth magnetic block 244, which are sequentially arranged on the outer periphery of the swing rod 23 along the circumference of the swing rod 23; wherein the first magnetic block 241 and the third magnetic block 243 are respectively located on the opposite outer peripheries of the swing rod 23, and the side of the first magnetic block 241 away from the swing rod 23 is N-pole, and the side of the third magnetic block 243 away from the swing rod 23 is S-pole; the second magnetic block 242 and the fourth magnetic block 244 are respectively located on the opposite outer peripheries of the swing rod 23, and the side of the second magnetic block 242 away from the swing rod 23 is S-pole, and the side of the fourth magnetic block 244 away from the swing rod 23 is N-pole. The coil 22 is wound on the base 21 and is electrically connected with the power supply, and the coil 22 wound on the base 21 is arranged so that when the direction of the current flowing therethrough is changed, the change of the magnetic field generated by the coil 22 interacts with the magnetic member 24 to change the direction of the swing rod 23 pivoting relative to the base 21.
[0048] When the coil 22 wound on the base 21 is connected with the power supply and the current flows through the coil 22 in the first direction, the magnetic field generated by the coil 22 can make the swing rod 23 rotate relative to the base 21 to the position where the line connecting the first magnetic block 241 and the third magnetic block 243 is parallel to the direction of the magnetic field generated by the coil 22, that is, the swing rod 23 in the Figure 8 swings to the right; when the current flows through the coil 22 in the opposite direction of the first direction, the magnetic field generated by the coil 22 can make the swing rod 23 rotate relative to the base 21 to the position where the line connecting the second magnetic block 242 and the fourth magnetic block 244 is parallel to the direction of the magnetic field generated by the coil 22, that is, the swing rod 23 in the Figure 8 swings to the left. Thus, by changing the direction of the current flowing through the coil 22, the swing rod 23 in the Figure 8 can swing left and right; and by winding the coil 22 capable of being electrically connected with the power supply on the base 21, pivoting the swing rod 23, and arranging the magnetic members 24 with opposite magnetism at diametrically opposite positions of the swing rod 23, the direction of the swing rod 23 pivoting relative to the base 21 can be changed by changing the direction of the current flowing through the coil 22; and the resulting driving module 20 has simple structure, compact structure and small volume.
[0049] One of the implementation ways in which the first driving module 20a drives the adjacent split body 311 to rotate relative to each other is to change the direction of the current of the wire 221 in the coil 22 of the first driving module 20a alternately, so that the adjacent split body 311 continuously swings under the driving of the first driving module 20a. In some embodiments, the change of the current direction can be controlled by the control module 41, for example.
[0050] Another implementation of the second driving module 20b driving the adjacent split body 311 to relatively rotate in one direction is that the current direction of the electric wire 221 in the coil 22 of the second driving module 20b is changed alternately, so that the adjacent split body 311 continuously swings under the driving of the second driving module 20b.
[0051] The other of the first driving module 20a and the second driving module 20b driving the adjacent split body 311 to relatively rotate in one direction is implemented as follows: the current direction of the electric wire 221 in the coil 22 of the first driving module 20a or the second driving module 20b is not changed, so that the magnetic field direction formed by the coil 22 is not changed, and under the magnetic force of the magnetic field formed by the coil, the swing rod 23 only rotates in one direction relative to the base 21. In addition, the swing piece 25 or the limiting part 27 can limit the swing angle of the swing piece 25 relative to the base 21, and when the swing rod 23 drives the swing piece 25 to rotate to the limit position relative to the base 21, the swing rod 23 stops driving the swing piece 25 to swing. Under the driving of the driving module, the swing piece 25 continuously remains in the limit position, so that the adjacent split body 311 produces relative deflection. In addition, the control module 41 can control the time interval of the battery 43 supplying power to the driving module 20, so as to control the angle range of the swing rod 23 swinging relative to the base 21.
[0052] In some preferred embodiments, as Figures 1 to 3As shown, the head 311a of the fish body 31 and its adjacent part 311 are connected by the swing rod 23 of the first driving module 20a around the first pivot shaft 3112, and the swing rod 23 of the first driving module 20a is the first rotating shaft; the tail 311b of the fish body 31 and its adjacent part 311 are connected by the swing rod 23 of the second driving module 20b around the second pivot shaft 3113, and the swing rod 23 of the second driving module 20b is the second rotating shaft. Thus, the adjacent part 311 can also be pivotally connected by the swing rod 23 of the driving module 20 to ensure the simple structure of the electric fish. Preferably, one of the head 311a of the fish body 31 and its adjacent part 311 is integrally formed or processed with a first avoiding groove 3114a for avoiding the swing member 25 of the first driving module 20a, and the other is fixed relative to the swing member 25 of the first driving module 20a; one of the tail 311b of the fish body 31 and its adjacent part 311 is provided with a second avoiding groove 3114b for avoiding the swing member 25 of the second driving module 20b, and the other is fixed relative to the swing member 25 of the second driving module 20b. The relative fixing can be achieved by snap fit or fitting the swing member 25 in the groove of the adjacent part 311. Thus, under the drive of the first driving module 20a, the head 311a of the fish body 31 can rotate around the first pivot shaft 3112 relative to its adjacent part 311; under the drive of the second driving module 20b, the tail 311b of the fish body 31 can rotate around the second pivot shaft 3113 relative to its adjacent part 311; the swing angle of the swing member 25 of the first driving module 20a can be adjusted by adjusting the angle of the first avoiding groove 3114a; the swing angle of the swing member 25 of the second driving module 20b can be adjusted by adjusting the angle of the second avoiding groove 3114b. Preferably, the part of the first driving module 20a except the swing rod 23 is accommodated in the accommodating cavity 311a-1 of the head 311a of the fish body 31, and the part of the second driving module 20b except the swing rod is accommodated in the accommodating cavity of the adjacent part 311 of the tail 311b of the fish body 31, so as to protect the driving module 20 by the accommodating cavity, and the surface of the formed electric fish can be made closer to the appearance of a real fish.
[0053] In some preferred embodiments, as shown in Figure 8 The first magnetic block 241 and the second magnetic block 242 are symmetrically distributed on the two sides of the swing member 25 with the third magnetic block 243 and the fourth magnetic block 244, so that when the power supply to the coil 22 is stopped, the swing member 25 can return to the central position under the action of the symmetrically distributed first magnetic block 241 and the second magnetic block 242 and the third magnetic block 243 and the fourth magnetic block 244.
[0054] In some preferred embodiments, as shown in Figure 8 and Figure 10As shown in the figures, the base 21 comprises a seat body 211 in the shape of a "U" in cross section, the "U" shaped seat body 211 comprises a bottom plate 2111, a first side wall 2112 and a second side wall 2113. The first side wall 2112 and the second side wall 2113 are integrally formed, processed or connected on the two opposite sides of the base 21; and the first side wall 2112 and the second side wall 2113 extend in the same direction perpendicular to the bottom plate 2111 to form the "U" shaped seat body 211. The coil 22 is wound on the bottom plate 2111 of the "U" shaped seat body 211. In this way, it can be ensured that the coil 22 can be stably wound on the bottom plate 2111 of the seat body 211 and will not easily slip.
[0055] Further preferably, as shown in the figures, Figure 5 and Figure 10 As shown in the figures, the base 21 further comprises a first support 212 and a second support 213 which are detachably connected at the two ends of the seat body 211, and the swing rod 23 is pivotally connected to the first support 212 and the second support 213. In order to realize the quick pivoting of the swing rod 23 on the base 21 and the swing rod 23 not being in contact with the seat body 211, the swing rod 23 is pivotally connected to the first support 212 and the second support 213, and the first support 212 and the second support 213 are detachably connected to the seat body 211. As one of the embodiments of the detachable connection between the base 21 and the first support 212 and the second support 213, as shown in the figures, Figure 10 the base 21 is integrally formed or processed with a clamping block 2114, and the first support 212 and the second support 213 are integrally formed or processed with a clamping groove 2121 which is adapted to the clamping block 2114; the first support 212 and the second support 213 are connected to the base 21 through the clamping groove 2121 and the clamping block 2114. As one of the embodiments of the pivotable connection of the swing rod 23 to the first support 212 and the second support 213, as shown in the figures, Figure 9 and Figure 10 the first support 212 and the second support 213 are provided with oil-containing bearings 28, and the swing rod 23 is pivotally arranged on the first support 212 and the second support 213 through the oil-containing bearings 28.
[0056] Further preferably, as shown in the figures, Figures 5 to 9 the driving module 20 further comprises a swing member 25 which is integrally formed, processed or connected to the swing rod 23, and the swing member 25 extends out of the first opening 2110 of the "U" shaped seat body 211. In this way, the driving module 20 can be connected to the component which needs to be swung through the swing member 25 extending out of the first opening 2110 of the "U" shaped seat body 211, so as to drive the swing member 25 and other components connected to the swing member 25 to swing when the swing rod 23 is pivoted relative to the base 21 with the change of the direction of the current flowing therethrough. More preferably, as shown in the figures,Figure 8 As shown, the swing member 25 is arranged along the pivot axis of the swing rod 23 relative to the base 21, so that the magnetic members 24 are symmetrically arranged on both sides of the swing member 25.
[0057] Further preferably, as shown in Figure 8 As shown, two groups of the four groups of the magnetic members 24 are arranged on the side of the first side wall 2112 of the "U" shaped seat body 211 of the swing member 25, and the other two groups are arranged on the side of the second side wall 2113 of the "U" shaped seat body 211 of the swing member 25, and the two groups of the magnetic members 24 arranged on the same side of the swing member 25 are arranged with opposite magnetic polarity. When the coil 22 arranged on the base 21 is connected to the power supply, and the current flows through the coil 22 in the first direction, for example, the first side wall 2112 and the second side wall 2113 form N and S poles respectively, the first side wall 2112 forming N pole attracts the third magnetic block 243 and repels the fourth magnetic block 244; and since the first magnetic block 241 and the third magnetic block 243 are arranged on the opposite outer circumferences of the swing rod 23, and the second magnetic block 242 and the fourth magnetic block 244 are arranged on the opposite outer circumferences of the swing rod 23, the second side wall 2113 forming S pole attracts the first magnetic block 241 and repels the second magnetic block 242; that is, the force acting on the magnetic members 24 on the swing rod 23 due to the first side wall 2112 forming N pole and the second side wall 2113 forming S pole makes the swing rod 23 swing in the same direction, thereby ensuring the stability of the driving. Similarly, when the current flows through the coil 22 in the direction opposite to the first direction, for example, the first side wall 2112 and the second side wall 2113 form S and N poles respectively, the first side wall 2112 forming S pole attracts the fourth magnetic block 244 and repels the third magnetic block 243; the second side wall 2113 forming N pole attracts the second magnetic block 242 and repels the first magnetic block 241. Thus, by changing the direction of the current flowing through the coil 22, the positions of the N and S poles formed on the two side walls of the base 21 are exchanged, and thus, by changing the magnetic poles of the two side walls of the base 21, the magnetic members 24 on the diametrically opposite sides of the swing rod 23 are arranged with opposite magnetic polarity, the swing rod 23 can be stably swung under the action of the magnetic force.
[0058] Further preferably, as shown in Figure 8 As shown, the swing member 25 and the "U" shaped seat body 211 are arranged such that the first side wall 2112 and the second side wall 2113 of the "U" shaped seat body 211 can limit the angle of the swing member 25 relative to the "U" shaped seat body 211. Thus, by adjusting the height of the first side wall 2112 and the second side wall 2113, and the length of the swing member 25, the angle of the swing member 25 relative to the "U" shaped seat body 211 can be controlled.
[0059] Further preferably, as shown in Figures 5 to 7 , Figure 9 andFigure 10 As shown, the swing member 25 is also provided with a limiting part 27 by a rotating unit 26 with a locking function. The rotating unit 26 is configured to rotate relative to the swing rod 23 and lock around the pivot axis of the swing rod 23 relative to the base 21, so as to change the range of the swing angle of the swing member 25 relative to the U-shaped base 211 when the first side wall 2112 or the second side wall 2113 of the U-shaped base 211 contacts the limiting part 27. Thus, the angle of rotation of the limiting part 27 relative to the swing rod 23 can be adjusted by the rotating unit 26, so as to change the range of the swing angle of the swing member 25 relative to the U-shaped base 211 when the first side wall 2112 or the second side wall 2113 of the U-shaped base 211 contacts the limiting part 27. As one embodiment of the rotating unit 26 with a locking function, such as Figure 7 , Figure 9 and Figure 10 As shown, the rotating unit 26 includes a rotating component 261 coaxially sleeved on the swing rod 23. The rotating component 261 has an integrally formed or machined threaded through hole 2611. A screw 262 is adapted in the threaded through hole 2611. When the screw 262 is tightened on the swing rod 23, the rotating component 261 will not rotate relative to the swing rod 23, so that the rotating unit 26 has a locking function. The limiting part 27 can be integrally formed or machined on the screw 262, or the screw 262 can be used as the limiting part 27. Therefore, before adjusting the angle of rotation of the rotating component 261 relative to the oscillating component 25, the screw 262 is first loosened from the threaded through hole 2611, allowing the rotating component 261 to rotate relative to the oscillating component 25; after rotation to the desired position, the screw 262 is then tightened onto the oscillating component 25 to prevent the rotating component 261 from rotating relative to the oscillating component 25, thereby changing the angle of rotation of the oscillating component 25 relative to the base 21 when the limiting part 27 abuts against the first side wall 2112 or the second side wall 2113 of the base 21. Figure 7 As shown, more preferably, the screw hole is arranged along a pivot axis perpendicular to the pivot axis of the swing rod 23 relative to the base 21, so as to ensure the strength of the screw 262 mounted on the rotating member 261. More preferably, the central axis of the screw 262 is not parallel to the extension line of the swing member 25, thereby allowing the swing member 25 to swing at different angles to the left and right.
[0060] In some preferred embodiments, such as Figure 2 As shown, when the base 21 includes a seat body 211 with a "U"-shaped cross-section, and the coil 22 is wound on the bottom plate 2111 of the "U"-shaped seat body 211, the first opening 2110 of the "U" shape can be set towards the head 311a or tail 311b of the fish body 31. At this time, since the coil 22 is not wound on both sides of the "U"-shaped seat body 211, the thickness of the fish body 31 can be avoided, ensuring the aesthetics and flexibility of the overall shape of the fish body 31. Moreover, it can ensure that the magnetic force on the left and right sides of the seat body 211 is equal.
[0061] The swing member 25 and the "U" shaped seat body 211 constitute the limiting structure of the embodiment of the present application. The rotating unit 26 with locking function is provided with a limiting part 27 and the "U" shaped seat body 211 constitute the limiting structure of another embodiment of the present application. Among them, the limiting structure of the first driving module 20a is the first limiting structure; the limiting structure of the second driving module 20b is the second limiting structure. The first avoiding slot 3114a constitutes the first limiting structure of another embodiment of the present application; the second avoiding slot 3114b constitutes the second limiting structure of another embodiment of the present application. The swing angle of the swing member 25 of the first driving module 20a is controlled through the first limiting structure, that is, the angle of the head 311a of the fish body 31 relative to the adjacent part 311 thereof is controlled; and the swing angle of the swing member 25 of the second driving module 20b is controlled through the second limiting structure, that is, the angle of the tail 311b of the fish body 31 relative to the adjacent part 311 thereof is controlled.
[0062] In some preferred embodiments, the base 21 is composed of overlapped silicon steel sheets. Thus, when the coil 22 wound on the base 21 is connected with the power supply, the magnetic poles are formed on the base 21 composed of overlapped silicon steel sheets when the current flows through the coil 22, so as to interact with the magnetic members 24 on the swing rod 23, thereby changing the swing direction of the swing rod 23 relative to the base 21; and when the base 21 comprises the seat body 211 with "U" shaped cross section, and the coil 22 is wound on the bottom plate 2111 of the "U" shaped seat body 211, the N pole and the S pole are formed on the two side walls (the first side wall 2112 and the second side wall 2113) of the base 21 composed of overlapped silicon steel sheets when the current flows through the coil 22; and when the direction of the current flowing through the coil 22 is changed, the positions of the N pole and the S pole formed on the two side walls of the base 21 are exchanged, so that through the change of the magnetic poles of the two side walls of the base 21, the magnetic members 24 with diametrically opposed magnetic poles and opposite magnetic properties acting on the swing rod 23 can swing the swing rod 23 under the magnetic force.
[0063] In some preferred embodiments, as shown in Figure 7 and Figure 10 , the electric wire 221 in the coil 22 is copper wire. To ensure the effect of current flowing through the coil 22.
[0064] In some preferred embodiments, as shown in Figure 7 , Figure 8 and Figure 10As shown, the magnetic component 24 is an arc-shaped permanent magnet with its center on the center line of the swing rod 23. In this application, the arc-shaped permanent magnet is a permanent magnet material with an arc shape, the center of the arc being on the center line of the swing rod 23, and the permanent magnet material is a strong magnet. Thus, on the one hand, the structure of the swing rod 23 with the magnetic component 24 can be ensured to be compact; on the other hand, the magnetic force of the magnetic component 24 acting on the swing rod 23 by the magnetic field generated by the coil 22 through which the current flows can be ensured to be stable, so as to realize the stable swing of the swing rod 23.
[0065] In some preferred embodiments, such as Figure 10 As shown, the pivot axis of the swing rod 23 relative to the base 21 is perpendicular to the center line of the coil 22. The center line of the coil 22 is... Figure 9 The direction perpendicular to the plane of the paper is also perpendicular to the axis of the wire 221 of the coil 22. Thus, the center line of the coil 22 is not only perpendicular to the pivot axis of the swing rod 23 relative to the base 21, but also perpendicular to the extension direction of the swing member 25. Therefore, under the action of the magnetic pole formed when the current flows through the coil 22 on the magnetic member 24 on the swing rod 23, the swing rod 23 can rotate around its pivot axis relative to the base 21. Moreover, when the base 21 includes a seat body 211 with a "U"-shaped cross-section, the "U"-shaped seat body 211 includes a base plate 2111, a first side wall 2112 and a second side wall 2113, and the base 21 is composed of overlapping silicon steel sheets, when the current flows through the coil 22, an N pole can be formed on one of the first side wall 2112 and the second side wall 2113, and an S pole can be formed on the other.
[0066] The driving module 20 is a second embodiment of this utility model. Its difference from the driving module 20 of the first embodiment is that the magnetic component 24 consists of two parts: a first magnetic block 241 and a second magnetic block 242. The first magnetic block 241 and the second magnetic block 242 are sequentially arranged on the outer periphery of the swing rod 23 along its circumference. The first magnetic block 241 and the second magnetic block 242 are located on opposite outer peripheries of the swing rod 23, and the first magnetic block 241 is the N pole, while the second magnetic block 242 is the S pole.
[0067] In other embodiments of the drive module 20, the base 21 is made of low-carbon steel plate, electrical pure iron, non-oriented electromagnetic steel plate, iron-based amorphous alloy or beryllium molybdenum alloy material.
[0068] In the drive module 20 of other embodiments, there are an even number of magnetic elements 24, which are arranged sequentially on the outer periphery of the swing rod 23 along the circumference of the swing rod 23. The magnetic elements 24 that are opposite to each other along the radial direction of the swing rod 23 are arranged with opposite magnetic properties. The difference between this and the drive module 20 of the first and second embodiments is that the number of magnetic elements 24 is neither two groups nor four groups.
[0069] In the utility model, connection or installation in the case of no special emphasis is fixed connection. The fixed connection can be realized as the detachable connection or the non-detachable connection commonly used in the prior art. The detachable connection can be realized by the prior art, such as screw connection or key connection mode. The non-detachable connection can also be realized by the prior art, such as welding or gluing mode.
[0070] The above only some embodiments of the utility model. For ordinary skilled in the art, without departing from the utility model creates the premise under the precondition of creative thinking, still can make a number of deformation and improvement, these all belong to the protection scope of the utility model.
Claims
1. An electric fish, characterized in that The fish body comprises at least three segments connected in sequence and capable of relative rotation, at least one of the segments being a head of the fish body and at least one of the segments being a tail of the fish body; and at least two groups of driving modules, at least one of the groups of driving modules being a first driving module and being arranged to drive the head of the fish body to rotate relative to the segment adjacent to the head about a first pivot axis, and at least one of the other groups of driving modules being a second driving module and being arranged to drive the tail of the fish body to rotate relative to the segment adjacent to the tail about a second pivot axis. The fish body further comprises a control module and a detection module. The control module is arranged to control the fish body to move in a first movement state when the detection module detects that there is no obstacle in front of the fish body, and to control the fish body to move in a second movement state when the detection module detects that there is an obstacle in front of the fish body.
2. The electric fish of claim 1, wherein, One of the first movement state and the second movement state corresponds to the first driving module and the second driving module driving the adjacent segments to reciprocally rotate simultaneously, and the other corresponds to one of the first driving module and the second driving module driving the adjacent segments to reciprocally rotate and the other driving the adjacent segments to rotate in one direction. The fish body further comprises a battery arranged to supply power to at least one of the control module, the detection module and the driving modules. The driving modules are magnetic suspension motors, and / or the control module is arranged to control the battery to supply power to the driving modules at a set duty ratio.
3. The electric fish of claim 2, wherein, At least one of the battery and the control module is arranged to be sealed in a receiving cavity in the head of the fish body.
4. The electric fish of claim 3, wherein, The detection module is arranged on the head of the fish body.
5. The electric fish of claim 3, wherein, The first driving module is arranged to drive the head of the fish body to rotate relative to the segment adjacent to the head about the first pivot axis, and is implemented by comprising a first rotating shaft parallel to the first pivot axis, the head of the fish body and the segment adjacent to the head being connected to rotate about the first pivot axis via the first rotating shaft, and further comprising a swing member capable of swinging relative to the first rotating shaft about the first pivot axis, one of the head of the fish body and the segment adjacent to the head being provided with a first avoiding slot for avoiding the swing member of the first driving module, and the other being fixed relative to the swing member of the first driving module.
6. The electric fish of claim 2, wherein, The second driving module is arranged to drive the tail of the fish body to rotate relative to the segment adjacent to the tail about the second pivot axis, and is implemented by comprising a second rotating shaft parallel to the second pivot axis, the tail of the fish body and the segment adjacent to the tail being connected to rotate about the second pivot axis via the second rotating shaft, and further comprising a swing member capable of swinging relative to the second rotating shaft about the second pivot axis, one of the tail of the fish body and the segment adjacent to the tail being provided with a second avoiding slot for avoiding the swing member of the second driving module, and the other being fixed relative to the swing member of the second driving module.
7. The electric fish according to claim 2 or 3, wherein 8. The electric fish of claim 7, wherein, The first driving module or the head of the fish body is provided with a first limiting structure for limiting the swing angle of the swing part of the first driving module; the second driving module or the tail of the fish body is provided with a second limiting structure for limiting the swing angle of the swing part of the second driving module.
9. The electric fish according to any one of claims 1 to 8, characterized in that, The first pivot shaft and the second pivot shaft are arranged in parallel to each other.
10. The electric fish of claim 9, wherein, The first pivot shaft and the second pivot shaft are perpendicular to the extension direction of the head of the fish body to the tail of the fish body; and / or the first pivot shaft and the second pivot shaft are parallel to the extension direction of the back of the fish body to the belly of the fish body.