A bionic naked sea butterfly underwater detection robot

Abstract

The present invention discloses a bionic naked sea butterfly underwater detection robot, which relates to the technical field of bionic underwater robots, and comprises a main body part, wherein a control system is arranged in the main body part; symmetrically arranged wing-foot parts are movably arranged at both ends of the main body part, and the wing-foot parts can realize pitching and swinging and front and back swinging; a tail-abdomen part is movably connected to the bottom of the main body part, and the tail-abdomen part can realize up-and-down swinging and left-and-right swinging. The bionic naked sea butterfly underwater detection robot provided by the present invention has a small size, good maneuverability, and can perform deep-sea detection.

Description

Technical Field

[0001] The invention relates to the technical field of bionic underwater robots, in particular to a bionic naked sea butterfly underwater detection robot. Background Art

[0002] With the development of marine economy and the increasing importance of marine rights protection, marine resources have become the focus of competition among countries, which puts forward more requirements for marine survey and salvage equipment. Nowadays, bionic robots are emerging in an endless stream, and there are also many underwater robots made by applying bionics to underwater creatures such as fish. However, these robots are often large in size and lack mobility. At the same time, most of them cannot conduct deep-sea exploration. Summary of the invention

[0003] The purpose of the present invention is to provide a bionic naked sea butterfly underwater exploration robot to solve the problems existing in the above-mentioned prior art. It has small size, good maneuverability and can carry out deep-sea exploration.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a bionic naked sea butterfly underwater detection robot, comprising a main body part, wherein a control system is arranged in the main body part; symmetrically arranged wing-foot parts are movably arranged at both ends of the main body part, and the wing-foot parts can realize pitching and swinging and front and back swinging; the bottom of the main body part is movably connected with a tail abdomen part, and the tail abdomen part can realize up and down swinging and left and right swinging. Compared with the traditional fish-like robot, due to the position of the designed center of gravity, the robot basically maintains a vertical posture when moving underwater, can hover silently at a fixed depth underwater for a long time, has low power consumption, and the multi-degree-of-freedom rudder surfaces arranged on the whole body are quickly actuated, so that the robot has high maneuverability, has strong adaptability to complex underwater terrain environments, and can quickly locate different depths, avoid turbulence, sharp turns and change directions. In order to achieve the suspended static balance state of the underwater robot, the relative position relationship between the center of gravity and the center of buoyancy of the robot needs to be considered, the left and right and front and back mass distribution is guaranteed to be uniform, and the density of the robot and the density of water are guaranteed to be close to the density of water. The robot monomer follows the underwater "tumbler" mechanical characteristics.

[0006] Optionally, the wing foot part includes a wing-shaped PVC plate, one end of the wing-shaped PVC plate is movably connected to a forward and backward swing driving mechanism, one end of the forward and backward swing driving mechanism away from the wing-shaped PVC plate is movably connected to a pitch swing driving mechanism, and the pitch swing driving mechanism is connected to one side of the main body part.

[0007] Optionally, the forward and backward swing drive mechanism includes a servo B, the servo B having a dual output shaft, one end of the wing-shaped PVC plate is fixedly connected to a wing clamping piece made of hard resin material, the end of the wing clamping piece away from the wing-shaped PVC plate is provided with a U-shaped frame, and the upper and lower ends of the U-shaped frame are respectively connected to the dual output shaft keys of the servo B.

[0008] Optionally, the pitch and swing drive mechanism includes a servo A, the axis of the output shaft is arranged perpendicular to the left-right symmetric plane of the main body, one end of the servo B is fixedly connected to the servo bracket B of the U-shaped structure, one end of the servo bracket B is connected to the output shaft of the servo A, and the servo A is fixedly installed on the main body; the output shaft extension line of the servo A is arranged perpendicular to the output shaft extension line of the servo B; thus, by controlling the servo A, the rotational movement of the wing-foot structure around the axis of the output shaft of the servo A can be achieved, thereby achieving the pitch and swing of the wing-foot structure; by controlling the servo B, the rotational movement of the wing-foot structure around the axis of the output shaft of the servo B can be achieved, thereby achieving the forward and backward swing of the wing-foot structure. The flapping of the wing foot is achieved by the coordinated control of the servo A and the servo B. The left and right wing-foot structures are mirror-symmetrical according to the left-right symmetric plane of the main body, and the assembly method is the same.

[0009] Optionally, the wing-shaped PVC board includes a fan-shaped plate structure, one side of which is provided with a groove, and the end of the wing clamping piece away from the U-shaped frame is provided with a clamping groove matching the groove, and the clamping groove fixedly clamps the side of the groove to reinforce the connection by adhesive connection.

[0010] Optionally, the tail and abdomen part includes a cross tail fin, the top of the cross tail fin is connected to an up and down swinging drive mechanism, the cross tail fin is inserted into the resin tail and abdomen connecting slot of the up and down swinging drive mechanism to achieve connection, and is reinforced by adhesive connection, the top of the up and down swinging drive mechanism is connected to a left and right swinging drive mechanism, and the top of the left and right swinging drive mechanism is connected to the bottom of the main body part.

[0011] Optionally, the up and down swing driving mechanism includes a servo D, the servo D has a dual output shaft, a U-shaped tail clamp is fixedly connected to the top of the cross tail fin, and both sides of the U-shaped tail clamp are movably connected to the dual output shafts of the servo D respectively.

[0012] Optionally, the left and right swing driving mechanism includes a servo C, which has a dual output shaft, the output shaft axis is arranged perpendicular to the left and right symmetrical plane of the main body, and the vertical projection of the dual output shaft of the servo C is perpendicular to the vertical projection of the dual output shaft of the servo D; the top of the servo D is fixedly clamped in a servo bracket D with a U-shaped structure, the top of the servo bracket D is fixedly connected to the bottom of the servo C, the dual output shafts of the servo C are connected to the servo bracket C with a U-shaped structure, and the top of the servo bracket C is fixedly connected to the bottom of the main body; thereby, the rotational movement of the tail and belly structure around the axis of the output shaft of the servo C can be achieved by controlling the servo C, so that the tail and belly structure swings up and down, thereby achieving the pitch movement of the whole machine; the rotational movement of the tail and belly structure around the axis of the output shaft of the servo D can be achieved by controlling the servo D, so that the tail and belly structure swings left and right, thereby achieving the rolling movement of the whole machine. The two-degree-of-freedom motion of the tail and abdomen is achieved through the coordinated control of the servos C and D. The large-scale active swing of the tail and abdomen can realize the large-scale maneuverable motion of the robot. The adjustment and stabilization of the swimming posture can be achieved through rapid swinging in two directions. The two-degree-of-freedom motion of the tail and abdomen is achieved through the coordinated control of the servos C and D, and the correction and transformation of the posture are achieved through differential speed.

[0013] Optionally, the main body part includes a head and a body; wherein, a hole is reserved in the head for externally connecting sensors to expand functions; left and right wing-foot parts are installed on both sides of the body, and a tail belly part is installed on the lower side; the body includes an electrical compartment and a control compartment connected through an element fixing hole, an electrical compartment panel cover is provided on the outer side of the electrical compartment, and the electrical compartment panel cover is fixedly connected to the outer side of the electrical compartment by bolts passing through the electrical compartment fixing holes; a control compartment panel cover is provided on the outer side of the control compartment, and the control compartment panel cover is fixedly connected to the outer side of the control compartment by bolts passing through the control compartment fixing holes; wing-foot part mounting grooves are symmetrically provided at both ends of the electrical compartment and the control compartment, and a servo fixing hole is provided on the outer side of the wing-foot part mounting groove; the control compartment and the electrical compartment are isolated and statically sealed with a national standard O-ring to achieve good waterproof performance, and all external control terminals are waterproof terminals that meet the IP68 standard; it is divided into two sealed compartments to ensure that the frequent disassembly and replacement of the lithium battery does not interfere with the control system; a tail belly fixing hole is provided at the bottom of the electrical compartment and the control compartment, and a servo line limit hole is opened on one side of the tail belly fixing hole.

[0014] The present invention uses two servos to drive a single wing foot and a tail and abdomen respectively, so as to decouple the complex movements of the creature's double wing foot flapping and abdomen swinging, wherein the tail and abdomen are designed as a "cross" tail fin shape, and cooperate with a two-degree-of-freedom servo gimbal to realize its active swinging in space. The cross tail fin shape has different projection areas in the forward direction and the vertical direction of the forward direction, which not only reduces its resistance in the direction of movement, but also can provide greater torque when performing lateral rolling movements. The center of gravity of the whole machine is low, and the robot can be vertically suspended in the water to achieve static stability in a stationary state. During movement, a multi-servo collaborative control strategy is adopted, and the six servos are divided into two groups, with four servos in the left and right wing foot parts forming a group, and two servos in the tail and abdomen forming a group. During each movement, the servos A and B of the wing-foot part are first controlled to rotate at a frequency of 2:1, and the initial speeds of the two servos are set in opposite directions. When servo A completes one cycle of rotation, servo B just completes two cycles of movement, and both return to the middle position at the same time. The servo on the other side is set in the same way. At this time, a normal flapping is completed, so as to efficiently ensure that the wing-foot generates effective hydrodynamic force. The tail and abdomen servos perform subtle movements in this process to maintain the stability of the body's attitude. When the attitude sensor detects that the Euler angle is large, the robot can quickly and actively control the tail and abdomen servos to swing, and the servos C and D output attitude adjustment torque to deflect the "cross" tail fin structure to keep the robot in a stable underwater attitude, thereby ensuring the normal operation of the fin. By adjusting the phase difference between the left and right wing-foot actuations, forward swimming, yaw and backward movements can be achieved; by controlling servo C and the four servos in the wing-foot, large pitch and roll maneuvers can be achieved when the natural naked sea butterfly is preying.

[0015] Optionally, the control system includes a main control board arranged in the control cabin, the main control board is externally connected to a sensor, and the main control board is respectively connected to the wing-foot part and the tail-belly part; the control board is electrically connected to a battery, and the battery is arranged in the electrical cabin; a head sensor installation port is provided on the top of the electrical cabin and the control cabin, and a camera is provided at the head sensor installation port.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The bionic naked sea butterfly underwater detection robot of the present invention has an original mechanical structure of a single wing foot with double degrees of freedom, and has a simple structure and high reliability; the bionic naked sea butterfly underwater detection robot of the present invention has a high mobility, so that the robot has strong adaptability to complex underwater terrain environments, and achieves multiple purposes such as rapidly changing water depth, avoiding turbulence, turning and changing direction, and has strong environmental adaptability; the bionic naked sea butterfly underwater detection robot of the present invention uses two steering gears to drive the single wing foot and the tail abdomen respectively, so as to decouple the complex movement of the creature's flapping, and the implementation method is simple and the control is precise. Compared with traditional fish-like robots, the bionic naked sea butterfly underwater detection robot of the present invention is in a vertical posture, has more degrees of freedom, higher mobility, and a more ingenious structural design. The combined control of different steering gear speeds and rotation amplitudes can realize the adjustment of various postures of the body, support the expansion of multiple sensors, and can perform detection tasks more flexibly. The bionic naked sea butterfly underwater detection robot of the present invention has a cross tail fin shape on the tail abdomen, and cooperates with a two-degree-of-freedom steering gear to achieve the decomposition of force and speed on the plane, and realizes differential speed by controlling the steering gear speed and movement amplitude, thereby realizing posture correction, and the control is simple and accurate. The bionic naked sea butterfly underwater detection robot of the present invention has a cross tail fin shape on the tail abdomen, and the projection area in the forward direction and the direction perpendicular to the forward direction are different, so as to reduce the resistance in the direction of movement and provide greater torque when performing yaw rotation action, and has two advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is an isometric view of the overall structural assembly of the bionic naked sea butterfly underwater detection robot of the present invention;

[0020] Figure 2 This is a front view of the overall structure assembly of the bionic naked sea butterfly underwater detection robot of the present invention;

[0021] Figure 3 This is a side view of the overall structure assembly of the bionic naked sea butterfly underwater detection robot of the present invention;

[0022] Figure 4 It is a three-dimensional exploded view of the wing-foot part of the bionic naked sea butterfly underwater detection robot of the present invention;

[0023] Figure 5 This is a three-dimensional exploded view of the tail and abdomen of the bionic naked sea butterfly underwater detection robot of the present invention.

[0024] Figure 6 It is a three-dimensional exploded view of the main body of the bionic naked sea butterfly underwater detection robot of the present invention;

[0025] Explanation of the reference numerals: 1-main body part, 2-left and right wing foot parts, 3-tail and belly part, 101-head sensor installation port, 102-tail and belly fixing hole, 103-servo fixing hole, 104-control cabin fixing hole, 105-electrical cabin fixing hole, 106-control cabin panel cover, 107-electrical cabin panel cover, 108-component fixing hole, 109-servo line limiting hole, 201-servo A, 202-servo B, 203-wing clamping piece, 204-wing-shaped PVC plate, 205-servo bracket B, 301-servo C, 302-servo D, 303-U-shaped tail clamping piece, 304-cross tail fin, 305-servo bracket C, 306-servo bracket D. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The purpose of the present invention is to provide a bionic naked sea butterfly underwater exploration robot to solve the problems existing in the above-mentioned prior art. It has small size, good maneuverability and can carry out deep-sea exploration.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] The present invention uses the naked sea butterfly as a bionic prototype to design a bionic naked sea butterfly underwater detection robot that can be used for deep-sea exploration. The naked sea butterfly is a planktonic mollusk with the scientific name Clionelimacina. It is a sea angel of the family Clionidae that lives in the Arctic Ocean and the Southern Ocean at a depth of 350 meters. It is small in size, with a body that can grow to 5 cm. Its movement is achieved by flapping the wing feet on both sides of the body. These "wings" flap about twice per second, and have the characteristics of high maneuverability and long-term suspension in water. With reference to the body structure of the naked sea butterfly, the relative positions of the center of gravity and the center of buoyancy of the robot are configured based on the "tumbler" principle, so that the robot of the present invention can be suspended in the water for a long time with a unique vertical body posture and maintain dynamic balance. The underwater maneuvering movement is achieved by the flapping of the wing feet with multiple degrees of freedom and the inertial tail abdomen with a special shape. The input of multiple controls improves the controllability of the robot. The developed bionic robot can quickly adjust its underwater posture through the multi-degree-of-freedom tail and abdomen and independently driven left and right wing feet. It has high mobility and endurance. These characteristics will largely fill the gap in the field of small and long-endurance deep-sea exploration robots.

[0030] The movement of the wing feet and the tail abdomen requires the use of a suitable driving source. Motors, hydraulic actuators, etc. are all common power output units. The bionic robot designed in the present invention is limited by its size and cabin space, so it is necessary to use actuators with higher power density. The use of a small waterproof servo has the advantages of simple control mode and precise angle control, and can achieve 0-180° output angle control to meet system requirements.

[0031] There are many ways for organisms to propel themselves underwater. Taking fish as an example, there are five main forms of movement for fish in nature:

[0032] (1) Trunk swing (BCA-O): As the most common way of fish swimming, it has high stability. When the trunk swings, the two sides contract or relax alternately asymmetrically, generating a low-pressure vortex at the front of the trunk to propel the fish forward.

[0033] (2) Trunk undulation type (BCA-U): The robot imitates the structure of hairtail and eel, and can flexibly move through complex terrains such as the seabed and coral reefs through its high degree of freedom.

[0034] (3) Wing (fin) flapping type (MPA-O): The symmetrical design has a simple structure, is easy and reliable to manufacture, and has a fast swimming speed. It has become a hot area in the research of underwater soft robots today.

[0035] (4) Wing (fin) wave type (MPA-U): It mainly imitates the swimming method of squid and realizes forward swimming through symmetrical waves of the wings (fins) on both sides. Waves of different frequencies, phases or amplitudes are used to achieve turning. It has high stability and can better realize the driving of larger and longer underwater soft robots.

[0036] (5) Jet type (JET): The soft robot is inspired by jellyfish and cuttlefish. Water is pumped out by a water pump device to form a recoil that drives the robot forward. It can be large or small, has high symmetry, good directionality, is easy to process, and has high acceleration.

[0037] Specifically, the bionic naked sea butterfly underwater detection robot of the present invention includes a main body part 1, left and right wing foot parts 2 and a tail abdomen part 3. Figure 1 to Figure 6 As shown. The main body part 1 includes a main board, a control compartment cover 106, and an electrical compartment cover 107, forming two independent internal spaces of the control compartment and the electrical compartment, which are connected to each other through the component fixing hole 108. Among them, the control compartment cover 106 is matched with the main body through the control compartment fixing hole 104 by M3 bolts; the electrical compartment cover 107 is matched with the main body through the electrical compartment fixing hole 105 by M3 bolts, as shown in FIG. Figure 3 As shown; there are two groups of symmetrically arranged 2x2, totaling 8 M3 screw holes on the top of the main body as the head sensor installation port 101, which is used to connect the external sensor expansion module. Similarly, 8 M3 screw holes are arranged on the bottom as the tail belly fixing holes 102, which are used to connect with the tail belly part. One side is provided with a servo line limiting hole 109, which is used to fix and pass the servo line. The left and right sides are provided with servo brackets and symmetrically arranged 4 M4 screw holes as servo fixing holes 103, which are used to connect with the left and right wing foot parts, as shown. Figure 6 As shown; the main body motherboard part is symmetrically arranged with respect to the left and right symmetric plane of the main body, and the internal electronic components, lithium batteries, etc. are bound by straps to ensure that the reliability of the electrical system and the mechanical parameters such as the center of gravity position remain unchanged, such as Figure 6 shown.

[0038] The left and right wing foot parts 2 include a left wing foot part and a right wing foot part, which are respectively installed on the left and right sides of the main body part 1, and are matched with the main body by M4 bolts through the steering gear fixing holes 103. The left wing foot part and the right wing foot part both include a steering gear A201, a steering gear B202, a steering gear bracket B205 and a wing-like structure, and the wing-like structure includes a wing clamping piece 203 and a wing-shaped PVC plate 204; they are respectively installed at symmetrical positions on the left and right sides of the main body, such as Figure 2 shown.

[0039] The left wing foot part has the same structure as the right wing foot part, and is mirror-symmetrical about the left symmetry plane of the main body. Among them, the steering gear bracket B205 is a U-shaped frame structure, which is matched with the steering gear A201 flange through M2 screws to achieve a close connection between each other, and further realizes the rotation of the steering gear bracket B205 and the steering gear B202 around the output shaft of the steering gear A201, and is matched with the steering gear B202 fuselage through M2 screws to achieve relative fixation between each other; the wing clamping piece 203 is designed with a U-shaped frame structure similar to the steering gear bracket B, and is matched with the two flanges of the steering gear B with a dual output shaft structure through M2 screws to achieve a close connection between each other, and further realizes the rotation of the wing-like structure around the output shaft of the steering gear B.

[0040] The tail belly part 3 includes a steering gear C301, a steering gear bracket C305, a steering gear D302, a steering gear bracket D306, a U-shaped tail clamp 303, and a cross tail fin 304, which is installed on the lower side of the main body part 1 and matched with the main body through the tail belly fixing hole 102 by M4 bolts. Figure 5 shown.

[0041] The internal battery of the electrical compartment is connected to the servo and the main control board through wires, and the external sensor is connected through the wiring hole opened on the main body to realize power supply of each device. The battery adopts a lithium battery with an output of 11.1V, and the lithium battery stabilizes the voltage to a working voltage of 5V through a voltage stabilizing and step-down module. The main control board is a single-chip microcomputer, preferably an ESP32 single-chip microcomputer, and the servo A, servo B, servo C, and servo D are all connected to the servo control board through wires, and the rotation of the four servos is controlled by the servo control board. In the present invention, a posture sensor module is also provided in the body to realize the closed-loop feedback of the posture of the bionic naked sea butterfly underwater detection robot monomer. In the present invention, the external camera preferably adopts a wireless camera, and the main body of the wireless camera is placed on the head sensor expansion hole to obtain a wider detection field of view; through the stable movement of the bionic naked sea butterfly underwater detection robot monomer with multiple degrees of freedom, the wireless camera shoots the picture smoothly and stably, and fully achieves the purpose of collecting images.

[0042] During motion control, the six servos are divided into two groups, the four servos in the left and right wing-foot parts form one group, and the two servos in the tail and abdomen form one group. During each movement, the servos A and B in the wing-foot parts are first controlled to rotate at a frequency of 2:1, and the initial speeds of the two servos are set in opposite directions. When servo A completes one cycle of rotation, servo B just completes two cycles of movement, and both return to the middle position at the same time. The mirror image of the servo on the other side is set in the same way, and the servo in the tail and abdomen remains unchanged. At this time, a normal flapping is completed; when the attitude sensor detects that the Euler angle is large, the tail and abdomen servo controls servo C and servo D through differential control to keep the robot in a vertical posture, and the normal working state of the robot is ensured at this time. By adjusting the differential setting of the left and right wing-foot parts, yaw and rotation movements can be achieved; by calling servo C and the four servos in the wing-foot part, the rolling movement of the natural naked sea butterfly during predation can be achieved.

[0043] In the description of the present invention, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0044] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A bionic naked sea butterfly underwater detection robot, characterized by: It comprises a main body part, in which a control system is arranged; symmetrically arranged wing-foot parts are movably arranged at both ends of the main body part, and the wing-foot parts can achieve pitching and forward and backward swinging; the bottom of the main body part is movably connected to a tail-belly part, and the tail-belly part can achieve up-and-down swinging and left-and-right swinging; The wing foot portion includes a wing-shaped PVC plate, one end of the wing-shaped PVC plate is movably connected to a front-and-back swing driving mechanism, one end of the front-and-back swing driving mechanism away from the wing-shaped PVC plate is movably connected to a pitch swing driving mechanism, and the pitch swing driving mechanism is connected to one side of the main body portion; the front-and-back swing driving mechanism includes a steering gear B; the pitch swing driving mechanism includes a steering gear A, the tail belly portion includes a cross tail fin, the top of the cross tail fin is connected to an up-and-down swing driving mechanism, the top of the up-and-down swing driving mechanism is connected to a left-and-right swing driving mechanism, and the top of the left-and-right swing driving mechanism is connected to the bottom of the main body portion; the up-and-down swing driving mechanism includes a steering gear D, and the left-and-right swing driving mechanism includes a steering gear C; During each movement, first control servos A and B to rotate at a frequency of 2:1, and set the initial speeds of the two servos in opposite directions. When servo A completes one cycle of rotation, servo B just completes two cycles of movement, and both return to the middle position at the same time. The servos on the other side are set in the same way, and the tail and abdomen servos remain unchanged. At this time, a normal flutter is completed; the tail and abdomen servos control servos C and servos D through differential control to keep the robot in a vertical posture; by calling servo C and the four servos on the wing and foot, the rolling action of the natural naked sea butterfly during predation can be achieved.

2. The bionic naked sea butterfly underwater detection robot according to claim 1 is characterized by: The servo B has a dual output shaft, one end of the wing-shaped PVC plate is fixedly connected to a wing clamp, the end of the wing clamp away from the wing-shaped PVC plate is provided with a U-shaped frame, and the upper and lower ends of the U-shaped frame are respectively connected to the dual output shafts of the servo B.

3. The bionic naked sea butterfly underwater detection robot according to claim 2 is characterized by: One end of the servo B is fixedly connected to the U-shaped servo bracket B, one end of the servo bracket B is connected to the output shaft of the servo A, and the servo A is fixedly installed on the main body; the extension line of the output shaft of the servo A is arranged perpendicular to the extension line of the output shaft of the servo B.

4. The bionic naked sea butterfly underwater detection robot according to claim 2 is characterized by: The wing-shaped PVC board comprises a fan-shaped plate structure, one side of which is provided with a groove, and the end of the wing clamping piece away from the U-shaped frame is provided with a clamping groove matching the groove, and the clamping groove fixes and clamps the side of the groove.

5. The bionic naked sea butterfly underwater detection robot according to claim 1 is characterized by: The steering gear D has a dual output shaft, and a U-shaped tail clamp is fixedly connected to the top of the cross tail fin, and both sides of the U-shaped tail clamp are connected to the dual output shafts of the steering gear D respectively.

6. The bionic naked sea butterfly underwater detection robot according to claim 5 is characterized by: The servo C has dual output shafts, and the vertical projection of the dual output shafts of the servo C is perpendicular to the vertical projection of the dual output shafts of the servo D; the top of the servo D is fixedly clamped in the U-shaped servo bracket D, the top of the servo bracket D is fixedly connected to the bottom of the servo C, the dual output shafts of the servo C are connected to the U-shaped servo bracket C, and the top of the servo bracket C is fixedly connected to the bottom of the main body part.

7. The bionic naked sea butterfly underwater exploration robot according to claim 1 is characterized by: The main body part includes an electrical compartment and a control compartment connected through a component fixing hole, an electrical compartment panel cover is provided on the outer side of the electrical compartment, and the electrical compartment panel cover is fixedly connected to the outer side of the electrical compartment by bolts passing through the electrical compartment fixing hole; a control compartment panel cover is provided on the outer side of the control compartment, and the control compartment panel cover is fixedly connected to the outer side of the control compartment by bolts passing through the control compartment fixing hole; wing-foot part mounting grooves are symmetrically provided at both ends of the electrical compartment and the control compartment, and a servo fixing hole is provided on the outer side of the wing-foot part mounting groove; a tail and belly fixing hole is provided at the bottom of the electrical compartment and the control compartment, and a servo line limiting hole is opened on one side of the tail and belly fixing hole.

8. The bionic naked sea butterfly underwater detection robot according to claim 7 is characterized by: The control system includes a main control board arranged in the control cabin, the main control board is externally connected to a sensor, and the main control board is respectively connected to the wing foot part and the tail belly part; the control board is electrically connected to a battery, and the battery is arranged in the electrical cabin; a head sensor mounting port is provided on the top of the electrical cabin and the control cabin, and a camera is provided at the head sensor mounting port.

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