Swing driving module and electric fish

Abstract

The utility model discloses a swing driving module and an electric fish. The swing driving module comprises a base; the coil is wound on the base and can be electrically connected with a power supply; the swing rod is pivotally arranged on the base; the magnetic parts are sequentially arranged on the periphery of the swing rod in the circumferential direction of the swing rod, and the magnetism of the magnetic parts deviating from each other in the radial direction of the swing rod is opposite; wherein the coil wound on the base is arranged to be capable of changing the pivoting direction of the oscillating rod relative to the base when the direction of the current flowing through the coil is changed. Therefore, by winding the coil which can be electrically connected with the power supply and the oscillating rod which is pivotally arranged on the base and arranging the magnetic pieces with opposite magnetisms at the positions opposite to the radial direction of the oscillating rod, the pivoting direction of the oscillating rod relative to the base can be changed by changing the direction of the current flowing through the coil; the obtained swing driving module is simple in structure, compact in structure and small in size.

Description

TECHNICAL FIELD

[0001] The utility model relates to a driving device, concretely relates to a swing driving module and electric fish. BACKGROUND

[0002] At present, the rotating motor for driving the rotation of the component is common, and the vibration motor for driving the vibration of the component is also common.

[0003] However, the driving module for driving the swing of the component is less common, and the general driving module for driving the swing of the component is complex in structure or large in size. CONTENT OF THE UTILITY MODEL

[0004] In order to solve at least one of the above problems, according to one aspect of the utility model, a swing driving module is provided.

[0005] The swing driving module comprises a base, a coil capable of being electrically connected with a power supply and wound on the base, a swing rod pivotally arranged on the base, and magnetic members sequentially arranged on the outer periphery of the swing rod along the circumferential direction of the swing rod, and the magnetic properties of the magnetic members facing away from each other along the radial direction of the swing rod are opposite (in this application, the magnetic property of the magnetic member refers to the magnetic property of the side of the magnetic member facing away from the swing rod); wherein the coil wound on the base is arranged so that when the direction of the current flowing therethrough is changed, the direction of the swing rod pivoting relative to the base can be changed.

[0006] Therefore, by winding the coil capable of being electrically connected with the power supply on the base, pivotally arranging the swing rod, and arranging the magnetic members with opposite magnetic properties at positions facing away from each other along the radial direction of the swing rod, the direction of the swing rod pivoting relative to the base can be changed by changing the direction of the current flowing through the coil; and the swing driving module obtained thereby is simple in structure, compact in structure, and small in size.

[0007] In some embodiments, the base comprises a seat body with a "U" shaped cross section, and the coil is wound on the bottom plate of the "U" shaped seat body. Therefore, the coil can be stably wound on the bottom plate of the seat body, and the phenomenon of easy slipping can be avoided.

[0008] In some embodiments, the base is composed of overlapped silicon steel sheets. Thus, when the coil wound on the base is connected to the power supply, the magnetic poles are formed on the base composed of overlapped silicon steel sheets when the current flows through the coil, to interact with the magnetic pieces on the swing rod, so as to change the swing direction of the swing rod relative to the base; and when the base comprises a seat body with a cross section of "U" shape, and the coil is wound on the bottom plate of the "U" shaped seat body, the N and S poles are formed on the two side walls of the base composed of overlapped silicon steel sheets when the current flows through the coil, and the positions of the N and S poles on the two side walls of the base are exchanged when the direction of the current flowing through the coil is changed, so that by changing the magnetic poles on the two side walls of the base, the magnetic pieces on the swing rod which are diametrically opposite and magnetically opposite can be acted on, so as to swing the swing rod under the action of magnetic force.

[0009] In some embodiments, on the basis that the base comprises a seat body with a cross section of "U" shape, the base further comprises a first support and a second support which are detachably connected to the two ends of the seat body, and the swing rod is pivotally connected to the first support and the second support. In order to realize the rapid pivoting of the swing rod on the base by pivotally connecting the swing rod to the first support and the second support, and then detachably connecting the first support and the second support to the seat body.

[0010] In some embodiments, on the basis that the base comprises a seat body with a cross section of "U" shape, the swing driving module further comprises a swing piece arranged on the swing rod, and the swing piece extends out of the first opening of the "U" shaped seat body. Thus, the swing driving module can be connected to the component which needs to be driven to swing through the swing piece extending out of the first opening of the "U" shaped seat body, so as to drive the swing piece and other components connected to the swing piece to swing when the swing rod is pivoted relative to the base by changing the direction of the current flowing therethrough.

[0011] In some embodiments, on the basis that the base comprises a seat body with a cross section of "U" shape, the swing driving module further comprises a swing piece connected to the swing rod, and the base is composed of overlapped silicon steel sheets, four groups of magnetic pieces are arranged on the swing piece, two groups of which are located on the side of the swing piece facing the first side wall of the "U" shaped seat body, and the other two groups are located on the side of the swing piece facing the second side wall of the "U" shaped seat body, and the two groups of magnetic pieces on the same side of the swing piece are arranged to be magnetically opposite, and the four groups of magnetic pieces are symmetrically distributed on the two sides of the swing piece.

[0012] When the coil disposed on the base is connected to the power supply, the current flowing through the coil will cause the first side wall and the second side wall to form N pole and S pole respectively, so that the first side wall forming N pole attracts the magnetic pieces with S polarity in the two groups of magnetic pieces facing the first side wall (in this application, the magnetic piece with S polarity means that the side of the magnetic piece facing away from the swing rod is S pole), and repels the magnetic pieces with N polarity in the two groups of magnetic pieces facing the first side wall (in this application, the magnetic piece with N polarity means that the side of the magnetic piece facing away from the swing rod is N pole); at the same time, the second side wall forming S pole attracts the magnetic pieces with N polarity in the two groups of magnetic pieces facing the second side wall, and repels the magnetic pieces with S polarity in the two groups of magnetic pieces facing the second side wall; and since the magnetic pieces facing away from each other along the radial direction of the swing rod are oppositely arranged, when the first side wall forming N pole attracts the magnetic pieces with S polarity in the two groups of magnetic pieces facing the first side wall, the second side wall forming S pole just attracts the magnetic pieces with N polarity in the two groups of magnetic pieces facing the second side wall, that is, the forces acting on the magnetic pieces on the swing rod from the first side wall forming N pole and the second side wall forming S pole make the swing rod swing in the same direction, thereby ensuring the stability of the driving. Similarly, when the direction of the current flowing through the coil is changed, the first side wall and the second side wall will form S pole and N pole respectively, so that the first side wall forming S pole attracts the magnetic pieces with N polarity in the two groups of magnetic pieces facing the first side wall, and repels the magnetic pieces with S polarity in the two groups of magnetic pieces facing the first side wall; at the same time, the second side wall forming N pole attracts the magnetic pieces with S polarity in the two groups of magnetic pieces facing the second side wall, and repels the magnetic pieces with N polarity in the two groups of magnetic pieces facing the second side wall. Therefore, by changing the direction of the current flowing through the coil, the positions of N pole and S pole formed on the two side walls of the base are exchanged, and thus, by changing the magnetic poles of the two side walls of the base, the magnetic pieces oppositely arranged along the radial direction of the swing rod are acted on, so that the swing rod can swing under the action of magnetic force; and since the four groups of magnetic pieces are symmetrically distributed on the two sides of the swing piece, when the power supply to the coil is stopped, the swing piece can return to the central position under the action of the symmetrically distributed four groups of magnetic pieces, that is, the swing piece does not swing towards the first side wall or the second side wall.

[0013] In some embodiments, the pivot axis of the swing rod relative to the base is perpendicular to the center line of the coil. Thus, the swing rod can rotate relative to the base about the pivot axis under the action of the magnetic poles formed when the current flows through the coil on the swing rod.

[0014] In some embodiments, the swing piece and the "U"-shaped seat body are arranged such that the first side wall and the second side wall of the "U"-shaped seat body can limit the angle of the swing piece relative to the "U"-shaped seat body. Thus, the angle of the swing piece relative to the "U"-shaped seat body can be controlled by setting the height of the first side wall and the second side wall and the length of the swing piece.

[0015] In some embodiments, the swing member is further provided with a limiting portion through a rotating unit with locking function, the rotating unit is arranged to rotate and lock relative to the swing rod around a pivot axis capable of pivoting movement relative to the base, so as to change the range of the angle at which the swing member swings relative to the U-shaped seat body when the first side wall or the second side wall of the U-shaped seat body contacts with the limiting portion. Thus, the angle at which the limiting portion rotates relative to the swing rod can be adjusted through the rotating unit, so as to change the range of the angle at which the swing member swings relative to the U-shaped seat body when the first side wall or the second side wall of the U-shaped seat body contacts with the limiting portion.

[0016] In some preferred embodiments, the rotating unit with locking function is provided with a limiting portion, which is realized in that: the rotating unit comprises a rotating member coaxially sleeved on the swing rod, the rotating member is processed with a threaded through hole, a screw rod is adapted in the threaded through hole, so that the rotating unit has the locking function, and the limiting portion is arranged on the screw rod, the central axis of the screw rod is not parallel to the extension line of the swing member. Thus, before adjusting the angle at which the rotating member rotates relative to the swing member, the screw rod is loosened from the threaded through hole first, so that the rotating member can rotate relative to the swing member; after being rotated in place, the screw rod is tightened on the swing member, so as to avoid the rotating member from rotating relative to the swing member, so as to change the angle at which the swing member rotates relative to the base when the limiting portion abuts against the first side wall or the second side wall of the base.

[0017] In some embodiments, the wire in the coil is copper wire. Thus, the effect of current flowing through the coil can be ensured.

[0018] In some embodiments, the magnetic member is an arc-shaped permanent magnet with a center on the center line of the swing rod. Thus, on the one hand, the swing rod structure provided with the magnetic member can be compact; on the other hand, the magnetic force of the magnetic member on the swing rod generated by the magnetic field of the coil with current flowing through can be stable, so as to realize stable swinging of the swing rod.

[0019] According to an aspect of the present application, an electric fish is provided.

[0020] The electric fish comprises a fish body, the fish body comprises at least three sections of bodies connected in sequence relative to each other, and at least one section of body is a head of the fish body, and at least one section of body is a tail of the fish body; and at least two groups of driving modules, and at least one group of driving modules is a first driving module and is arranged to drive the head of the fish body to rotate relative to the section of body adjacent thereto around a first pivot axis, and at least one group of driving modules is a second driving module and is arranged to drive the tail of the fish body to rotate relative to the section of body adjacent thereto around a second pivot axis; wherein the driving module is the aforementioned swing driving module.

[0021] The fish body of the electric fish includes at least three sections which are connected in sequence and can rotate relative to each other, so that the fish body in water can move forward and change direction by the relative rotation of the sections. Moreover, the head and tail of the electric fish are driven by the first and second driving modules respectively, so that the motion state of the head and tail can be different, thereby making the motion state of the electric fish more diverse. For example, when the head and tail are both pivotally moved, the fish body in water moves forward; when the head is swung to one side and stops moving, and the tail is reciprocally rotated, the fish body in water can change direction; when the base includes a seat body with a "U" shaped cross section, and the coil is wound on the bottom plate of the "U" shaped seat body, the first opening of the "U" shaped seat body can be arranged towards the head or tail of the fish body. At this time, since the coil is not wound on both sides of the "U" shaped seat body, the thickness of the fish body can be avoided, the overall appearance of the fish body can be ensured, and the magnetic force on both sides of the seat body can be equalized.

[0022] In some embodiments, the electric fish further includes a control module and a detection module. The control module is configured to control the fish body to move in a first motion state when the detection module detects that there is no obstacle in front of the fish body, and control the fish body to move in a second motion state when the detection module detects that there is an obstacle in front of the fish body. One of the first motion state and the second motion state corresponds to the first driving module and the second driving module driving the corresponding adjacent sections to reciprocally rotate relative to each other, and the other corresponds to one of the first driving module and the second driving module driving the adjacent sections to reciprocally rotate relative to each other, and the other driving the adjacent sections to rotate relative to each other in one direction.

[0023] When the first driving module and the second driving module simultaneously drive the corresponding adjacent sections to reciprocally rotate relative to each other, the fish body in water moves forward. When one of the first driving module and the second driving module drives the adjacent sections to reciprocally rotate relative to each other (i.e., the adjacent sections swing relative to each other), and the other of the first driving module and the second driving module drives the adjacent sections to rotate relative to each other in one direction (i.e., the adjacent sections are deflected), the fish body in water can change the direction of movement.

[0024] In some embodiments, the head of the fish body and the section adjacent thereto are pivotally connected by the swing rod of the first driving module about a first pivot axis, and the tail of the fish body and the section adjacent thereto are pivotally connected by the swing rod of the second driving module about a second pivot axis. Thus, the adjacent sections can also be pivotally connected by the swing rod of the driving module, so as to ensure the simplicity of the structure of the electric fish.

[0025] In some embodiments, the first and second pivot axes are perpendicular to the extension direction from the head to the tail of the fish, and parallel to the extension direction from the back to the belly of the fish. This allows the fish's movement during its split-body 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.

[0026] In some embodiments, the electric fish also includes a battery that powers at least one of the control module, detection module, and drive module. This allows for surface-to-wireless operation of the electric fish, making it more realistic.

[0027] In some implementations, the control module is configured to control the battery to supply power to the drive module at a set duty cycle. Therefore, the control module can control the time interval at which the battery supplies power to the drive module, thereby controlling the range of the swing angle of the swing arm relative to the base.

[0028] 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. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the swing drive module according to one embodiment of the present invention;

[0030] Figure 2 for Figure 1 A structural schematic diagram of the swing drive module from another perspective;

[0031] Figure 3 for Figure 2 The diagram shows a cross-sectional view of the swing drive module along the AA direction.

[0032] Figure 4 for Figure 2 The diagram shows a cross-sectional view of the swing drive module along the BB direction.

[0033] Figure 5 for Figure 2 The diagram shows a cross-sectional view of the swing drive module along the CC direction.

[0034] Figure 6 for Figure 1 The diagram shows the disassembled state of the swing drive module.

[0035] Figure 7 This is a schematic diagram of the structure of an electric fish according to one embodiment of the present invention;

[0036] Figure 8 for Figure 7A structural schematic view of a disassembled state of the electric fish shown in the figure;

[0037] Figure 9 For Figure 7 A structural schematic view of another disassembled state of the electric fish shown in the figure;

[0038] Figure 10 A module structural schematic view of the electric fish of an embodiment of the present application;

[0039] The figure mark: 20, drive module;20a, first drive module;20b, second drive 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;27, limiting part;28, oil-containing bearing;31, fish body;311, split body;311a, head;311a-1, accommodating cavity;311b, tail;3112, first pivot shaft;3113, second pivot shaft;3114a, first avoiding slot;3114b, second avoiding slot;312, fish back;313, fish belly;41, control module;42, detection module;43, battery. DETAILED DESCRIPTION

[0040] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0041] It should also be noted that, in this paper, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain", not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such process, method, article or device. Without more limitation, the elements defined by the statement "include" do not exclude the existence of other same elements in the process, method, article or device including the elements. The terms used in this paper are generally the terms commonly used by those skilled in the art, and if they are inconsistent with the commonly used terms, the terms in this paper shall prevail.

[0042] Moreover, for ease of description, spatial relative terms such as "below," "lower," "bottom," "above," "upper" and the like can be used herein for describing an element's or component's relationship to another element or component as illustrated in the figures. The spatial 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 device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatial relative descriptors used herein interpreted accordingly.

[0043] In order to make the purpose, technical scheme and advantages of the utility model embodiment more clear, the following will combine the figures in the utility model embodiment, make clear, complete description to the technical scheme in the utility model embodiment, obviously, the described embodiment is the part embodiment of the utility model, but not all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without making the creative labor are within the protection scope of the utility model.

[0044] Figures 1 to 6 The swing driving module according to the first embodiment of the utility model is schematically shown.

[0045] As shown in Figure 6 , the swing driving module comprises a base 21, a coil 22, a swing rod 23 and a magnetic piece 24. As shown in Figure 5 , the swing rod 23 is rotatably arranged on the base 21. As shown in Figure 4 , the magnetic piece 24 is provided with four groups, which are a first magnetic block 241, a second magnetic block 242, a third magnetic block 243 and a fourth magnetic block 244, and the first magnetic block 241, the second magnetic block 242, the third magnetic block 243 and the fourth magnetic block 244 are sequentially arranged on the outer periphery of the swing rod 23 along the circumferential direction 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 arranged around the base 21, and is used for electrically connecting with the power supply, and the coil 22 arranged around the base 21 is arranged to change the direction of the current flowing therethrough, and the change of the magnetic field generated by the coil 22 interacts with the magnetic piece 24, so as to change the pivoting direction of the swing rod 23 relative to the base 21.

[0046] 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, i.e. the swing rod 23 in the Figure 4 swings to the right; when the current flows through the coil 22 in the reverse 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, i.e. the swing rod 23 in the Figure 4 swings to the left. Thus, by changing the direction of the current flowing through the coil 22, the swing rod 23 in the Figure 4 can be swung left and right; and by winding the coil 22 capable of being electrically connected with the power supply on the base 21, pivotally arranging the swing rod 23, and arranging the magnetic blocks 24 with opposite magnetic properties at positions radially away from each other on 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 swing driving module thus obtained has simple structure, compact structure and small volume.

[0047] In some preferred embodiments, as shown in Figure 4 , 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.

[0048] In some preferred embodiments, as shown in Figure 4 and Figure 6 , the base 21 comprises a seat body 211 with a "U" shaped cross section, and 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, machined or connected on the two sides of the base 21 away from each other, and 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. Thus, the coil 22 can be stably wound on the bottom plate 2111 of the seat body 211 without easily slipping.

[0049] Further preferably, as shown in Figure 1 and Figure 6As shown in the figure, the base 21 further comprises a first support 212 and a second support 213 which are detachably connected to 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 contacting the seat body 211 so as to facilitate the pivoting movement of the swing rod 23 relative to 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 figure, Figure 6 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 matched with 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 pivotally connecting the swing rod 23 to the first support 212 and the second support 213, as shown in the figure, Figure 5 and Figure 6 the first support 212 and the second support 213 are provided with an oil-containing bearing 28, and the swing rod 23 is pivotally arranged on the first support 212 and the second support 213 through the oil-containing bearing 28.

[0050] Further preferably, as shown in the figure, Figures 1 to 5 the swing driving module further comprises a swing piece 25 which is integrally formed, processed or connected to the swing rod 23, and the swing piece 25 extends from the first opening 2110 of the "U"-shaped seat body 211. Thus, the swing driving module can be connected to the component which needs to be driven to swing through the swing piece 25 extending from the first opening 2110 of the "U"-shaped seat body 211, so as to drive the swing piece 25 and other components connected to the swing piece 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 figure, Figure 4 the swing piece 25 is arranged along the vertical direction of the pivoting axis of the swing rod 23 relative to the base 21, so as to facilitate the symmetrical arrangement of the magnetic pieces 24 on the two sides of the swing piece 25.

[0051] Further preferably, as shown in the figure, Figure 4As shown, two groups of the four groups of magnetic members 24 are located 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 located 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 magnetic members 24 on the same side of the swing member 25 are oppositely magnetized. When the coil 22 arranged on the base 21 is connected to a power source, and the current flows through the coil 22 in a first direction, for example, the first side wall 2112 and the second side wall 2113 form N and S poles respectively, the N pole formed by the first side wall 2112 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 respectively located on the opposite outer circumferences of the swing rod 23, and the second magnetic block 242 and the fourth magnetic block 244 are respectively located on the opposite outer circumferences of the swing rod 23, the S pole formed by the second side wall 2113 attracts the first magnetic block 241 and repels the second magnetic block 242; that is, the forces acting on the magnetic members 24 on the swing rod 23 in the same direction caused by the N pole formed by the first side wall 2112 and the S pole formed by the second side wall 2113 make 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 a 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 S pole formed by the first side wall 2112 attracts the fourth magnetic block 244 and repels the third magnetic block 243; and the N pole formed by the second side wall 2113 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 poles of the two side walls of the base 21, the magnetic members 24 on the diametrically opposite sides of the swing rod 23 can be stably swung under the action of the magnetic force.

[0052] Further preferably, as shown in Figure 4 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 heights 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.

[0053] Further preferably, as shown in Figures 1 to 3 , Figure 5 and Figure 6As shown in the figure, the swing member 25 is further provided with a limiting part 27 through a rotating unit 26 with locking function. The rotating unit 26 is arranged to rotate and lock relative to the swing rod 23 around the pivot shaft of the pivot movement of the swing rod 23 relative to the base 21, so as to change the range of the angle of the swing of the swing member 25 relative to the "U" shaped seat body 211 when the first side wall 2112 or the second side wall 2113 of the "U" shaped seat body 211 contacts with the limiting part 27. Thus, the angle of the rotation of the limiting part 27 relative to the swing rod 23 can be adjusted through the rotating unit 26, so as to change the range of the angle of the swing of the swing member 25 relative to the "U" shaped seat body 211 when the first side wall 2112 or the second side wall 2113 of the "U" shaped seat body 211 contacts with the limiting part 27. As one of the embodiments of the rotating unit 26 with locking function, as shown in the figures, Figure 3 、 Figure 5 and Figure 6 the rotating unit 26 includes a rotating member 261 coaxially sleeved on the swing rod 23, the rotating member 261 is integrally formed or processed with a threaded hole 2611, a screw rod 262 is adapted in the threaded hole 2611, when the screw rod 262 is screwed on the swing rod 23, the rotating member 261 will not rotate relative to the swing rod 23, so that the rotating unit 26 has locking function, the limiting part 27 can be integrally formed or processed on the screw rod 262, or the screw rod 262 can be used as the limiting part 27. Thus, before adjusting the angle of the rotation of the rotating member 261 relative to the swing member 25, the screw rod 262 is loosened from the threaded hole 2611, so that the rotating member 261 can rotate relative to the swing member 25; when it is rotated to the right position, the screw rod 262 is screwed on the swing member 25, so as to avoid the rotation of the rotating member 261 relative to the swing member 25, so as to change the angle of the rotation of the swing member 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. More preferably, as shown in the figure, Figure 3 the threaded hole is arranged along the pivot shaft perpendicular to the pivot of the swing rod 23 relative to the base 21, so as to ensure the strength of the screw rod 262 arranged on the rotating member 261. More preferably, the central axis of the screw rod 262 is not parallel to the extension line of the swing member 25, so that the angles of the left and right swings of the swing member 25 can be different.

[0054] 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 to a power source, magnetic poles are formed on the base 21 composed of overlapped silicon steel sheets when current flows through the coil 22, to interact with the magnetic pieces 24 on the swing rod 23, so as to change the swing direction of the swing rod 23 relative to the base 21; and when the base 21 comprises a "U"-shaped seat body 211, and the coil 22 is wound on the bottom plate 2111 of the "U"-shaped seat body 211, N and S poles 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, respectively, when 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 and S poles formed on the two side walls of the base 21 are exchanged, so that, by changing the magnetic poles of the two side walls of the base 21, the magnetic pieces 24 on the diametrically opposite sides of the swing rod 23, which are magnetically opposite, can be swung under the action of magnetic force.

[0055] In some preferred embodiments, as shown in Figure 3 and Figure 6 , the electric wire 221 in the coil 22 is copper wire. This ensures the effect of current flowing through the coil 22.

[0056] In some preferred embodiments, as shown in Figure 3 , Figure 4 and Figure 6 , the magnetic piece 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 magnetic material in the shape of an arc, the center of the arc is on the center line of the swing rod 23, and the permanent magnetic material is a strong magnet. Thus, on the one hand, the swing rod 23 provided with the magnetic piece 24 can have a compact structure; on the other hand, the magnetic force of the magnetic field generated by the coil 22 with current flowing through it acting on the magnetic piece 24 on the swing rod 23 can be stable, so as to realize stable swing of the swing rod 23.

[0057] In some preferred embodiments, as shown in Figure 6 , 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 5The vertical paper surface direction 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, so that the swing rod 23 can be rotated around the pivot axis relative to the base 21 under the action of the magnetic member 24 on the swing rod 23 formed by the magnetic poles when the current flows through the coil 22; and when the base 21 comprises a "U"-shaped seat body 211, the "U"-shaped seat body 211 comprises a bottom plate 2111, a first side wall 2112 and a second side wall 2113, and the base 21 is composed of overlapping silicon steel sheets, 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 when the current flows through the coil 22.

[0058] As a second embodiment of the utility model, the swing driving module is different from the swing driving module of the first embodiment in that the magnetic member 24 is provided with two blocks, which are a first magnetic block 241 and a second magnetic block 242, and the first magnetic block 241 and the second magnetic block 242 are sequentially arranged on the outer periphery of the swing rod 23 along the circumferential direction of the swing rod 23; wherein the first magnetic block 241 and the second magnetic block 242 are located on the opposite outer peripheries of the swing rod 23, and the first magnetic block 241 is an N pole and the second magnetic block 242 is an S pole.

[0059] In the swing driving module of other embodiments, the base 21 is made of low-carbon sheet steel, pure iron, non-oriented electromagnetic steel sheet, iron-based amorphous alloy or beryllium molybdenum alloy material.

[0060] In the swing driving module of other embodiments, the magnetic member 24 is double, and is sequentially arranged on the outer periphery of the swing rod 23 along the circumferential direction of the swing rod 23, and the magnetic members 24 opposite in the radial direction of the swing rod 23 are oppositely arranged, which is different from the swing driving module of the first and second embodiments in that the number of magnetic members 24 is not two groups or four groups.

[0061] Figures 7 to 10 An electric fish according to an embodiment of the utility model is schematically shown.

[0062] As Figures 7 to 9As 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; wherein the driving module 20 is the aforementioned swing driving module.

[0063] 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.

[0064] In some preferred embodiments, as shown in the accompanying drawings, Figure 8 As shown, when the base 21 comprises a seat body 211 in the shape of “U” in cross section, and the coil 22 is arranged on the bottom plate 2111 of the seat body 211 in the shape of “U”, the first opening 2110 of the seat body 211 in the shape of “U” can be arranged towards the head 311a or the tail 311b of the fish body 31, at this time, since the coil 22 is not arranged on both sides of the seat body 211 in the shape of “U”, the thickness of the fish body 31 can be avoided to be thick, and the magnetic forces on the left and right sides of the seat body 211 can be ensured to be equal.

[0065] In some preferred embodiments, as shown in the accompanying drawings, Figure 10As 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 reciprocally rotate (i.e. swing) relative to the adjacent segment 311 thereof, and the second driving module 20b driving the tail 311b to reciprocally rotate 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 segments 311 to reciprocally rotate relative to each other; 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, 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 reciprocally rotate relative to each other, 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 reciprocally rotate relative to each other, 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.

[0066] One of the implementation manners of the first driving module 20a driving the adjacent segments 311 to reciprocally rotate relative to each other is to alternately change the current direction of the electric wire 221 in the coil 22 of the first driving module 20a, so that the adjacent segments 311 continuously swing relative to each other 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.

[0067] One of the implementation manners of the second driving module 20b driving the adjacent segments 311 to reciprocally rotate relative to each other is to alternately change the current direction of the electric wire 221 in the coil 22 of the second driving module 20b, so that the adjacent segments 311 continuously swing relative to each other under the driving of the second driving module 20b.

[0068] The other one of the first driving module 20a and the second driving module 20b drives the adjacent part 311 to relatively rotate in one direction, which is realized 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 unchanged, thus the direction of the magnetic field formed by the coil 22 is unchanged, under the magnetic force of the magnetic field formed by the coil, the swing rod 23 will only rotate in one direction relative to the base 21, and again, the swing member 25 or the limiting part 27 can limit the angle of the swing member 25 relative to the base 21, when the swing rod 23 drives the swing member 25 to rotate to the limit position relative to the base 21, the swing rod 23 stops driving the swing member 25 to swing, under the driving of the driving module, the swing member 25 continuously keeps in the limit position, so that the adjacent part 311 produces relative swing.

[0069] 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.

[0070] 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 and the like commonly used in the prior art.

[0071] In some preferred embodiments, as shown in FIG. 6, the detection module 42 can be arranged on the swing member 25, and the control module 41 can be arranged on the base 21. Figures 7 to 9As shown, the head 311a of the fish body 31 and its adjacent part 311 are rotatably connected by the swing rod 23 of the first driving module 20a around the first pivot axis 3112, and the swing rod 23 of the first driving module 20a is the first rotation axis; the tail 311b of the fish body 31 and its adjacent part 311 are rotatably connected by the swing rod 23 of the second driving module 20b around the second pivot axis 3113, and the swing rod 23 of the second driving module 20b is the second rotation axis. Thus, the adjacent parts 311 can also be pivotally connected by the swing rod 23 of the driving module 20 to ensure the simplicity of the 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 fixation 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 relative to its adjacent part 311 around the first pivot axis 3112; under the drive of the second driving module 20b, the tail 311b of the fish body 31 can rotate relative to its adjacent part 311 around the second pivot axis 3113; 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 other than 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 other than 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.

[0072] In some preferred embodiments, as shown in Figure 7 and Figure 8 the first pivot axis 3112 and the second pivot axis 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 axis 3112 and the second pivot axis 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 parts 311 of the fish body 31 pivot, the movement of the fish body 31 is closer to the movement mode of a real fish.

[0073] In some preferred embodiments, as shown inFigures 8 to 10 As 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.

[0074] In some preferred embodiments, as shown in Figure 10 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 control module 41 can control the time interval of the battery 43 supplying power to the driving module 20, and control the angle range of the swing rod 23 swinging relative to the base 21.

[0075] In some preferred embodiments, as shown in Figure 7 and Figure 8 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 pivots, the movement of the fish body 31 is closer to the movement mode of a real fish.

[0076] In some preferred embodiments, as shown in Figure 8 and Figure 9 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 in a sealed manner. Thus, the problem that the battery 43 and the control module 41 are easily damaged due to water immersion can be avoided.

[0077] 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.

[0078] The swing member 25 and the "U"-shaped base body 211 constitute the limiting structure of an embodiment of the present application. The rotation unit 26 with the locking function is arranged with the limiting part 27 and the "U"-shaped base body 211 constitute the limiting structure of another embodiment of the present application. 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 groove 3114a constitutes the first limiting structure of yet another embodiment of the present application; the second avoiding groove 3114b constitutes the second limiting structure of yet another embodiment of the present application. Thus, the swing angle of the swing member 25 of the first driving module 20a is controlled, i.e. the angle of the head 311a of the fish body 31 swinging relative to the sub-body 311 adjacent thereto is controlled; and the swing angle of the swing member 25 of the second driving module 20b is controlled, i.e. the angle of the tail 311b of the fish body 31 swinging relative to the sub-body 311 adjacent thereto is controlled.

[0079] 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, for example, threaded connection or key connection and the like mode. The non-detachable connection can also be realized by the prior art, for example, welding or gluing and the like mode.

[0080] The above only some embodiments of the utility model. For ordinary skilled person in the art, under the premise of not departing from the utility model creation concept, still can make a number of deformation and improvement, these all belong to the protection scope of the utility model.

Claims

1. A swing drive module, characterized by The application relates to a swing driving module, which comprises: a base; a coil capable of being electrically connected with a power supply and arranged on the base; a swing rod pivotally arranged on the base; and magnetic pieces arranged on the outer periphery of the swing rod in sequence along the circumferential direction of the swing rod, and the magnetic properties of the magnetic pieces on the diametrically opposite sides of the swing rod are opposite; wherein the coil arranged on the base is capable of changing the direction in which the swing rod pivots relative to the base when the direction of the current flowing through the coil is changed.

2. The swing drive module of claim 1, wherein, The base comprises a seat body with a U-shaped cross section, and the coil is arranged on the bottom plate of the U-shaped seat body; and / or The base is composed of superimposed silicon steel sheets.

3. The swing drive module of claim 2, wherein, The base further comprises a first support and a second support detachably connected to the two ends of the seat body, and the swing rod is pivotally connected to the first support and the second support; and / or The swing module further comprises a swing piece arranged on the swing rod, and the swing piece extends from the first opening of the U-shaped seat body.

4. The swing drive module of claim 3, wherein, The magnetic pieces are provided in four groups, and two groups of the magnetic pieces are located on one side of the swing piece facing the first side wall of the U-shaped seat body, and the other two groups of the magnetic pieces are located on the other side of the swing piece facing the second side wall of the U-shaped seat body, the magnetic properties of the two groups of magnetic pieces on the same side of the swing piece are opposite, and the four groups of magnetic pieces are symmetrically distributed on the two sides of the swing piece; and / or The pivot axis of the swing rod relative to the base is perpendicular to the center line of the coil.

5. The swing drive module of claim 4, wherein, The swing piece and the U-shaped seat body are arranged such that the first side wall and the second side wall of the U-shaped seat body can limit the angle of the swing piece relative to the U-shaped seat body; and / or The swing rod further comprises a limiting part provided by a rotating unit with a locking function, and the rotating unit is arranged to rotate and lock relative to the swing rod about the pivot axis of the pivot movement of the swing rod relative to the base, so as to change the range of the angle of the swing piece relative to the U-shaped seat body when the first side wall or the second side wall of the U-shaped seat body contacts the limiting part; preferably, the limiting part provided by the rotating unit with the locking function is realized as follows: the rotating unit comprises a rotating piece coaxially sleeved on the swing rod, the rotating piece is provided with a threaded through hole, a screw rod is fitted in the threaded through hole, the limiting part is arranged on the screw rod, and the central axis of the screw rod is not parallel to the extension line of the swing piece.

6. A swing drive module according to any one of claims 1 to 5, characterized in that The wire in the coil is copper wire; and / or The magnetic pieces are arc-shaped permanent magnets with the center on the central axis of the swing rod.

7. An electric fish characterized in that, The application relates to a fish body, which comprises at least three sections of bodies connected in sequence relative to each other, and at least one section of the bodies is the head of the fish body, and at least one section of the bodies is the tail of the fish body; and at least two groups of driving modules, and at least one group of the driving modules is a first driving module and is arranged to drive the head of the fish body to rotate relative to the section of the body adjacent to the head about a first pivot axis, and at least one other group of the driving modules is a second driving module and is arranged to drive the tail of the fish body to rotate relative to the section of the body adjacent to the tail about a second pivot axis; wherein The driving module is the swing driving module according to any one of claims 1 to 6. ​ ​ 8. The electric fish of claim 7, wherein, The control module and the detection module are further included; The control module is configured 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 sub-bodies to relatively rotate in reciprocation, and the other corresponds to one of the first driving module and the second driving module driving the adjacent sub-bodies to relatively rotate in reciprocation, and the other driving the adjacent sub-bodies to relatively rotate in one direction; and / or The head of the fish body and the sub-body adjacent thereto are connected to rotate around a first pivot axis through a swing rod of the first driving module, and the tail of the fish body and the sub-body adjacent thereto are connected to rotate around a second pivot axis through a swing rod of the second driving module.

9. The electric fish of claim 8, wherein, The first pivot axis and the second pivot axis are perpendicular to the extension direction of the head of the fish body to the tail of the fish body, and the first pivot axis and the second pivot axis are parallel to the extension direction of the back of the fish body to the belly of the fish body; and / or A battery is further included, and the battery supplies power to at least one of the control module, the detection module and the driving module.

10. The electric fish of claim 9, wherein, The control module is configured to control the battery to supply power to the driving module through a set duty cycle; and / or The first pivot axis and the second pivot axis are arranged in parallel to each other.

Images