A bionic robot that mimics the swordfish

Abstract

The present invention belongs to the technical field of low-temperature resin preparation, and is particularly a bionic robot of anti-sky knife fish. In view of the problem that the current large underwater vehicles such as submarines are extremely difficult to turn around due to the great movement resistance, the following scheme is proposed, including an overall shell of an overall bionic anti-sky knife fish, the outer wall of the overall shell is smoothed, the overall shell is divided into a head, a middle body and a tail, and both sides of the head of the overall shell are provided with observation ports, and the end of the head of the overall shell away from the middle body is sleeved with a supercavitation generator. In this embodiment, the supercavitation generator is a bubble ring sleeved on the mouth, and the bubble ring is located on the side of the robot forward and has strip jet holes distributed at equal distances. The present invention can turn around in a small space through a side propulsion device arranged on the side, avoiding the disadvantage that traditional large-scale aircraft need to turn around in a large circle before turning around.

Description

Technical Field

[0001] The invention relates to the technical field of low-temperature resin preparation, in particular to an anti-saury bionic robot. Background Art

[0002] Underwater bionic robots are designed and developed by analyzing the appearance and movement characteristics of aquatic organisms, which can better integrate into the marine environment for work and reduce the impact on marine organisms. At the same time, the new bionic robot adopts the movement of fish, and controls movement and direction through the movement of fins and tails, which can effectively reduce the problem of traditional underwater unmanned vehicles using propellers to generate large noise and be discovered.

[0003] However, due to the great movement resistance, it is very difficult for large underwater vehicles such as submarines to turn around, and they need to make a large arc turn to achieve a U-turn. Therefore, a new underwater vehicle that can move forward and backward in a straight line and overcome the difficulty of turning around is needed to reduce the movement resistance of the vehicle and increase the movement speed. Summary of the invention

[0004] The present invention proposes an anti-saury bionic robot, comprising an overall shell with an overall appearance of a bionic anti-saury, the outer wall of the overall shell being smoothed, the overall shell being divided into a head, a middle body and a tail, and observation ports being arranged on both sides of the head of the overall shell, and a supercavitation generator being sleeved on one end of the head of the overall shell away from the middle body. In this embodiment, the supercavitation generator is a bubble ring sleeved on a mouth, and the bubble ring is located on a side of the robot that moves forward and has strip-shaped jet holes distributed at equal distances, so that when the bionic robot is in use, a gas cavity is generated between the surface of the overall shell and water when it moves forward at high speed, and the overall shell can move forward in the gas cavity, while also generating new gas cavities while moving forward, and the cycle repeats; therefore, the resistance can be reduced and the navigation speed of the overall shell is increased; the interior of the overall shell is provided with a mounting shell with an opening upward The top of the installation shell is located below the two observation ports and is fixed with a fixed support plate, and the upper surface of the fixed support plate is fixed with a camera mechanism matched with the position of the observation port, both sides of the overall shell are provided with pectoral fins, and the tail of the overall shell is hingedly connected, the lower surface of the middle body is provided with a mounting slot, and the end of the mounting slot close to the tail is provided with a propulsion nozzle, and the bottom inner wall of the installation shell is provided close to the tail end with a propulsion mechanism matched with the propulsion nozzle, and both sides of the installation shell are located obliquely below the pectoral fins and are provided with side propulsion devices; through the comprehensive setting of the side propulsion device and the swingable tail, when the device needs to be turned around, only one side of the side propulsion device needs to be turned on to quickly realize the on-the-spot turn, which saves time, and can make a U-turn in a narrow space, avoiding the disadvantage that traditional large aircraft need to make a big circle to turn around.

[0005] Preferably, a heat sink is fixed to the bottom inner wall of the mounting shell below the camera mechanism, and a control module is fixed to the upper surface of the heat sink. Signal transceiver modules are respectively provided on both sides of the head of the overall shell obliquely above the observation port, and the signal transceiver modules are connected to the signal receiving end and output end of the control module through signal lines. The device can be remotely operated by transmitting radio signals to improve the real-time monitoring effect.

[0006] Preferably, sealed bearings are provided on both sides of the overall shell at the pectoral fins, and a rotating rod is rotatably connected in the sealed bearings, and the sides of the pectoral fins are fixed to the ends of the rotating rods; bearing holes are opened on both sides of the mounting shell, and radial bearings matching the diameter of the rotating rod are clamped in the bearing holes; the two pectoral fins can be rotated simultaneously by controlling the two rotating rods, and the robot's floating and diving actions can be adjusted at this time.

[0007] The cam is an angular movement mechanism which allows the cam to move along a line which is parallel to the axis of the two guide rails and onto which the two guide rails are connected.

[0008] Preferably, the propulsion mechanism includes a servo motor fixed on the vertical inner wall in the middle of the installation shell, and a transmission shaft is fixed to the top of the output shaft of the servo motor, and both ends of the transmission shaft are provided with fixed slats for positioning, and a driving gear is sleeved in the middle of the transmission shaft, and the inner walls on both sides of the installation shell are respectively provided with mutually symmetrical rope reel wheels, and a vertical round rod shaft is provided in the middle of the two rope reel wheels, and a driven gear meshing with the driving gear is fixed to the top of the two round rod shafts, and the diameter of the middle part of the circumferential outer wall of the two rope reel wheels is smaller than that of the two ends. The diameter of the tail is 20mm, and the circumferential outer walls of the two rope winding wheels are respectively wound with ropes in opposite winding directions. A strip hole for the ropes to pass through is opened on the middle vertical plate of the mounting shell, and the two ropes are respectively passed through the strip holes and fixed with fixing blocks. The two fixing blocks are respectively fixed on both sides of the tail, and bearing plates are fixed at the upper and lower ends of the round rod shaft. Through the arrangement of the two rope winding wheels, when the tail needs to be swung, it is only necessary to control the servo motor to rotate forward or reverse to pull and extend the ropes on both sides respectively, and then bend the tail hinged at the middle body.

[0009] Preferably, a hinge groove is opened on one side of the tail close to the middle body, and a swing link is rotatably connected in the hinge groove, and the swing link is hinged at the tail end of the middle body; through the setting of the hinged tail bar, the control of the minimum turning radius of the U-turn can be maximized, thereby helping to reduce the turning radius.

[0010] Preferably, a toggle plate is fixed to one end of the tail away from the swing link, and the toggle plate is made of a tough material, which can increase the contact area between the tail and water and improve the thrust effect.

[0011] Preferably, a side thrust nozzle through-hole is provided on the side of the mounting shell near the side thrust device, and a nozzle is arranged in the side thrust nozzle through-hole; the side thrust device includes a water ingress prevention mechanism provided on the side of the overall shell; the water ingress prevention mechanism includes a valve tube, the air inlet end of the valve tube is connected to the air outlet of the nozzle, and the other end extends out of the surface of the overall shell; through the arrangement of the valve tube, strong water pressure can be prevented from causing water to enter the nozzle and the thrust mechanism when there is no need to turn around, thereby effectively protecting the device and ensuring good air tightness of the device.

[0012] Preferably, the valve tube includes a one-way gas valve embedded inside the valve tube to ensure that gas can only go out but not come in.

[0013] Preferably, a buffer device is provided in the middle of the top end of the head portion of the overall shell, and a dorsal fin is fixed to the top outer wall of the middle body portion of the overall shell, and a plurality of dorsal fin ribs are fixed in the middle of the dorsal fin, and a compression spring is fixed between each dorsal fin rib and the outer wall of the overall shell; by providing the buffer device, accidental collision of the device during forward movement can be avoided, and obstacles can also be dispelled; the dorsal fin ribs drive the dorsal fin to swing on the back of the overall shell, thereby maintaining balance.

[0014] The beneficial effects of the present invention are:

[0015] 1. By setting up a supercavitation generator, when the bionic robot moves forward at high speed, a gas cavity is generated between the surface of the entire shell and the water. The entire shell can move forward in the gas cavity, and new gas cavities are generated while moving forward, and the cycle repeats; therefore, the resistance can be reduced and the speed of the entire shell is increased.

[0016] 2. Through the comprehensive setting of the side propulsion device and the swinging tail, when the device needs to be turned around, it is only necessary to turn around on the spot by turning around one side, saving time. Moreover, it can turn around in a small space, avoiding the disadvantage of traditional large aircraft that they need to turn around in a large circle to turn around.

[0017] 3. The swing of the rocker is driven by the extension and retraction of the electric push rod, which in turn controls the angle between the pectoral fin and the horizontal plane. At this time, the rising and diving of the entire shell can be controlled.

[0018] 4. Through the setting of two rope winding wheels, when the tail needs to be swung, you only need to control the servo motor to rotate forward or reverse to pull and extend the ropes on both sides respectively, and then bend the tail hinged in the middle of the body.

[0019] 5. By setting up the buffer device, it can avoid accidental collision of the device during forward movement, and can also achieve the effect of dispersing obstacles. The dorsal fin ribs drive the dorsal fin to swing on the back of the overall shell, playing a role in maintaining balance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the side view structure of an anti-saury bionic robot proposed by the present invention;

[0021] Figure 2 A schematic diagram of the internal structure of an anti-saury bionic robot proposed by the present invention;

[0022] Figure 3 A top view of the internal structure of an anti-saury bionic robot proposed by the present invention;

[0023] Figure 4 A cross-sectional view of the internal structure of an anti-saury bionic robot proposed by the present invention;

[0024] Figure 5 A structural side view of an inner installation shell of an anti-Tiandaoyu bionic robot proposed by the present invention;

[0025] Figure 6A three-dimensional diagram of a steering mechanism in an anti-saury bionic robot proposed by the present invention;

[0026] Figure 7 This is a three-dimensional structural diagram of the pectoral fin drive mechanism in the anti-Tiandao fish bionic robot proposed by the present invention.

[0027] In the figure: 1. overall shell; 2. rotating rod; 3. pectoral fin; 4. side thruster; 5. thruster nozzle; 6. mounting notch; 7. tail; 8. dorsal fin rib; 701. toggle plate; 9. dorsal fin; 10. camera mechanism; 11. observation port; 12. mounting shell; 121. round hole; 122. strip hole; 123. bearing hole; 124. side thruster nozzle perforation; 13. buffer device; 14. supercavitation Generator; 15. hinge groove; 16. swing connecting rod; 17. pull rope; 18. fixed slat; 19. driving gear; 20. rope winding wheel; 21. connecting rod; 22. rocker; 23. propulsion mechanism; 24. servo motor; 25. bearing plate; 26. radial bearing; 27. sliding push rod; 28. slide rail; 29. ​​push rod motor fixing seat; 30. electric push rod; 31. connecting stop rod; 32. boss slider. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] Reference Figure 1-7, an anti-sky swordfish bionic robot, comprising an overall shell 1 with an overall appearance of a bionic anti-sky swordfish, the outer wall of the overall shell 1 is smoothed, the overall shell 1 is divided into a head, a middle body and a tail, and observation ports 11 are arranged on both sides of the head of the overall shell 1, and a supercavitation generator 14 is sleeved on one end of the head of the overall shell 1 away from the middle body. In this embodiment, the supercavitation generator 14 is a bubble ring sleeved on the mouth, and the bubble ring is located on the side where the robot moves forward and has strip-shaped jet holes distributed at equal distances, so that when the bionic robot is in use, a gas cavity is generated between the surface of the overall shell 1 and water when it moves forward at high speed, and the overall shell 1 can move forward in the gas cavity, and new gas cavities are also generated while moving forward, and the cycle repeats; therefore, the resistance can be reduced and the speed of the overall shell 1 is increased; the interior of the overall shell 1 is provided with a mounting shell 12 with an opening upward, and the mounting shell 12 A fixed support plate is fixed at the top below the two observation ports 11, and a camera mechanism 10 matched with the position of the observation ports 11 is fixed on the upper surface of the fixed support plate, pectoral fins 3 are arranged on both sides of the overall shell 1, and a tail 7 is hinged at the tail of the overall shell 1, a mounting slot 6 is arranged on the lower surface of the middle body, and a propulsion nozzle 5 is arranged at one end of the mounting slot 6 close to the tail 7, and a propulsion mechanism 23 matched with the propulsion nozzle 5 is arranged on the bottom inner wall of the mounting shell 12 close to the tail end, and side propulsion devices 4 are arranged on both sides of the mounting shell 1 at the oblique lower side of the pectoral fins 3; through the comprehensive setting of the side propulsion device 4 and the swingable tail 7, when the device needs to be turned around, only one side of the side propulsion device 4 needs to be turned on to quickly realize the on-the-spot U-turn, which saves time, and can make a U-turn in a narrow space, avoiding the disadvantage that traditional large aircraft need to make a big circle to turn around.

[0030] A heat sink is fixed to the bottom inner wall of the mounting shell 12, which is located below the camera mechanism 10, and a control module is fixed to the upper surface of the heat sink. Signal transceiver modules are respectively provided on both sides of the head of the overall shell 1, which are located obliquely above the observation port 11, and the signal transceiver modules are connected to the signal receiving end and the output end of the control module through a signal line. The device can be remotely operated by transmitting radio signals to improve the real-time monitoring effect.

[0031] Reference Figure 7 Sealed bearings are provided on both sides of the overall shell 1 at the pectoral fins 3, and the sealed bearings are rotatably connected with rotating rods 2, and the sides of the pectoral fins 3 are fixed to the ends of the rotating rods 2; bearing holes 123 are opened on both sides of the mounting shell 12, and radial bearings 26 matched with the diameter of the rotating rod 2 are clamped in the bearing holes 123; the two pectoral fins 3 can be rotated at the same time by controlling the two rotating rods 2, and the robot's floating and diving actions can be adjusted at this time.

[0032] Reference Figure 7Two parallel slide rails 28 are fixed near the tail end of the inner wall of the mounting housing 12, and the two slide rails 28 are slidably connected with a boss slider 32, and the same connecting block rod 31 is fixed between the lower surfaces of the two boss sliders 32, and the two boss sliders 32 are respectively fixed with parallel sliding push rods 27 on the side close to the rotating rod 2, and the two sliding push rods 27 are provided with movable shafts on the opposite sides, and the two movable shafts are rotatably connected with the connecting rod 21, and the end of the connecting rod 21 away from the sliding push rod 27 is rotatably connected with the rocker 22, and the end of the rocker 22 away from the connecting rod 21 is fixed to the near side by bolts. The end of the rotating rod 2; a push rod motor fixing seat 29 is fixed to the inner wall of the mounting shell 12 on one side close to the propulsion nozzle 5, and an electric push rod 30 is fixed in the push rod motor fixing seat 29, and a connecting block rod 31 is fixed to the end of the extension rod of the electric push rod 30, and the two ends of the connecting block rod 31 are respectively fixed on two boss sliders 32, and the control end of the electric push rod 30 is connected to the signal output end of the control module through a signal line; thereby, the swing of the rocker 22 can be driven by the extension and retraction of the extension rod of the electric push rod 30, and then the angle between the pectoral fin 3 and the horizontal plane can be controlled, and the floating and diving of the overall shell 1 can be controlled at this time.

[0033] Reference Figure 4 and Figure 6 The propulsion mechanism 23 includes a servo motor 24 fixed on the vertical inner wall in the middle of the installation shell 12, and a transmission shaft is fixed to the top of the output shaft of the servo motor 24, and both ends of the transmission shaft are provided with fixed strips 18 for positioning, and a driving gear 19 is sleeved in the middle of the transmission shaft. The inner walls of the two sides of the installation shell 12 are respectively provided with mutually symmetrical rope reel 20, and a vertical round rod shaft is provided in the middle of the two rope reel 20, and a driven gear meshing with the driving gear 19 is fixed to the top of the two round rod shafts. The diameter of the middle part of the circumferential outer wall of the two rope reel 20 is smaller than the diameter of the two ends, and the two rope reel 20 is provided with a vertical rod shaft. The circumferential outer walls of the rope winding wheels 20 are respectively wound with pull ropes 17 in opposite winding directions, and the middle vertical plate of the mounting shell 12 is provided with strip holes 122 for the pull ropes 17 to pass through, and the two pull ropes 17 are respectively passed through the strip holes 122 and fixed with fixing blocks, and the two fixing blocks are respectively fixed on both sides of the tail 7, and the upper and lower ends of the round rod shaft are fixed with bearing plates 25; through the arrangement of the two rope winding wheels 20, when the tail 7 needs to be swung, it is only necessary to control the servo motor 24 to rotate forward or reverse to pull and extend the pull ropes 17 on both sides respectively, and then bend the tail 7 hinged at the middle body.

[0034] Reference Figure 2 A hinge groove 15 is provided on one side of the tail 7 close to the middle body, and a swing link 16 is rotatably connected in the hinge groove 15, and the swing link 16 is hinged at the tail end of the middle body; through the setting of the hinged tail bar 7, the control of the minimum turning radius of the U-turn can be maximized, thereby assisting in reducing the turning radius.

[0035] Reference Figure 2 A toggle plate 701 is fixed to one end of the tail 7 away from the swing link 16. The toggle plate 701 is made of a tough material and can increase the contact area between the tail 7 and the water, thereby improving the thrust effect.

[0036] Reference Figure 1 and 5 A side thrust nozzle through hole 124 is provided on the side of the mounting shell 12 near the side thrust device 4, and a nozzle is arranged in the side thrust nozzle through hole 124; wherein the side thrust device 4 includes a water ingress prevention mechanism provided on the side of the overall shell 1; the water ingress prevention mechanism includes a valve pipe, the air inlet end of the valve pipe is connected to the air outlet of the nozzle, and the other end extends out of the surface of the overall shell 1, and a circular hole 121 adapted to the thrust nozzle 5 is provided at the rear end of the mounting shell 12; through the arrangement of the valve pipe, strong water pressure can be prevented from causing water to enter the nozzle and the thrust mechanism 23 when there is no need to turn around, thereby effectively protecting the device and ensuring good air tightness of the device.

[0037] Reference Figure 1 The valve tube includes a one-way air valve embedded in the valve tube to ensure that gas can only go out but not in. A buffer device 13 is arranged in the middle of the top of the head of the overall shell 1, and a dorsal fin 9 is fixed to the outer wall of the top of the middle body of the overall shell 1, and a plurality of dorsal fin ribs 8 are fixed in the middle of the dorsal fin 9, and a compression spring is fixed between each dorsal fin rib 8 and the outer wall of the overall shell 1; through the setting of the buffer device 13, it is possible to avoid accidental collision of the device during forward movement, and it is also possible to achieve the effect of dispersing obstacles, and the dorsal fin ribs 8 drive the dorsal fin 9 to swing on the back of the overall shell 1, so as to maintain balance.

[0038] When the device is used after being launched into water, through the comprehensive setting of the side propulsion device 4 and the swingable tail 7, when the device needs to be turned around, it is only necessary to open the propulsion mechanism 23 to spray air into the valve tube in the side propulsion device 4, so that a quick turn on the spot can be achieved, saving time, and being able to turn around in a small space; when the tail 7 needs to be swung, the servo motor 24 is controlled to rotate forward or reverse, that is, to pull and extend the pull ropes 17 on both sides respectively, and then bend the tail 7 hinged on the middle body; the swing of the rocker 22 is driven by the extension and retraction of the extension rod of the electric push rod 30, and then the angle between the pectoral fin 3 and the horizontal plane is controlled, and the floating and diving of the overall shell 1 can be controlled at this time.

[0039] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A bionic robot of an anti-saury fish, comprising an overall shell (1) having an overall appearance of a bionic anti-saury fish, the outer wall of the overall shell (1) being smoothed, the overall shell (1) being divided into a head, a middle body and a tail, and observation ports (11) being arranged on both sides of the head of the overall shell (1), characterized in that: A supercavitation generator (14) is sleeved on one end of the head of the overall shell (1) away from the middle body; an upwardly opening mounting shell (12) is provided inside the overall shell (1); a fixing support plate is fixed to the top of the mounting shell (12) below the two observation ports (11); a camera mechanism (10) adapted to the position of the observation ports (11) is fixed to the upper surface of the fixing support plate; pectoral fins (3) are provided on both sides of the overall shell (1); a tail (7) is hingedly connected to the tail of the overall shell (1); a mounting notch (6) is provided on the lower surface of the middle body; a propulsion nozzle (5) is provided at one end of the mounting notch (6) close to the tail (7); a propulsion mechanism (23) adapted to the propulsion nozzle (5) is provided on the bottom inner wall of the mounting shell (12) close to the tail end; and side propulsion devices (4) are provided on both sides of the mounting shell (12) obliquely below the pectoral fins (3); A heat sink is fixed to the bottom inner wall of the mounting shell (12) located below the camera mechanism (10), and a control module is fixed to the upper surface of the heat sink. Signal transceiver modules are respectively provided on both sides of the head of the overall housing (1) located obliquely above the observation port (11), and the signal transceiver modules are connected to the signal receiving end and the output end of the control module via a signal line. The device can be remotely operated by transmitting radio signals, thereby improving the real-time monitoring effect. Both sides of the integral housing (1) are provided with sealed bearings at the pectoral fins (3), and a rotating rod (2) is rotatably connected in the sealed bearings, and the side surfaces of the pectoral fins (3) are fixed to the ends of the rotating rod (2); both sides of the mounting housing (12) are provided with bearing holes (123), and a radial bearing (26) matching the diameter of the rotating rod (2) is clamped in the bearing holes (123); Two mutually parallel slide rails (28) are fixed near the rear end of the inner wall of the mounting shell (12), and the two slide rails (28) are slidably connected with a boss slider (32), a same connecting block rod (31) is fixed between the lower surfaces of the two boss sliders (32), and mutually parallel sliding push rods (27) are respectively fixed on the side of the two boss sliders (32) close to the rotating rod (2), and movable shafts are provided on the opposite sides of the two sliding push rods (27), and the two movable shafts are rotatably connected with connecting rods (21), and the ends of the connecting rods (21) away from the sliding push rods (27) are rotatably connected. A rocker (22) is connected, and one end of the rocker (22) away from the connecting rod (21) is fixed to the end of the adjacent rotating rod (2) by means of bolts; a push rod motor fixing seat (29) is fixed to the inner wall of the mounting housing (12) on the side close to the propulsion nozzle (5), and an electric push rod (30) is fixed in the push rod motor fixing seat (29); a connecting stop rod (31) is fixed to the end of the extension rod of the electric push rod (30), and the two ends of the connecting stop rod (31) are respectively fixed to two boss slide blocks (32), and a control end of the electric push rod (30) is connected to a signal output end of a control module by means of a signal line.

2. The anti-saury bionic robot according to claim 1, characterized in that: The propulsion mechanism (23) comprises a servo motor (24) fixed on a vertical inner wall in the middle of the mounting housing (12), and a transmission shaft is fixed to the top end of the output shaft of the servo motor (24), both ends of the transmission shaft are provided with fixed strips (18) for positioning, and a driving gear (19) is sleeved in the middle of the transmission shaft, and mutually symmetrical rope reel wheels (20) are respectively provided on the inner walls of both sides of the mounting housing (12), and a vertical round rod shaft is provided in the middle of the two rope reel wheels (20), and the top ends of the two round rod shafts are fixed with a fixed strip (18) for positioning. (19) driven gears meshing with each other, the diameter of the middle part of the circumferential outer wall of the two rope winding wheels (20) is smaller than the diameter of the two ends, and the circumferential outer walls of the two rope winding wheels (20) are respectively wound with pull ropes (17) with opposite winding directions, and the middle vertical plate of the mounting shell (12) is provided with a strip hole (122) for the pull rope (17) to pass through, and the two pull ropes (17) are respectively fixed with fixed blocks passing through the strip holes (122), and the two fixed blocks are respectively fixed on both sides of the tail (7), and the upper and lower ends of the round rod shaft are fixed with bearing plates (25).

3. The anti-saury bionic robot according to claim 2, characterized in that: A hinge groove (15) is formed on one side of the tail (7) close to the middle body, and a swing link (16) is rotatably connected in the hinge groove (15), and the swing link (16) is hinged to the tail end of the middle body.

4. The anti-saury bionic robot according to claim 3, characterized in that: A toggle plate (701) is fixed to one end of the tail (7) away from the swing link (16), and the toggle plate (701) is made of a tough material.

5. The anti-saury bionic robot according to claim 1, characterized in that: A side thrust nozzle through hole (124) is formed on the side of the mounting shell (12) near the side thrust device (4), and a nozzle is arranged in the side thrust nozzle through hole (124); wherein the side thrust device (4) comprises a water ingress prevention mechanism formed on the side of the overall shell (1); the water ingress prevention mechanism comprises a valve pipe, wherein an air inlet end of the valve pipe is connected to an air outlet of the nozzle, and the other end of the valve pipe protrudes from the surface of the overall shell (1); and a circular hole (121) adapted to the thrust nozzle (5) is formed on the rear end of the mounting shell (12).

6. The anti-saury bionic robot according to claim 5, characterized in that: The valve tube comprises a one-way gas valve embedded inside the valve tube to ensure that gas can only go out but not come in.

7. The anti-saury bionic robot according to claim 1, characterized in that: A buffer device (13) is provided in the middle of the top of the head of the overall shell (1), and a dorsal fin (9) is fixed to the outer wall of the top of the middle body of the overall shell (1), and a plurality of dorsal fin ribs (8) are fixed in the middle of the dorsal fin (9), and a compression spring is fixed between each dorsal fin rib (8) and the outer wall of the overall shell (1).

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