Reversed bionic mechanical turtle for detecting water environment of aquaculture industry

Abstract

The application discloses a reverse bionic mechanical turtle for water environment detection of aquaculture, which comprises a bionic turtle shell, a posture control mechanism installed at the bottom of the bionic turtle shell, a forearm mechanism installed at the front of the bionic turtle shell, and two hind leg mechanisms symmetrically installed at the back of the bionic turtle shell. The reverse bionic mechanical turtle for water environment detection of aquaculture adopts the above technical scheme, creatively adds the posture control mechanism, controls the water inlet and outlet of four chambers of a water tank, can make the whole body turn to the left or the right, greatly improves the flexibility of turning and the flexibility of corresponding posture adjustment in cooperation with the forearm mechanism and the posture control mechanism, can provide the whole body with buoyancy or gravity for floating or diving, and realizes rapid floating or diving in cooperation with the forearm mechanism.

Description

Technical Field

[0001] This invention relates to the field of reverse engineering technology, specifically to a reverse bionic mechanical turtle for monitoring aquatic environments in aquaculture. Background Technology

[0002] The biomimetic mechanical turtle, designed using reverse engineering, can not only mimic the shape and movements of a turtle, offering advantages such as high stealth and environmental friendliness. Especially in aquaculture waters, using the biomimetic mechanical turtle for aquatic environmental monitoring can avoid disturbing farmed aquatic organisms, ensuring their normal growth.

[0003] However, due to structural design issues, existing bionic mechanical turtles exhibit rather stiff movements in terms of turning, surfacing, and diving, failing to achieve the agile turning and surfacing movements of a real turtle, resulting in unsatisfactory flexibility.

[0004] Solving these problems is now a top priority. Summary of the Invention

[0005] To address the above technical problems, this invention provides a reverse bionic mechanical turtle for monitoring aquatic environments in aquaculture.

[0006] The technical solution is as follows:

[0007] A reverse bionic mechanical turtle for monitoring aquatic environments in aquaculture is characterized by including a bionic turtle shell made in a reverse manner, a posture control mechanism installed at the bottom of the bionic turtle shell, a forearm mechanism installed at the front of the bionic turtle shell, and two hind leg mechanisms symmetrically installed at the rear of the bionic turtle shell.

[0008] The attitude control mechanism includes a water tank covered and installed on the lower surface of the bionic turtle shell. The interior of the water tank is divided into four mutually isolated chambers: a left front chamber, a right front chamber, a left rear chamber, and a right rear chamber. The left front chamber and the right front chamber are located opposite each other on the left and right sides of the front of the water tank, and the left rear chamber and the right rear chamber are located opposite each other on the left and right sides of the rear of the water tank. Each of the left front chamber, right front chamber, left rear chamber, and right rear chamber is equipped with a water inlet pump and a water outlet pump. A turbidity sensor and a temperature sensor are installed at the bottom of the water tank.

[0009] The forearm mechanism includes two forearm paddling components for paddling and a steering control component for adjusting the paddling posture of the two forearm paddling components. The steering control component is installed in the middle of the front end of the bionic turtle shell, and the two forearm paddling components are respectively installed on the left and right sides of the steering control component and extend outward from the left and right sides of the bionic turtle shell.

[0010] The hind leg mechanisms all include a water-spraying component for reciprocating slapping and an amplitude adjustment component for adjusting the slapping amplitude of the water-spraying component.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0012] The reverse bionic mechanical turtle for aquatic environment monitoring in aquaculture, which adopts the above technical solution, creatively adds a posture control mechanism. By controlling the inlet and outlet of the four chambers of the water tank, it can turn the whole body to the left or right. This, together with the forearm mechanism and posture control mechanism, greatly improves the flexibility of turning and the flexibility of corresponding posture adjustment. It can also provide buoyancy or gravity for the whole body to rise or dive, thereby enabling rapid rising or diving in conjunction with the forearm mechanism. Attached Figure Description

[0013] Figure 1 This is a structural schematic diagram of a reverse-engineered bionic mechanical turtle from one perspective.

[0014] Figure 2 This is a structural schematic diagram of a reverse-engineered bionic mechanical turtle from another perspective.

[0015] Figure 3 A schematic diagram of the structure of a reverse-engineered bionic mechanical turtle with part of its bionic turtle shell removed;

[0016] Figure 4 This is a schematic diagram of the forearm mechanism;

[0017] Figure 5 A schematic diagram of the forearm stroking assembly;

[0018] Figure 6 This is a schematic diagram of the rear leg mechanism;

[0019] Figure 7 This is a schematic diagram of the internal structure of the water tank;

[0020] Figure 8 This is a schematic diagram of the structure of the hind leg base;

[0021] Figure 9 This is a schematic diagram showing the relationship between the locking pin and related components when the locking pin is in the locked state.

[0022] Figure 10 This is a schematic diagram showing the interaction between the locking pin and related components when the locking pin is in the unlocked state.

[0023] Figure 11 This is a schematic diagram showing the fit between the locking pin and the guide sleeve.

[0024] Figure 12 This is a schematic diagram showing the fit between the floating mounting base, connecting spring, and floating end cap.

[0025] Figure 13 for Figure 12 Sectional view at point AA;

[0026] Figure 14 This is a schematic diagram of the forearm mechanism when moving straight.

[0027] Figure 15 This is a schematic diagram of the forearm mechanism when turning left;

[0028] Figure 16 This is a schematic diagram of the forearm mechanism when turning right; Detailed Implementation

[0029] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0030] like Figure 1 and Figure 2 As shown, a reverse bionic mechanical turtle for monitoring aquatic environments in aquaculture mainly includes a bionic turtle shell 1, a posture control mechanism 2 installed at the bottom of the bionic turtle shell 1, a forearm mechanism 3 installed at the front of the bionic turtle shell 1, and two hind leg mechanisms 4 symmetrically installed at the rear of the bionic turtle shell 1.

[0031] The biomimetic turtle shell 1 was fabricated using a reverse engineering method. Specifically, firstly, point cloud data of a real turtle shell was acquired using a scanning device, resulting in a large dataset. Due to the influence of the surrounding environment during the scanning process, the acquired point cloud data contained noise, which needed to be processed using the reverse engineering software Geomagic Wrap for noise removal, noise reduction, filtering, and sampling. Then, Geomagic Design X software was used for smoothing and other optimization processing to generate surface patches. These were then imported into SolidWorks software for further processing to generate a three-dimensional solid, thus quickly obtaining the three-dimensional model of the biomimetic turtle shell 1, which was saved in STEL format. Finally, it was imported into a 3D printer to print the biomimetic turtle shell 1.

[0032] Please see Figure 2 and Figure 7 The attitude control mechanism 2 includes a water tank 21 coveredly installed on the lower surface of the bionic turtle shell 1. The interior of the water tank 21 is divided into a left front chamber 211, a right front chamber 212, a left rear chamber 213, and a right rear chamber 214 that are isolated from each other. The left front chamber 211 and the right front chamber 212 are arranged opposite to each other on the left and right sides of the front of the water tank 21, and the left rear chamber 213 and the right rear chamber 214 are arranged opposite to each other on the left and right sides of the rear of the water tank 21. The left front chamber 211, the right front chamber 212, the left rear chamber 213, and the right rear chamber 214 are all equipped with a water inlet one-way pump 22 and a water outlet one-way pump 23.

[0033] The control method of attitude control mechanism 2 is as follows:

[0034] Ascent: The inlet one-way pump 22 of the left front chamber 211 and the right front chamber 212 are both closed, and the drain one-way pump 23 is both open; the inlet one-way pump 22 of the left rear chamber 213 and the right rear chamber 214 are both open, and the drain one-way pump 23 is both closed.

[0035] Submersion: The inlet pump 22 of the left anterior chamber 211 and the right anterior chamber 212 are both open, and the drain pump 23 is both closed. The inlet pump 22 of the left rear chamber 213 and the right rear chamber 214 are both closed, and the drain pump 23 is both open.

[0036] Left side: The inlet pump 22 of the left front chamber 211 and the left rear chamber 213 are both open, and the drain pump 23 is both closed. The inlet pump 22 of the right front chamber 212 and the right rear chamber 214 are both closed, and the drain pump 23 is both open.

[0037] Right side: The inlet pump 22 of the left front chamber 211 and the left rear chamber 213 are both closed, and the drain pump 23 is both open; the inlet pump 22 of the right front chamber 212 and the right rear chamber 214 are both open, and the drain pump 23 is both closed.

[0038] Left-side body-on-side descent: The inlet pumps 22 of the left front chamber 211, left rear chamber 213 and right front chamber 212 are all open, and the drain pumps 23 are all closed. The inlet pump 22 of the right rear chamber 214 is closed, and the drain pump 23 is open.

[0039] Right-side diving: The inlet pumps 22 of the left front chamber 211, right front chamber 212 and right rear chamber 214 are all open, and the outlet pumps 23 are all closed. The inlet pump 22 of the left rear chamber 213 is closed, and the outlet pump 23 is open.

[0040] Left-side floating: The inlet pump 22 of the left anterior chamber 211, left posterior chamber 213 and right anterior chamber 212 are all closed and the drain pump 23 is all open. The inlet pump 22 of the right posterior chamber 214 is open and the drain pump 23 is closed.

[0041] Right-side floating: The inlet pumps 22 of the left anterior chamber 211, right anterior chamber 212 and right rear chamber 214 are all closed and the drain pumps 23 are all open. The inlet pump 22 of the left rear chamber 213 is open and the drain pump 23 is closed.

[0042] Please see Figure 2 The bottom of the water tank 21 is equipped with a turbidity sensor 24 and a temperature sensor 25, which can provide a basis for adjusting the aquaculture program.

[0043] Please see Figures 3-5The forearm mechanism 3 includes two forearm paddling components 32 for paddling and a steering control component 31 for adjusting the paddling posture of the two forearm paddling components 32. The steering control component 31 is installed in the middle of the front end of the bionic turtle shell 1. The two forearm paddling components 32 are respectively installed on the left and right sides of the steering control component 31 and extend outward from the left and right sides of the bionic turtle shell 1.

[0044] Steering control assembly 31 includes a lead screw mounting bracket 311, a lead screw 312 rotatably mounted on the lead screw mounting bracket 311, a lead screw drive motor 313 for driving the lead screw 312 to rotate, and a steering slider 314 that forms a lead screw-nut kinematic pair with the lead screw 312. The steering slider 314 can slide left and right along the lead screw mounting bracket 311. The forearm paddling assembly 32 includes a forearm bracket 321 fixedly mounted on the bionic turtle shell 1, a forearm connecting frame 322 rotatably mounted on the outer end of the forearm bracket 321 in the vertical direction, an intermediate connecting rod 323 with ball joints at both ends respectively with the steering slider 314 and the forearm connecting frame 322, a crank-connecting rod mechanism mounting bracket 324 fixedly mounted on the outer side of the forearm connecting frame 322, a rotating mating part 325 rotatably mounted on the outer end of the crank-connecting rod mechanism mounting bracket 324 in the front-back direction, a forearm blade 326 rotatably mounted on the front end of the rotating mating part 325 in the left-right direction, and a forearm blade 326 rotatably mounted on the forearm blade in the front-back direction. The blade rocker arm 327 at the inner end of blade 326, the crank-connecting rod kinematic pair 328 mounted on the crank-connecting rod mechanism mounting bracket 324, and the crank-connecting rod drive motor 329 for rotating the crank 328a of the crank-connecting rod kinematic pair 328, the lead screw mounting bracket 311 can slide along the two forearm brackets 321, the crank-connecting rod drive motor 329 is mounted on the crank-connecting rod mechanism mounting bracket 324, and the crank-connecting rod kinematic pair 328 also includes a first connecting rod 328b and a second connecting rod that are hinged to each other. One end of the connecting rod 328c and the crank 328a are synchronously mounted on the motor shaft of the crank-connecting rod drive motor 329. The other end of the crank 328a is hinged to the end of the first connecting rod 328b away from the second connecting rod 328c. The end of the second connecting rod 328c away from the first connecting rod 328b is rotatably mounted on the crank-connecting rod mechanism mounting bracket 324. The end of the blade rocker arm 327 away from the forearm blade 326 is engaged with the hinge point of the crank 328a and the first connecting rod 328b.

[0045] The forearm stroking assembly 32 employs a crank-connecting rod design. The crank-connecting rod drive motor 329 drives the crank-connecting rod kinematic pair 328, enabling the forearm blades 326 to perform periodic stroking movements similar to a boat oar, generating stable forward thrust. The overall structure is ingenious, significantly improving stroking efficiency while maintaining stability and reliability. Furthermore, the steering control assembly 31 controls the attitude of the two forearm stroking assemblies 32 in a coordinated manner, enabling left and right turns. Moreover, the steering control assembly 31 and the forearm stroking assembly 32 utilize ball joint structures in multiple places, offering high degrees of freedom and simple, reliable assembly.

[0046] Furthermore, each forearm blade 326 includes a blade mounting arm 326a and a paddling forearm 326b. The inner end of the blade mounting arm 326a is rotatably engaged with the blade rocker arm 327, the middle part of the blade mounting arm 326a is rotatably engaged with the rotating fitting 325, and the outer end of the blade mounting arm 326a is fixedly connected to the inner end of the paddling forearm 326b. The paddling forearm 326b first extends away from the blade mounting arm 326a to form an extension section 326b1, and then extends backward to form a paddling section 326b2. By simulating the shape of a turtle's forearm, both reliable installation of the forearm blades 326 and paddling efficiency are ensured.

[0047] Furthermore, the paddling section 326b2 has a sheet-like structure, and the width of the paddling section 326b2 gradually increases and then gradually decreases in the direction away from the extension section 326b1, thereby effectively improving the paddling efficiency of the forearm blade 326.

[0048] Furthermore, the steering slider 314 is integrally formed with connecting rod mounting arms 314a extending to the left and right sides respectively. The inner ends of the two intermediate connecting rods 323 are respectively hinged to the outer ends of the corresponding connecting rod mounting arms 314a, ensuring the reliable installation of the intermediate connecting rods 323 and avoiding interference.

[0049] Furthermore, the lead screw mounting bracket 311 has a recessed guide groove 311a extending in the left and right direction, and the steering slider 314 has a protruding sliding guide rib 314b that slides in cooperation with the guide groove 311a, which can effectively improve the stability and reliability of the sliding cooperation between the steering slider 314 and the lead screw mounting bracket 311.

[0050] Please see Figure 6 , Figures 8-13 Each of the rear leg mechanisms 4 includes a water-spraying component 41 for reciprocating slapping and an amplitude-adjusting component 42 for adjusting the slapping amplitude of the water-spraying component 41.

[0051] Each water-spraying assembly 41 includes a hind leg mounting bracket 411 mounted on the bionic turtle shell 1, a water-spraying drive shaft 412 rotatably mounted on the hind leg mounting bracket 411 in the front-rear direction, a water-spraying drive motor 413 for driving the water-spraying drive shaft 412 to rotate, and a hind leg blade 414 swayably mounted on the rear end of the hind leg mounting bracket 411. The water-spraying drive motor 413 is mounted on the bionic turtle shell 1. The front end of the water-spraying drive shaft 412 rotates synchronously with the motor shaft of the water-spraying drive motor 413. The rear end of the water-spraying drive shaft 412 is first bent radially and then bent backward to form an amplitude-adjusting bend 412a. The front end of the hind leg blade 414 is swayably mounted on the rear end of the hind leg mounting bracket 411 through a blade mounting lug 414a. Both mounting arms of the blade mounting lug 414a are provided with strip-shaped holes extending in the front-rear direction. 414b, the amplitude adjustment assembly 42 includes two parallel amplitude adjustment rods 421, two amplitude adjustment rod mounting seats 422 that can slide along corresponding strip holes 414b, and two locking nuts 423 for locking or unlocking the amplitude adjustment rod mounting seats 422. The two ends of the two amplitude adjustment rods 421 are fixedly installed on the inner side of the corresponding amplitude adjustment rod mounting seats 422. The outer side of the two amplitude adjustment rod mounting seats 422 is connected to sliding pins 422a that slide with the corresponding strip holes 414b. The end of each sliding pin 422a away from the amplitude adjustment rod mounting seat 422 has a threaded engagement with the corresponding locking nut 423. The distance between the two amplitude adjustment rods 421 is adapted to the amplitude adjustment bend 412a. Sliding the amplitude adjustment rod mounting seats 422 allows the two amplitude adjustment rods 421 to slide relative to the amplitude adjustment bend 412a in the front-back direction.

[0052] Not only does it cleverly achieve the water-spraying action, but by adjusting the position of the amplitude adjustment component 42, the water-spraying amplitude of the rear leg blade 414 can also be adjusted, which is simple and reliable. Specifically, loosening the locking nut 423 can adjust the position of the two amplitude adjustment rods 421. When the two amplitude adjustment rods 421 slide towards the rear leg mounting frame 411, the water-spraying amplitude of the rear leg blade 414 gradually decreases. When the two amplitude adjustment rods 421 slide away from the rear leg mounting frame 411, the water-spraying amplitude of the rear leg blade 414 gradually increases. After the adjustment is completed, tighten the locking nut 423.

[0053] The hind leg mounting bracket 411 includes a hind leg base 411a fixedly mounted on the biomimetic turtle shell 1, a rotating mounting seat 411b rotatably mounted on the rear end of the hind leg base 411a, and a blade attitude adjustment device for unlocking or locking the rotating mounting seat 411b. A blade mounting lug 414a is pivotally mounted on the rear end of the rotating mounting seat 411b. A water-pumping drive shaft 412 passes sequentially through the hind leg base 411a and the rotating mounting seat 411b in a front-to-back direction. The blade attitude adjustment device includes a component radially fixedly mounted on the rotating mounting seat 411b. The guide sleeve 411c and the locking pin 411d slidably mounted on the guide sleeve 411c are provided. A first return spring 411e is fitted on the locking pin 411d to drive the locking pin 411d to slide outward along the guide sleeve 411c. The two ends of the first return spring 411e abut against the locking pin 411d and the guide sleeve 411c, respectively. Two circumferentially distributed locking holes 411a1 are recessed on the outer peripheral surface of the rear leg base 411a. The line connecting the two locking holes 411a1 and the central axis of the rear leg base 411a is... With an included angle of 90°, the locking rear leg base 411a and the rotating mounting base 411b are provided with a rotation limiting structure for limiting the bidirectional rotation angle of the rotating mounting base 411b. The locking pin 411d is inserted into the side wall of the guide sleeve 411c and has an outwardly extending elastic locking piece 411f. The outer end of the elastic locking piece 411f has a protruding locking protrusion 411f1. The guide sleeve 411c is provided with an outer locking hole 411c1 arranged along its axis and an unlocking button mounting cylinder 411c2. The outer locking hole 411c1 is located at the unlocking button mounting cylinder. On the side of the cylinder 411c2 away from the guide sleeve 411c, the locking protrusion 411f1 can be embedded in the outer lock hole 411c1 or the unlock button mounting cylinder 411c2. The unlock button mounting cylinder 411c2 is equipped with an unlock button 411g that can slide along it. The unlock button 411g is fitted with a second return spring 411h for the unlock button 411g to slide outward along the unlock button mounting cylinder 411c2. The two ends of the second return spring 411h abut against the unlock button 411g and the unlock button mounting cylinder 411c2, respectively.

[0054] Pressing the locking pin 411d allows it to engage with the corresponding locking hole 411a1, thus locking the relative positions of the rear leg base 411a and the rotating mounting base 411b. At this time, the locking protrusion 411f1 engages with the inner end of the unlocking button mounting cylinder 411c2. Pressing the unlocking button 411g causes the locking protrusion 411f1 to disengage from the unlocking button mounting cylinder 411c2, and the locking pin 411d disengages from the locking hole 411a1 under the drive of the first return spring 411e. The rotating mounting base 411b can then rotate relative to the locked rear leg base 411a, at which point the locking protrusion 411f1 engages with the outer locking hole 411c1. This design allows for flexible adjustment of the attitude of the rear leg blades 414. When the pair of rear leg propellers 414 swing left and right, although the forward propulsion provided by the water is relatively small, the resistance from the water flow is smaller, which is relatively less effort, the range is longer, and it is conducive to more frequent left and right turns. When the pair of rear leg propellers 414 swing up and down, although the resistance from the water flow is greater, which is relatively more effort, the forward propulsion provided by the water flow is larger, the speed is faster, and it is conducive to snorkeling over a wide range.

[0055] A floating mounting base 411i is fixedly connected to the inner end of the locking pin 411d. The axial direction of the floating mounting base 411i is connected to a floating end cap 411k via several connecting springs 411j. An array of balls 411l is installed on the end of the floating mounting base 411i away from the locking pin 411d. The side surface of the floating end cap 411k near the floating mounting base 411i is supported on each ball 411l. The outer edge of the side surface of the floating end cap 411k away from the floating mounting base 411i is rounded. By adding the above-mentioned floating components, the tolerance can be effectively compensated, making it easier for the locking pin 411d to be inserted into the locking hole 411a1. This avoids the situation where the locking pin 411d cannot be inserted into the locking hole 411a1 due to slight deviation, and at the same time, it protects the locking hole 411a1.

[0056] Ultrasonic ranging sensors 6 are installed on the top of the bionic turtle shell 1, the left and right sides and bottom of the water tank 21, and the front of the bionic turtle head 5. During movement, obstacles such as algae and rocks are inevitable. When the ultrasonic ranging sensors 6 detect a distance of less than 1 meter from an obstacle, they can control the steering and power mechanisms. These mechanisms work together to avoid collisions and ensure the stability of underwater cruising. Please refer to [link / reference]. Figure 3 The controller is installed inside the bionic turtle shell 1, ensuring safety and reliability.

[0057] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0058] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0059] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0060] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention. Those skilled in the art, under the guidance of the present invention, can make various similar representations without departing from the spirit and claims of the present invention, and such modifications all fall within the protection scope of the present invention.

Claims

1. A reverse bionic mechanical turtle for monitoring aquatic environments in aquaculture, characterized in that: It includes a bionic turtle shell (1) made in reverse, a posture control mechanism (2) installed at the bottom of the bionic turtle shell (1), a forearm mechanism (3) installed at the front of the bionic turtle shell (1), and two hind leg mechanisms (4) symmetrically installed at the rear of the bionic turtle shell (1). The attitude control mechanism (2) includes a water tank (21) covered and installed on the lower surface of the bionic turtle shell (1). The interior of the water tank (21) is divided into a left front chamber (211), a right front chamber (212), a left rear chamber (213), and a right rear chamber (214) that are isolated from each other. The left front chamber (211) and the right front chamber (212) are arranged opposite to each other on the left and right sides of the front of the water tank (21). The left rear chamber (213) and the right rear chamber (214) are arranged opposite to each other on the left and right sides of the rear of the water tank (21). The left front chamber (211), the right front chamber (212), the left rear chamber (213), and the right rear chamber (214) are all equipped with a water inlet pump (22) and a water outlet pump (23). A turbidity sensor (24) and a temperature sensor (25) are installed at the bottom of the water tank (21). The forearm mechanism (3) includes two forearm paddling components (32) for paddling and a steering control component (31) for adjusting the paddling posture of the two forearm paddling components (32). The steering control component (31) is installed in the middle of the front end of the bionic turtle shell (1). The two forearm paddling components (32) are respectively installed on the left and right sides of the steering control component (31) and extend outward from the left and right sides of the bionic turtle shell (1). Each of the rear leg mechanisms (4) includes a water-spraying component (41) for reciprocating slapping and an amplitude adjustment component (42) for adjusting the slapping amplitude of the water-spraying component (41). The steering control assembly (31) includes a lead screw mounting bracket (311), a lead screw (312) rotatably mounted on the lead screw mounting bracket (311), a lead screw drive motor (313) for driving the lead screw (312) to rotate, and a steering slider (314) that forms a lead screw nut kinematic pair with the lead screw (312). The steering slider (314) can slide left and right along the lead screw mounting bracket (311). The forearm paddling assembly (32) includes a forearm bracket (321) fixedly mounted on the bionic turtle shell (1), and a forearm paddling assembly that can be rotatably mounted in the vertical direction. The forearm connecting frame (322) at the outer end of the arm support (321), the intermediate connecting rod (323) with ball joints at both ends respectively with the steering slider (314) and the forearm connecting frame (322), the crank connecting rod mechanism mounting frame (324) fixedly installed on the outer side of the forearm connecting frame (322), the rotating fitting (325) rotatably installed on the outer end of the crank connecting rod mechanism mounting frame (324) in the front-rear direction, the forearm blade (326) rotatably installed on the front end of the rotating fitting (325) in the left-right direction, and the forearm blade (326) rotatably installed in the front-rear direction. The inner end of the paddle rocker arm (327), the crank-connecting rod kinematic pair (328) mounted on the crank-connecting rod mechanism mounting bracket (324), and the crank-connecting rod drive motor (329) for rotating the crank (328a) of the crank-connecting rod kinematic pair (328), the lead screw mounting bracket (311) being able to slide along the two forearm supports (321), the crank-connecting rod drive motor (329) being mounted on the crank-connecting rod mechanism mounting bracket (324), and the crank-connecting rod kinematic pair (328) further including a first connecting rod (328b) and a second connecting rod (328b) hinged to each other. 28c), one end of the crank (328a) is synchronously rotatably mounted on the motor shaft of the crank-connecting rod drive motor (329), the other end of the crank (328a) is hinged to the end of the first connecting rod (328b) away from the second connecting rod (328c), the end of the second connecting rod (328c) away from the first connecting rod (328b) is rotatably mounted on the crank-connecting rod mechanism mounting bracket (324), and the end of the blade rocker arm (327) away from the forearm blade (326) is ball-jointed with the hinge point of the crank (328a) and the first connecting rod (328b).

2. The reverse bionic mechanical turtle for aquatic environment monitoring in aquaculture as described in claim 1, characterized in that: Each of the forearm blades (326) includes a blade mounting arm (326a) and a paddling forearm (326b). The inner end of the blade mounting arm (326a) is rotatably engaged with the blade rocker arm (327). The middle part of the blade mounting arm (326a) is rotatably engaged with the rotating fitting (325). The outer end of the blade mounting arm (326a) is fixedly connected to the inner end of the paddling forearm (326b). The paddling forearm (326b) first extends away from the blade mounting arm (326a) to form an extension section (326b1), and then extends backward to form a paddling section (326b2).

3. The reverse bionic mechanical turtle for aquatic environment monitoring in aquaculture as described in claim 2, characterized in that: The paddling section (326b2) has a sheet-like structure, and the width of the paddling section (326b2) gradually increases and then gradually decreases in the direction away from the extension section (326b1).

4. The reverse bionic mechanical turtle for aquatic environment monitoring in aquaculture as described in claim 2, characterized in that: The steering slider (314) has integrally formed connecting rod mounting arms (314a) extending to the left and right sides respectively, and the inner ends of the two intermediate connecting rods (323) are respectively hinged to the outer ends of the corresponding connecting rod mounting arms (314a).

5. The reverse bionic mechanical turtle for aquatic environment monitoring in aquaculture as described in claim 1, characterized in that: The lead screw mounting bracket (311) has a recessed guide groove (311a) extending in the left and right direction, and the steering slider (314) has a protruding sliding guide rib (314b) that slides in cooperation with the guide groove (311a).

6. The reverse bionic mechanical turtle for aquatic environment monitoring in aquaculture as described in claim 1, characterized in that: Each water-spraying component (41) includes a hind leg mounting bracket (411) mounted on the bionic turtle shell (1), a water-spraying drive shaft (412) rotatably mounted on the hind leg mounting bracket (411) in the front-rear direction, a water-spraying drive motor (413) for driving the water-spraying drive shaft (412) to rotate, and a hind leg paddle (414) swayably mounted on the rear end of the hind leg mounting bracket (411). The water-spraying drive motor (413) is mounted on the bionic turtle shell (1). The front end of the water-pumping drive shaft (412) rotates synchronously with the motor shaft of the water-pumping drive motor (413). The rear end of the water-pumping drive shaft (412) is first bent radially and then bent backward to form an amplitude-adjusting bend (412a). The front end of the rear leg blade (414) is swayably mounted on the rear end of the rear leg mounting bracket (411) via a blade mounting lug (414a). Both mounting arms of the blade mounting lug (414a) are provided with extensions in the front-rear direction. The amplitude adjustment assembly (42) includes two parallel amplitude adjustment rods (421), two amplitude adjustment rod mounting seats (422) that can slide along the corresponding linear holes (414b), and two locking nuts (423) for locking or unlocking the amplitude adjustment rod mounting seats (422). The two ends of the two amplitude adjustment rods (421) are fixedly installed on the inner side of the corresponding amplitude adjustment rod mounting seats (422), and the outer sides of the two amplitude adjustment rod mounting seats (422) are... Each side is connected to a sliding pin (422a) that slides in cooperation with the corresponding strip hole (414b). The end of each sliding pin (422a) away from the amplitude adjustment rod mounting seat (422) has a threaded engagement with the corresponding locking nut (423). The distance between the two amplitude adjustment rods (421) is adapted to the amplitude adjustment bend (412a). By sliding the amplitude adjustment rod mounting seat (422), the two amplitude adjustment rods (421) can slide relative to the amplitude adjustment bend (412a) in the front-back direction.

7. The reverse bionic mechanical turtle for aquatic environment monitoring in aquaculture as described in claim 6, characterized in that: The hind leg mounting bracket (411) includes a hind leg base (411a) fixedly mounted on the bionic turtle shell (1), a rotating mounting seat (411b) rotatably mounted at the rear end of the hind leg base (411a), and a blade attitude adjustment device for unlocking or locking the rotating mounting seat (411b). The blade mounting lug (414a) is swingably mounted at the rear end of the rotating mounting seat (411b). The water-pumping drive shaft (412) passes through the hind leg base (411a) and the rotating mounting seat (411b) sequentially in the front-rear direction. The blade attitude adjustment device includes a component that is radially fixedly mounted on the rotating mounting seat (411b). The rear leg base (411a) has a guide sleeve (411c) and a locking pin (411d) slidably mounted on the guide sleeve (411c). A first return spring (411e) is fitted onto the locking pin (411d) to drive it outward along the guide sleeve (411c). The two ends of the first return spring (411e) abut against the locking pin (411d) and the guide sleeve (411c), respectively. Two circumferentially distributed locking holes (411a1) are recessed on the outer circumferential surface of the rear leg base (411a). The line connecting the two locking holes (411a1) to the central axis of the rear leg base (411a) is... The included angle is 90°. The rear leg base (411a) and the rotating mounting base (411b) are provided with rotation limiting structures for limiting the bidirectional rotation angle of the rotating mounting base (411b). The locking pin (411d) is inserted into the side wall of the guide sleeve (411c) and has an outwardly extending elastic locking piece (411f). The outer end of the elastic locking piece (411f) has a protruding locking protrusion (411f1). The guide sleeve (411c) is provided with an outer locking hole (411c1) and an unlocking button mounting cylinder (411c2) arranged along its axis. The outer locking hole (411c1) is located in the unlocking button mounting cylinder. On the side away from the guide sleeve (411c2), the locking protrusion (411f1) can be embedded in the outer locking hole (411c1) or the unlocking button mounting cylinder (411c2). The unlocking button mounting cylinder (411c2) is equipped with an unlocking button (411g) that can slide along it. The unlocking button (411g) is fitted with a second return spring (411h) for the unlocking button (411g) to slide outward along the unlocking button mounting cylinder (411c2). The two ends of the second return spring (411h) abut against the unlocking button (411g) and the unlocking button mounting cylinder (411c2) respectively. Pressing the locking pin (411d) allows it to engage in the corresponding locking hole (411a1), thereby locking the relative positions of the rear leg base (411a) and the rotating mounting base (411b). At this time, the locking protrusion (411f1) engages in the inner end of the unlocking button mounting cylinder (411c2). Pressing the unlocking button (411g) allows the locking protrusion (411f1) to disengage from the unlocking button mounting cylinder (411c2), and the locking pin (411d) disengages from the locking hole (411a1) under the drive of the first return spring (411e). The rotating mounting base (411b) can then rotate relative to the rear leg base (411a). At this time, the locking protrusion (411f1) engages in the outer locking hole (411c1).

8. The reverse bionic mechanical turtle for aquatic environment monitoring in aquaculture as described in claim 7, characterized in that: The inner end of the locking pin (411d) is fixedly connected to a floating mounting seat (411i). The floating mounting seat (411i) is axially connected to a floating end cap (411k) by several connecting springs (411j). An array of balls (411l) is installed on the end of the floating mounting seat (411i) away from the locking pin (411d). The side surface of the floating end cap (411k) near the floating mounting seat (411i) is supported on each ball (411l). The outer edge of the side surface of the floating end cap (411k) away from the floating mounting seat (411i) is rounded.

9. The reverse bionic mechanical turtle for aquatic environment monitoring in aquaculture as described in claim 1, characterized in that: Ultrasonic ranging sensors (6) are installed on the top of the bionic turtle shell (1), the left and right sides and bottom of the water tank (21), and the front end of the bionic turtle head (5).

Images