An underwater exploration bio-mimetic flexible fish driven by pressure fluid

Abstract

The present application provides a kind of underwater exploration bionic flexible fish driven by pressure fluid, the overall shape of bionic flexible fish is streamlined, bionic pectoral fin executor recess is respectively arranged on both sides of bionic flexible fish body, bionic pectoral fin executor is matched with bionic pectoral fin executor recess, bionic pectoral fin executor will be deformed with pressure change.Bionic fish tail executor is connected with bionic flexible fish body, left and right side chambers that are independent and not connected are distributed in bionic fish tail executor, two side chambers are respectively provided with fluid inlet, when pressure fluid conveying system passes left / right side chamber fluid inlet of fish tail and is connected with pressure fluid to bionic fish tail chamber, fish tail will be deformed with pressure change, reach the action of fish tail left and right swing, generate the thrust of bionic flexible fish forward swimming.By controlling the morphological change of pectoral fin and fish tail, the functions such as "forward, accelerate, turn, brake" of bionic flexible fish can be realized, and flexible exploration operation of bionic flexible fish in different water depth can also be realized.

Description

A biomimetic flexible fish for underwater exploration driven by pressure fluid Technical Field

[0001] This invention relates to the field of underwater exploration biomimetic equipment technology, and in particular to an underwater exploration biomimetic flexible fish driven by pressure fluid. Background Technology

[0002] Oceans cover approximately 71% of the Earth's surface and are rich in biological resources, industrial raw materials, and mineral resources. Ocean exploration, especially deep-sea exploration, requires essential equipment. The biomimetic flexible fish deep-sea exploration robot aims to explore the deep sea, which is inaccessible to humans, to conduct deep-sea geological surveys, observe deep-sea ecosystems, obtain deep-sea biological samples, and collect deep-sea environmental data.

[0003] Bionic flexible fish are designed and manufactured based on principles of bionics, robotics, and materials science. Existing deep-sea exploration bionic fish mostly use traditional rigid shells and rigid mechanical skeletons for propulsion, which cannot accurately simulate the swimming posture of fish. Therefore, this invention patent provides an underwater exploration bionic flexible fish driven by pressure fluid, whose swimming posture is extremely similar to that of a live fish. Through a pressure fluid delivery system, pressure fluid is alternately input into the left and right chambers of the tail, which are composed of multiple chambers. This causes the bionic tail actuator to swing left and right, driving the tail fin to swing and generate forward thrust. The pressure-induced uprighting action of the bionic pectoral fin actuator changes the swimming direction and the "forward and braking" motion of the bionic flexible fish. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater exploration biomimetic flexible fish driven by pressure fluid. The biomimetic flexible fish's tail and pectoral fins are designed with special chamber structures, which can complete the left and right swinging of the tail and the movement of the pectoral fins of a live fish simply by inputting pressure fluid. This improves the maneuverability and flexibility of existing underwater exploration biomimetic fish and provides a new idea for the design of underwater exploration biomimetic fish.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] A biomimetic flexible fish for underwater exploration, driven by pressurized fluid, with a streamlined overall shape.

[0007] The biomimetic flexible fish body 1 has biomimetic pectoral fin actuator grooves 21 on both sides. Near the biomimetic flexible fish head 2, the biomimetic pectoral fin actuator grooves 21 have fluid passages 20 that connect to the internal pressure fluid delivery system 9 of the biomimetic flexible fish. The biomimetic pectoral fin actuator grooves 21 fit into the biomimetic pectoral fin actuator 5. The biomimetic pectoral fin actuator 5 has a pectoral fin fluid inlet 14. One end of the pectoral fin fluid inlet 14 communicates with the fluid passage 20, and the other end communicates with the pectoral fin chamber 19. The pectoral fin chamber 19 is composed of multiple hollow rectangular pectoral fin chambers 15, internal fluid channels 17, and fluid corridors 16. When the pressure of the fluid input to the biomimetic pectoral fin actuator 5 on different sides is controlled, the multiple rectangular pectoral fin chambers 15 will superimpose and deform with the pressure change, pushing the biomimetic pectoral fin actuator 5 to make an upright movement.

[0008] The bionic fish tail actuator 6 is fixedly connected to the bionic flexible fish body 1. The bionic fish tail actuator 6 has two independent and non-communicating fish tail left chamber 26 and fish tail right chamber 27. The fish tail left chamber 26 is provided with a fish tail left chamber fluid inlet 22, and the fish tail right chamber 27 is provided with a fish tail right chamber fluid inlet 30.

[0009] Preferably, the bionic fish tail actuator 6 has symmetrical structures on both sides. Taking the left side chamber of the fish tail as an example: one end of the fluid inlet 22 of the left side chamber of the fish tail is connected to the internal pressure fluid delivery system 9 of the bionic flexible fish, and the other end is connected to the left side chamber 26 of the fish tail. The left side chamber 26 of the fish tail is composed of multiple hollow semi-circular chambers 25, internal fluid channels 23 of the fish tail, and fluid corridors 24 of the fish tail. When the pressure of the fluid input to the different side chambers of the bionic fish tail actuator 6 is controlled, the multiple semi-circular chambers 25 on the left side of the fish tail and the multiple semi-circular chambers on the right side of the fish tail will superimpose and deform with the pressure change, so as to achieve the left and right swinging action of the fish tail and generate the propulsion force for the bionic flexible fish to swim forward.

[0010] By controlling the pressure of the fluid input to the bionic pectoral fin actuator 5 and the bionic fish tail actuator 6 respectively, the shape changes of the pectoral fins and tail on both sides of the bionic flexible fish can be controlled, thereby achieving the functions of "acceleration, turning and braking" during the swimming and moving forward of the bionic flexible fish.

[0011] The biomimetic flexible fish body 1 has a hollow internal structure. An energy system 28 and an elastic bladder 8 are sequentially located near the abdomen of the biomimetic flexible fish body 1, while a miniature plunger pump 29 is located near the back of the biomimetic flexible fish body 1. A pressure fluid delivery system 9 is located between the elastic bladder 8 and the miniature plunger pump 29. One end of the pressure fluid delivery system 9 is connected to the elastic bladder 8, and the other end is connected to the miniature plunger pump 29. The other end of the miniature plunger pump is connected to the suction and discharge port 31. The elastic bladder 8 functions as a swim bladder. The miniature plunger pump 29 draws in or discharges fluid into the elastic bladder 8 through the pressure fluid delivery system 9, changing the weight of the elastic bladder 8 and thus altering the buoyancy of the biomimetic flexible fish, allowing it to swim freely at any water depth.

[0012] The biomimetic flexible fish body 1 has a control panel 12 located near the head 2. This control panel is connected to the underwater camera system 3 and underwater lighting system 4 inside the head 2, as well as the energy system 28, miniature plunger pump 29, pressure fluid delivery system 9, and elastic bladder 8 inside the body 1. The control panel 12 controls the activation and deactivation of these systems, enabling free underwater movement and underwater detection.

[0013] Preferably, the bionic pectoral fin actuator 5 has a pectoral fin hydrofoil 18 on the symmetrical central axis near the tail side, the bionic pectoral fin actuator 5 fits into the bionic pectoral fin actuator groove 21 on the bionic flexible fish body 1, and the non-fitting surface of the bionic pectoral fin actuator 5 has a streamlined transition with the fish body.

[0014] Preferably, the biomimetic flexible fish body 1 has a first dorsal fin 11 and a second dorsal fin 10 on its back, and an anal fin 13 on its abdomen near the tail, to help maintain the balance of the biomimetic flexible fish.

[0015] A crescent-shaped tail fin 7 is provided on the bionic fish tail actuator 6 away from the bionic flexible fish body 1 to stabilize the fish body and generate propulsion in conjunction with the bionic fish tail actuator 6.

[0016] The pressure fluid delivery system 9 contains multiple control valves, which can control the pressure or flow rate of the fluid in each branch connected to the pressure fluid delivery system 9, and can also control the flow and closure of the fluid in each branch connected to the pressure fluid delivery system 9.

[0017] Preferably, the bionic pectoral fin actuator 5 and the bionic fish tail actuator 6 are made of thermoplastic elastomer, which is processed and shaped using thermoplastic plastic processing equipment and processes.

[0018] Preferably, the bionic pectoral fin actuator 5 is closed at one end and open at the other end.

[0019] Preferably, the bionic fish tail actuator 6 is closed at one end and open at the other end.

[0020] The present invention discloses the following technical effects:

[0021] This invention provides a pressure-fluid-driven underwater exploration biomimetic flexible fish. Compared to existing biomimetic fish, this invention uses a pressure-fluid delivery system 9 to deliver pressure-fluid into the left chamber 26 or right chamber 27 of the biomimetic tail actuator 6 via the left chamber fluid inlet 22 or right chamber fluid inlet 30. This causes the biomimetic tail actuator 6 to oscillate and propel itself. The pressure-fluid delivery system 9 also delivers pressure-fluid into the pectoral fin chamber 19 of the biomimetic pectoral fin actuator 5 via the fluid passage 20. This causes the pectoral fin actuator 5 to stand upright and control its swimming posture. By controlling the amount of fluid input to the elastic bladder 8, the weight of the elastic bladder 8 is changed, thereby adjusting the buoyancy of the biomimetic fish to adapt to different water depths. Therefore, according to different movement needs, only different fluid pressures and flow rates need to be controlled to achieve changes in posture, enabling the biomimetic flexible fish to perform actions such as "forward movement, braking, acceleration, turning, surfacing, and diving." This provides a new approach to the actuation design of underwater exploration biomimetic flexible fish. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 is a schematic diagram of the overall structure of the biomimetic flexible fish according to an embodiment of the present invention.

[0024] Figure 2 is a schematic diagram of the internal structure of the biomimetic flexible fish according to an embodiment of the present invention.

[0025] Figure 3 is a partial structural schematic diagram of the biomimetic flexible fish body and biomimetic flexible fish head according to an embodiment of the present invention.

[0026] Figure 4 is a schematic diagram of the structure of the bionic pectoral fin actuator according to an embodiment of the present invention.

[0027] Figure 5 is a schematic diagram of the standing motion deformation of the bionic pectoral fin actuator according to an embodiment of the present invention.

[0028] Figure 6 is a schematic diagram of the structure of the bionic fish tail actuator according to an embodiment of the present invention.

[0029] Figure 7 is a schematic diagram of the swing motion deformation of the bionic fish tail actuator according to an embodiment of the present invention.

[0030] The labels in the diagram are explained as follows:

[0031] 1. Bionic flexible fish body; 2. Bionic flexible fish head; 3. Underwater camera system; 4. Underwater lighting system.

[0032] 5. Bionic pectoral fin actuator; 6. Bionic fish tail actuator; 7. Crescent-shaped tail fin; 8. Elastic sac.

[0033] 9. Pressure fluid delivery system; 10. Second dorsal fin; 11. First dorsal fin; 12. Bionic flexible fish control panel.

[0034] 13 Anal fin, 14 Pectoral fin fluid inlet, 15 Pectoral fin rectangular chamber, 16 Pectoral fin fluid corridor.

[0035] 17. Internal fluid channel of pectoral fin; 18. Pectoral fin hydrofoil; 19. Pectoral fin chamber; 20. Fluid passage.

[0036] 21 Bionic pectoral fin actuator groove, 22 Fluid inlet of the left side chamber of the fish tail, 23 Fluid channel inside the fish tail,

[0037] 24. Fishtail Fluid Corridor; 25. Semi-circular Chamber; 26. Left Side Chamber of Fishtail; 27. Right Side Chamber of Fishtail.

[0038] 28 Energy system, 29 Miniature plunger pump, 30 Fluid inlet of the right side chamber of the fish tail, 31 Suction and drainage outlet. Detailed Implementation

[0039] This invention relates to a biomimetic flexible fish, specifically an underwater exploration-type biomimetic flexible fish driven by pressurized fluid, whose swimming posture is remarkably similar to that of a live fish. The biomimetic flexible fish is approximately 1.5 meters long, with the body 1 and head 2 accounting for about two-thirds of the total length, and the tail actuator 6 accounting for about one-third. Theoretically, the biomimetic flexible fish can operate in waters shallower than 1000 meters. Technicians use underwater wireless communication technology to issue pre-set work commands to remotely control the biomimetic flexible fish, enabling actions such as "forward movement, braking, acceleration, turning, surfacing, and diving." It can be used to explore the deep sea, which is inaccessible to humans, for deep-sea geological exploration, observation of deep-sea ecology, acquisition of deep-sea biological samples, and collection of deep-sea environmental data.

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings 1-7 and specific embodiments.

[0042] As shown in Figures 1-3, the present invention provides an underwater exploration biomimetic flexible fish driven by pressure fluid. The biomimetic flexible fish has a streamlined overall shape. The front end of the biomimetic flexible fish head 2 is equipped with an underwater camera system 3 and an underwater lighting system 4. Inside the biomimetic flexible fish body 1, there is an elastic bladder 8, a pressure fluid delivery system 9, a biomimetic flexible fish control board 12, an energy system 28, and a micro plunger pump 29. At the same time, biomimetic pectoral fin actuator grooves 21 are provided on both sides of the biomimetic flexible fish body 1, with fluid passages 20 connected to the pressure fluid delivery system 9 inside the biomimetic flexible fish. The biomimetic pectoral fin actuator grooves 21 fit with biomimetic pectoral fin actuators 5. The back of the biomimetic flexible fish body 1 is equipped with a first dorsal fin 11 and a second dorsal fin 10, and the abdomen near the tail is equipped with an anal fin 13. The biomimetic flexible fish body 1 is fixedly and sealed to the biomimetic fish tail actuator 6, and the rear end of the biomimetic fish tail actuator 6 is fixedly connected to the crescent-shaped tail fin 7.

[0043] As shown in Figures 4-5, the bionic pectoral fin actuator 5 is equipped with a pectoral fin fluid inlet 14. One end of the pectoral fin fluid inlet 14 communicates with the fluid passage 20, and the other end communicates with the pectoral fin chamber 19. The pectoral fin chamber 19 is composed of multiple hollow rectangular pectoral fin chambers 15, internal fluid channels 17, and fluid corridors 16. When the pressure of the fluid input to the bionic pectoral fin actuators on different sides of the body is controlled, the multiple rectangular chambers of the pectoral fin will superimpose and deform with the pressure change, achieving the action of the pectoral fin standing upright.

[0044] The bionic pectoral fin actuator deformation and standing process: When the pressurized fluid enters each pectoral fin rectangular chamber 15 through the pectoral fin fluid inlet 14 and the internal fluid channel 17, the hollow structure of the pectoral fin chamber 19 is filled with pressurized fluid. Each pectoral fin rectangular chamber 15 expands and deforms, causing the bionic pectoral fin actuator 5 to undergo longitudinal deformation as shown in Figure 5. As the fluid pressure increases, the longitudinal deformation force increases, and the longitudinal deformation also increases. The amplitude of its standing movement also increases until the expected functional effect is achieved.

[0045] As shown in Figures 6-7, the bionic fish tail actuator 6 is connected to the bionic flexible fish body 2. Inside the bionic fish tail actuator 6 are two independent, non-connected chambers: a left-side chamber 26 and a right-side chamber 27. The left-side chamber 26 has a fluid inlet 22, and the right-side chamber 27 has a fluid inlet 30. Taking the left-side chamber 26 as an example: one end of the fluid inlet 22 is connected to the pressure fluid delivery system 9 inside the bionic flexible fish, and the other end communicates with the left-side chamber 26. The left-side chamber 26 consists of multiple hollow semi-circular chambers 25, internal fluid channels 23, and fluid corridors 24. When the pressure of the fluid input to different chambers of the fish tail is controlled, the fish tail deforms with the pressure change, achieving a left-right swaying motion and generating the thrust for the bionic flexible fish to swim forward.

[0046] The deformation and oscillation process of the bionic fish tail actuator: When pressurized fluid enters multiple semi-circular chambers 25 through the fluid inlet 22 of the left chamber or the fluid inlet 30 of the right chamber of the fish tail via the internal fluid channel 23, the hollow internal structure of the bionic fish tail actuator 6 is filled with pressurized fluid. The bionic fish tail actuator 6 undergoes lateral deformation as shown in Figure 7. As the fluid pressure increases, the lateral deformation force increases, and the lateral deformation also increases, thus increasing the amplitude of its oscillation motion until the expected functional effect is achieved. To enable the bionic flexible fish tail actuator 6 to achieve reciprocating oscillation, the above pressurization process is alternately repeated in the left chamber 26 and the right chamber 27 of the fish tail, thereby achieving the reciprocating oscillation motion of the bionic flexible fish tail actuator 6 and obtaining the thrust required for swimming.

[0047] Bionic flexible fish swimming posture control: By controlling the pressure of the input fluid of the bionic pectoral fin actuator 5 and the bionic fish tail actuator 6 respectively, the shape changes of the pectoral fin and the fish tail are controlled, so as to achieve the functions of "forward movement, acceleration, turning and braking" during the swimming process of the bionic flexible fish.

[0048] The "forward" motion works as follows: A certain flow rate of fluid is supplied to the elastic bladder 8 via a micro-plunger pump 29 and a pressure fluid delivery system 9, increasing the weight of the elastic bladder 8 and thus increasing the gravity of the bionic flexible fish, allowing it to operate at a certain water depth. Upon reaching the predetermined depth, the fluid passage between the pressure fluid delivery system 9 and the elastic bladder 8 is closed by a control valve inside the pressure fluid delivery system 9. The micro-plunger pump 29 pumps out pressure fluid at 3 MPa, which is then supplied to the left chamber 26 of the bionic fish tail actuator 6 via the pressure fluid delivery system 9. Since there is no pressure fluid input to the right chamber 27, the bionic fish tail actuator 6 will swing to the right. Similarly, when pressure fluid at 3 MPa is supplied to the right chamber 27 of the bionic fish tail actuator 6, and there is no pressure fluid input to the left chamber 26, the bionic fish tail actuator 6 will swing to the left. Meanwhile, no pressurized fluid is input into the pectoral fin chamber 19 inside the bionic pectoral fin actuator 5, and the bionic pectoral fin actuator 5 remains in contact with the bionic pectoral fin actuator groove 21. At this time, the bionic flexible fish obtains thrust by swinging the bionic fish tail actuator 6 left and right, thus achieving the "forward" movement.

[0049] The "acceleration" action works as follows: Based on the "forward" action, the switching frequency of the pressure fluid delivery system 9 to supply pressure fluid to the left chamber 26 and the right chamber 27 of the fish tail is increased, causing the bionic fish tail actuator 6 to swing left and right rapidly, thereby obtaining greater forward thrust and realizing the "acceleration" action.

[0050] The "turning" action works as follows: Based on the "forward" action, the pressure fluid delivery system 9 supplies 1MPa pressurized fluid to the pectoral fin chamber 19 inside the bionic pectoral fin actuator 5 located on one side of the bionic flexible fish body 1. The hollow structure of the pectoral fin chamber 19 is filled with pressurized fluid, causing each rectangular pectoral fin chamber 15 to expand and deform. The bionic pectoral fin actuator 5 is compressed and produces an "upright" action, that is, it deviates from the groove 21 of the bionic pectoral fin actuator. This increases the forward resistance of the bionic flexible fish on that side, while the forward resistance on the other side remains unchanged. By controlling the magnitude of the forward resistance on different sides of the bionic flexible fish body 1, the speed of the bionic flexible fish on different sides is changed, enabling the bionic flexible fish to achieve the "turning" action.

[0051] The "braking" action works as follows: The pressure fluid delivery system 9 stops inputting pressure fluid to the bionic fish tail actuator 6, while simultaneously inputting pressure fluid of 1MPa to both sides of the bionic pectoral fin actuator 5, causing both sides of the bionic pectoral fin actuator to "stand up" and maximizing the forward resistance of the bionic flexible fish, thereby achieving the purpose of deceleration and realizing the "braking" action.

[0052] The "surfacing and diving" action works as follows: Based on the "braking" action, by controlling the flow rate of fluid input into the elastic bladder 8, the weight of the elastic bladder 8 is changed, thereby adjusting the buoyancy of the bionic flexible fish to adapt to different water depths and achieve the "surfacing and diving" action.

[0053] Taking the "surfacing" action as an example: The bionic flexible fish is currently operating at a depth of 1000 meters. Technicians use underwater wireless communication technology to issue a "surface 100 meters" command to the bionic flexible fish. The bionic flexible fish first completes a "braking" action, and the pressure fluid passages to the bionic pectoral fin actuator 5 and the bionic fish tail actuator 6 are closed by the control valve inside the pressure fluid delivery system 9. Subsequently, the bionic flexible fish control board 12 controls the micro-plunger pump 29 to draw out some fluid from the elastic bladder 8 through the pressure fluid delivery system 9, and pumps the excess fluid out of the bionic flexible fish through the suction and discharge outlet 31, reducing the weight of the elastic bladder 8 and thus reducing the fish's gravity, allowing it to surface. Similarly, controlling the micro-plunger pump 29 to input a certain flow of fluid into the elastic bladder 8 through the pressure fluid delivery system 9 increases the weight of the elastic bladder 8, enabling the "diving" action.

[0054] Both the biomimetic fish tail actuator 6 and the biomimetic pectoral fin actuator 5 are manufactured as a single unit using thermoplastic elastomers and processed using standard thermoplastic plastic processing equipment and techniques. The use of flexible materials like thermoplastic elastomers allows the biomimetic fish tail actuator 6 and biomimetic pectoral fin actuator 5 to adapt to different environmental requirements, achieving a stronger biomimetic motion effect. The thermoplastic plastic processing method ensures the overall structure's flexibility, environmental friendliness, and density, enabling the biomimetic fish tail actuator 6 and biomimetic pectoral fin actuator 5 to adapt well to their surroundings, withstand high pressure, and quickly complete large deformations, thereby achieving biomimetic flexible fish swimming and fulfilling the goal of underwater exploration.

Claims

1. A biomimetic flexible fish for underwater exploration driven by pressurized fluid, with a streamlined overall shape, characterized in that: include: The system comprises a biomimetic flexible fish body, a biomimetic flexible fish head, an underwater camera system, an underwater lighting system, biomimetic pectoral fin actuators, a biomimetic fish tail actuator, and a crescent-shaped tail fin. The biomimetic flexible fish body is fixedly and sealed to the biomimetic flexible fish head and the biomimetic fish tail actuators. The rear end of the biomimetic fish tail actuator is fixedly connected to the crescent-shaped tail fin. The underwater camera system and underwater lighting system are located inside the biomimetic flexible fish head, and the biomimetic pectoral fin actuators are fixed to both sides of the biomimetic flexible fish body. The biomimetic flexible fish body has a hollow internal structure. Near the abdomen, an energy system and an elastic bladder are arranged sequentially. Near the back, a miniature plunger pump is located. A pressure fluid delivery system is located between the elastic bladder and the miniature plunger pump, with one end connected to the elastic bladder and the other end connected to the miniature plunger pump. The other end of the miniature plunger pump is connected to the suction and discharge outlets. The bionic flexible fish body has bionic pectoral fin actuator grooves on both sides. Near the head of the bionic flexible fish, the bionic pectoral fin actuator grooves have a fluid passage connecting to the internal pressure fluid delivery system of the bionic flexible fish. The bionic pectoral fin actuator grooves fit into the bionic pectoral fin actuators. The bionic pectoral fin actuators have pectoral fin fluid inlets, one end of which communicates with the fluid passage, and the other end with the pectoral fin chamber. The pectoral fin chamber consists of multiple hollow rectangular pectoral fin chambers, internal fluid channels, and fluid corridors. When the pressure of the fluid input to the bionic pectoral fin actuators on different sides is controlled, the multiple rectangular pectoral fin chambers will superimpose and deform with pressure changes, pushing the bionic pectoral fin actuators to perform an upright movement, i.e., deviating from the bionic pectoral fin actuator grooves.

2. The biomimetic flexible fish for underwater exploration driven by pressure fluid according to claim 1, characterized in that: The elastic bladder acts as a swim bladder. A miniature plunger pump draws in or discharges fluid through a pressure fluid delivery system, changing the weight of the elastic bladder and enabling the biomimetic flexible fish to swim freely at any water depth.

3. A biomimetic flexible fish for underwater exploration driven by pressure fluid, as described in claim 1 or 2, characterized in that: The biomimetic flexible fish body has a control panel located near the head. The control panel controls the opening and closing of various systems of the biomimetic flexible fish, enabling free underwater swimming and underwater detection. The biomimetic flexible fish body has a first dorsal fin and a second dorsal fin on its back, and an anal fin near the tail on its abdomen to help maintain the balance of the biomimetic flexible fish.

4. The biomimetic flexible fish for underwater exploration driven by pressure fluid according to claim 1, characterized in that: The bionic fish tail actuator has two independent and non-connected chambers: a left-side chamber and a right-side chamber. The left-side chamber has a fluid inlet, and the right-side chamber has a fluid inlet.

5. The biomimetic flexible fish for underwater exploration driven by pressure fluid according to claim 4, characterized in that: The bionic fish tail actuator has a symmetrical structure on both sides. One end of the fluid inlet of the left side chamber of the fish tail is connected to the internal pressure fluid delivery system of the bionic flexible fish, and the other end is connected to the left side chamber of the fish tail. The left side chamber of the fish tail consists of multiple hollow semi-circular chambers, internal fluid channels of the fish tail, and fluid corridors of the fish tail. When the pressure of the fluid input to the different side chambers of the bionic fish tail actuator is controlled, the multiple semi-circular chambers on the left side and the multiple semi-circular chambers on the right side of the fish tail will superimpose and deform with the pressure change, so as to achieve the left and right swinging action of the fish tail, generating the propulsion force for the bionic flexible fish to swim forward.

6. The biomimetic flexible fish for underwater exploration driven by pressure fluid according to claim 1, characterized in that: By controlling the pressure of the fluid input to the bionic pectoral fin actuator and the bionic fish tail actuator respectively, the shape changes of the pectoral fins and tail on both sides of the bionic flexible fish can be controlled, achieving the states of "acceleration, turning and braking" during the swimming and moving forward of the bionic flexible fish.

7. The underwater exploration biomimetic flexible fish driven by pressure fluid according to claim 6, characterized in that: Near the tail of the fish, on the symmetrical central axis of the bionic pectoral fin actuator, there is a pectoral fin hydrofoil. The bionic pectoral fin actuator fits into the groove of the bionic pectoral fin actuator on the bionic flexible fish body, and the non-fitting surface of the bionic pectoral fin actuator has a streamlined transition with the fish body.

8. The underwater exploration biomimetic flexible fish driven by pressure fluid according to claim 1, characterized in that: The pressure fluid delivery system contains multiple control valves that control the pressure or flow rate of the fluid in each branch connected to the pressure fluid delivery system, and simultaneously control the flow and closure of the fluid in each branch connected to the pressure fluid delivery system.

9. A biomimetic flexible fish for underwater exploration driven by pressure fluid, as described in claim 1, 6, or 7, characterized in that: The bionic pectoral fin actuator and the bionic fish tail actuator are made of thermoplastic elastomer and are processed using thermoplastic plastic processing equipment and processes; the bionic pectoral fin actuator is closed at one end and open at the other end; the bionic fish tail actuator is closed at one end and open at the other end.

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