Bionic underwater robot

Abstract

This invention relates to the field of underwater robot technology, specifically to a biomimetic underwater robot, comprising a body and a tail fin. A power module is housed inside the body; the power module includes a first bracket and a second bracket; a mounting frame is sleeved on a connecting shaft, and one end of each of the first and second brackets is connected to the mounting frame; two mounting plates are also installed inside the frame, and two propulsion components are mounted on the mounting plates; each propulsion component includes a first rotating shaft, a mounting plate, and a lever; the first rotating shaft is rotatably mounted on the mounting plate; the mounting plate is sleeved on the first rotating shaft; both ends of the lever are connected to the two mounting plates respectively; and a drive device is mounted on the mounting plate. This invention achieves the function of controlling the reciprocating swing of the tail fin. By alternately driving the two propulsion components, the water flow resistance experienced by the tail fin during swing is used to buffer the impact of the tail fin's change of direction, solving the problem that controlling the swing frequency using damping and elastic mechanisms would significantly shorten the robot's endurance.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, specifically to a biomimetic underwater robot. Background Technology

[0002] Bionic underwater robots are robots modeled after marine organisms, possessing high biomimicry and underwater operational capabilities. Utilizing bio-inspired design, these robots exhibit higher speed, maneuverability, and adaptability, enabling them to navigate various complex underwater environments such as oceans, rivers, and lakes. Most existing fish-shaped bionic underwater robots use bionic tail fins as their power source. Compared to traditional propeller propulsion, this significantly improves endurance and results in lower noise and less environmental disturbance. However, bionic tail fins primarily provide propulsion through reciprocating oscillations, which are limited by the forward and reverse rotation of the motor and the drive frequency, thus preventing the achievement of high-frequency and high-speed propulsion performance.

[0003] To address this, Chinese patent application CN116714747A discloses a biomimetic underwater robot based on a damping-elastic composite mechanism. This robot utilizes a drive mechanism to provide power, which transmits the power to a transmission mechanism, which in turn transmits it to a swing module. The swing module incorporates a damping mechanism, an elastic mechanism, and a tailstock. A stationary block within the damping mechanism is mounted on the damper housing and remains stationary. As a rotating block follows the axis, it compresses damping fluid against the stationary block, which then circulates back and forth between the two sides of the damper housing. During the swinging motion of the transmission mechanism, the elastic mechanism connects to the axis at one end and the tailstock at the other, improving the energy efficiency of the mechanism during movement. The power adjusted by the damping and elastic mechanisms is ultimately transmitted to the tailstock, adjusting the amplitude and phase of the tailstock's swing. This invention improves the propulsion speed of the biomimetic underwater robot, optimizes its propulsion performance over a wide swing frequency range, and is highly practical with a wide range of applications.

[0004] However, although the damping mechanism that uses damping fluid to provide oscillation damping can play a buffering and shock absorption role, it will lead to increased energy consumption. In addition, the torsion spring will convert some of the energy into internal energy during the storage and release of energy, which will further cause energy loss. This not only leads to a large error in the oscillation speed of the bionic tail fin on both sides, but also significantly shortens the endurance of the underwater robot. Summary of the Invention

[0005] To address the aforementioned issues, a biomimetic underwater robot is provided. This robot, through its body, tail fin, power module, and drive device, solves the problem that controlling the swing frequency using damping and elastic mechanisms would significantly shorten the robot's endurance.

[0006] To address the problems of existing technologies, this invention provides a biomimetic underwater robot, comprising a body and a tail fin. A first mounting portion and a second mounting portion are respectively provided on the body and the tail fin. A connecting shaft is rotatably mounted on the first mounting portion, and the connecting shaft is hinged to the second mounting portion. The body is a hollow shell, and a power module for controlling the tail fin's oscillation is disposed inside the body. The power module includes a first bracket and a second bracket. A mounting frame is sleeved on the connecting shaft, and one end of each of the first and second brackets is connected to the mounting frame and extends into the body. Two mounting plates are also installed inside the frame, and the mounting plates are provided with… The device has two propulsion assemblies; each propulsion assembly includes a first rotating shaft, a mounting plate, and a lever; there are two first rotating shafts, each rotatably mounted on a separate mounting plate; there are two mounting plates, each sleeved onto a separate first rotating shaft; both ends of the lever are connected to the two mounting plates, and the axis of the lever is offset from the axis of the mounting plates; a drive device is mounted on the mounting plate and is used to drive the first rotating shaft to rotate; in the working state, the two levers alternately push the first bracket and the second bracket to move; when the lever pushes the first bracket to its limit position, there is still a gap between the first bracket and the inner wall of the machine body.

[0007] Preferably, the drive device includes a transmission assembly and a rotary drive assembly; the transmission assembly is disposed on the first rotating shaft and is used to control the simultaneous rotation of the two first rotating shafts; the rotary drive assembly is disposed on the mounting plate and is used to drive one of the first rotating shafts to rotate.

[0008] Preferably, the transmission assembly includes two transmission gears, which are respectively sleeved on two first rotating shafts located on the same mounting plate, and the two transmission gears are meshed together; in the working state, when one lever moves closer to the first bracket, the other lever moves away from the second bracket.

[0009] Preferably, the transmission assembly includes a first pulley and a first synchronous belt; there are two first pulleys, which are respectively sleeved on two first rotating shafts located on the same mounting plate; the two sides of the first synchronous belt are respectively straddled on the two first pulleys; in the working state, when one lever moves closer to the first bracket, the other lever moves away from the second bracket.

[0010] Preferably, the rotary drive assembly includes a rotary driver, a second shaft, bevel gears, a second pulley, and a second synchronous belt; the rotary driver is mounted on a mounting plate; the second shaft is rotatably mounted on the mounting plate; there are two bevel gears, which are respectively sleeved on the drive end of the rotary driver and the second shaft, and the two bevel gears are meshed and connected for transmission; there are two second pulleys, which are respectively sleeved on the first shaft and the second shaft; the two sides of the second synchronous belt are respectively straddled on the two second pulleys.

[0011] Preferably, the machine body is also provided with a stabilization module, which includes a gas storage chamber and a control component; the gas storage chamber is installed in the machine body and is filled with high-pressure inert gas; both sides of the gas storage chamber are provided with jet pipes, which extend from the inside of the machine body through the side wall of the machine body to the outside of the machine body; a check valve is provided on the jet pipe; the control component is located on the inner wall of the machine body and is used to control the opening and closing of the check valve.

[0012] Preferably, the control assembly includes a control frame, a pressing strip, and an elastic element; the control frame is slidably mounted on the inner wall of the body, and the control frame is provided with an oblique protrusion; the control frame is drivenly connected to the valve disc of the check valve; a sliding groove is provided on the inner wall of the body, the pressing strip is slidably mounted in the sliding groove, the elastic element is disposed in the sliding groove and its two ends are respectively connected to the bottom end of the sliding groove and the pressing strip, and the pressing strip and the oblique protrusion are tightly engaged; in the working state, when the tail fin swings at high frequency, the first bracket can push the pressing strip, the pressing strip squeezes the oblique protrusion, the control frame slides and opens the check valve.

[0013] Preferably, a limit block is installed at the end of the first and second brackets away from the mounting frame; a guide rail is installed inside the machine body, and the guide rail slides in cooperation with the limit block.

[0014] Preferably, a wear-resistant sleeve is fitted onto the lever.

[0015] Preferably, a cushioning pad is provided on the outer surface of the machine body.

[0016] The advantages of this invention compared to the prior art are:

[0017] 1. This invention achieves the function of controlling the reciprocating swing of the tail fin through the body, tail fin, power module and drive device. By alternately driving the two propulsion components, the water flow resistance encountered by the tail fin swing is used to buffer the impact of the tail fin change direction, thus solving the problem that controlling the swing frequency by using damping mechanism and elastic mechanism will greatly shorten the robot's endurance.

[0018] 2. The present invention realizes the function of driving the first rotating shaft to rotate through the transmission component and the rotation drive component, thereby achieving the effect of controlling the two levers to alternately push the first bracket and the second bracket respectively.

[0019] 3. This invention achieves the function of stabilizing the balance of the machine body through the gas storage chamber and control components, and achieves the effect of actively adjusting the posture of the machine body when the machine body is subjected to large forces. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of a biomimetic underwater robot.

[0021] Figure 2 This is a three-dimensional exploded diagram of a biomimetic underwater robot.

[0022] Figure 3 This is a three-dimensional schematic diagram of the internal structure of a biomimetic underwater robot.

[0023] Figure 4 This is a three-dimensional exploded diagram of the mounting plate, power module, and drive device in a biomimetic underwater robot.

[0024] Figure 5 This is a top view of the power module in a biomimetic underwater robot.

[0025] Figure 6 This is a three-dimensional schematic diagram of a first embodiment of a drive device in a biomimetic underwater robot.

[0026] Figure 7 This is a three-dimensional schematic diagram of a second embodiment of the drive device in a biomimetic underwater robot.

[0027] Figure 8 This is a three-dimensional schematic diagram of the power module and stabilization module in a biomimetic underwater robot.

[0028] Figure 9 This is a cross-sectional schematic diagram of the power module and stabilization module in a biomimetic underwater robot.

[0029] Figure 10 yes Figure 9 A magnified view of a portion of point A in the middle.

[0030] The diagram is labeled as follows: 1-Body; 11-Connecting shaft; 12-Mounting bracket; 13-Mounting plate; 14-Buffer pad; 2-Tail fin; 3-Power module; 31-First bracket; 32-Second bracket; 33-Propulsion assembly; 331-First rotating shaft; 332-Mounting plate; 333-Lever; 334-Wear-resistant sleeve; 34-Limit block; 35-Guide rail; 4-Drive device; 41-Transmission assembly; 411-Transmission gear; 412- 413-First synchronous belt; 42-Rotary drive assembly; 421-Rotary driver; 422-Second shaft; 423-Bevel gear; 424-Second pulley; 425-Second synchronous belt; 43-Power supply box; 5-Stabilizing module; 51-Air storage chamber; 511-Jet pipe; 512-Check valve; 52-Control assembly; 521-Control frame; 5211-Angled convex strip; 522-Pressing strip; 523-Elastic element. Detailed Implementation

[0031] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0032] Reference Figures 1-5A biomimetic underwater robot includes a body 1 and a tail fin 2. A first mounting portion and a second mounting portion are respectively provided on the body 1 and the tail fin 2. A connecting shaft 11 is rotatably mounted on the first mounting portion, and the connecting shaft 11 is hinged to the second mounting portion. The body 1 is a hollow shell, and a power module 3 for controlling the swinging of the tail fin 2 is provided inside the body 1. The power module 3 includes a first bracket 31 and a second bracket 32. A mounting frame 12 is sleeved on the connecting shaft 11, and one end of the first bracket 31 and the second bracket 32 ​​is connected to the mounting frame 12 and extends into the body 1. Two mounting plates 13 are also installed inside the frame, and two propulsion components 33 are provided on the mounting plates 13. The propulsion components 33 include a first... The system comprises a rotating shaft 331, a mounting plate 332, and a lever 333. Two rotating shafts 331 are provided and rotatably mounted on two mounting plates 13 respectively. Two mounting plates 332 are provided and respectively sleeved on two rotating shafts 331. The two ends of the lever 333 are connected to the two mounting plates 332 respectively, and the axis of the lever 333 is offset from the axis of the mounting plates 332. A drive device 4 is mounted on the mounting plate 13 and is used to drive the rotating shafts 331 to rotate. In operation, the two levers 333 alternately push the first bracket 31 and the second bracket 32 ​​to move. When the lever 333 pushes the first bracket 31 to its limit position, there is still a gap between the first bracket 31 and the inner wall of the body 1.

[0033] This invention achieves the function of controlling the reciprocating swing of the tail fin 2 through the body 1, tail fin 2, power module 3 and drive device 4. By alternately driving the two propulsion components 33, the water flow resistance encountered by the tail fin 2 during swing is used to buffer the impact of the tail fin 2 changing direction. This solves the problem that controlling the swing frequency by using damping mechanism and elastic mechanism will greatly shorten the robot's endurance time. The drive unit 4 is electrically connected to the controller. During the underwater robot's movement, the drive unit 4 drives the first rotating shaft 331 to rotate, which in turn drives the mounting plate 332 to rotate. The mounting plate 332 then drives the lever 333 to rotate. The two levers 333 alternately push the first support 31 and the second support 32. When the lever 333 is at its shortest distance from the inner wall of the body 1, it pushes the first support 31. At this time, there is still a gap between the first support 31 and the inner wall of the body 1. Therefore, the first support 31 has not moved to its limit position. At this time, the first support 31 and the tail fin 2 will continue to move under the action of inertia. The swing of the tail fin 2 will be subject to the resistance of the water, thus continuously decelerating. In this process, the water flow resistance will achieve the effect of buffering and shock absorption. As the first rotating shaft 331 continues to rotate, the lever 333 of the propulsion component 33 on the other side will push the second support 32 to move, thereby realizing the reversal swing of the tail fin 2 and achieving continuous propulsion.

[0034] Reference Figure 2 and Figure 3The drive device 4 includes a transmission assembly 41 and a rotary drive assembly 42; the transmission assembly 41 is disposed on the first rotating shaft 331 and is used to control the simultaneous rotation of the two first rotating shafts 331; the rotary drive assembly 42 is disposed on the mounting plate 13 and is used to drive one of the first rotating shafts 331 to rotate.

[0035] This invention achieves the function of driving the first rotating shaft 331 to rotate through the transmission component 41 and the rotary drive component 42, thereby controlling the two levers 333 to alternately push the first support 31 and the second support 32. The rotary drive component 42 is electrically connected to the controller. During the movement of the underwater robot, the rotary drive component 42 drives the first rotating shaft 331 to rotate, the first rotating shaft 331 drives the mounting plate 332 to rotate, the mounting plate 332 drives the levers 333 to rotate, and the first rotating shaft 331 controls the rotation of the first rotating shaft 331 of another propulsion component 33 through the transmission component 41. The two levers 333 alternately push the first support 31 and the second support 32, realizing the swing of the mounting frame 12. The mounting frame 12 drives the tail fin 2 to swing, thereby driving the body 1 to move.

[0036] Reference Figure 4 and 6 The transmission assembly 41 includes two transmission gears 411, which are respectively sleeved on two first rotating shafts 331 located on the same mounting plate 13. The two transmission gears 411 are meshed together. In the working state, when one lever 333 moves closer to the first bracket 31, the other lever 333 moves away from the second bracket 32.

[0037] As a first embodiment of the transmission assembly 41, in the initial state, the two levers 333 are respectively located at the extreme positions of the mounting plate 332 near the head and tail of the body 1.

[0038] The transmission gear 411 controls the two first rotating shafts 331 to rotate in opposite directions at the same speed, achieving the effect of linkage control of the movement of the two levers 333. This avoids the situation where misalignment of the levers 333 causes chaotic movement of the tail fin 2, resulting in damage to the first support 31 and the second support 32. The meshing of the transmission gear 411 controls the two first rotating shafts 331 to rotate in opposite directions at the same speed, thereby controlling the staggered rotation of the two levers 333. This allows the two levers 333 to stably and alternately move the first support 31 and the second support 32. When lever 333 pushes the first support 31, the other lever 333 can move away from the second support 32, avoiding motion conflict. This ensures that the levers 333 can still stably push the tail fin 2 even when it is swinging at a high frequency.

[0039] Reference Figure 4 and Figure 7The transmission assembly 41 includes a first pulley 412 and a first synchronous belt 413. There are two first pulleys 412, which are respectively sleeved on two first shafts 331 located on the same mounting plate 13. The two sides of the first synchronous belt 413 are respectively straddled on the two first pulleys 412. In the working state, when one of the levers 333 moves closer to the first bracket 31, the other lever 333 moves away from the second bracket 32.

[0040] The first synchronous belt 413 is preferably a synchronous toothed belt. As a second embodiment of the transmission assembly 41, in the initial state, both levers 333 are located at the extreme position of the mounting plate 332 near the head of the body 1. When the rotary drive assembly 42 is started, the first rotating shaft 331 drives the mounting plate 332 and the levers 333 to rotate. After the levers 333 contact the first bracket 31, they push the first bracket 31. At the same time, the first rotating shaft 331 drives another first rotating shaft 331 located on the same mounting plate 13 to rotate synchronously through the first pulley 412 and the first synchronous belt 413. This causes the levers 333 located on it to move towards the first bracket 31, and then move away from the second bracket 32. At the same time, through the push of the levers 333, the first bracket 31 drives the mounting frame 12, the tail fin 2 and the second bracket 32 ​​to move synchronously. Through the transmission of the first synchronous belt 413, when one lever 333 pushes the first bracket 31, the lever 333 on the other side is prevented from colliding with the second bracket 32 ​​and causing conflict.

[0041] Reference Figure 4 , Figure 6 and Figure 7 The rotary drive assembly 42 includes a rotary driver 421, a second rotating shaft 422, a bevel gear 423, a second pulley 424, and a second synchronous belt 425. The rotary driver 421 is mounted on the mounting plate 13. The second rotating shaft 422 is rotatably mounted on the mounting plate 13. There are two bevel gears 423, which are respectively sleeved on the drive end of the rotary driver 421 and the second rotating shaft 422, and the two bevel gears 423 are meshed and connected for transmission. There are two second pulleys 424, which are respectively sleeved on the first rotating shaft 331 and the second rotating shaft 422. The two sides of the second synchronous belt 425 are respectively straddled on the two second pulleys 424.

[0042] The rotary actuator 421 is preferably a waterproof motor, which is electrically connected to the controller. A power supply box 43 is also provided inside the body 1, and the power supply box 43 is electrically connected to the waterproof motor. This invention achieves the function of driving the first rotating shaft 331 to rotate through the rotary actuator 421, the second rotating shaft 422, the bevel gear 423, the second pulley 424, and the second synchronous belt 425. During the underwater robot's movement, the controller sends a signal to the waterproof motor. The waterproof motor drives the second rotating shaft 422 to rotate through the transmission of the two bevel gears 423. The second rotating shaft 422 drives the first rotating shaft 331 to rotate through the second pulley 424 and the second synchronous belt 425. The first rotating shaft 331 drives the mounting plate 332 to rotate, and the mounting plate 332 drives the lever 333 to rotate. The first rotating shaft 331 controls the rotation of the first rotating shaft 331 of another propulsion component 33 through the transmission assembly 41. The two levers 333 alternately push the first support 31 and the second support 32, realizing the swing of the mounting frame 12. The mounting frame 12 drives the tail fin 2 to swing, propelling the body 1 forward.

[0043] Reference Figure 1 , Figure 3 and Figure 8 The machine body 1 is also equipped with a stabilization module 5, which includes a gas storage chamber 51 and a control component 52. The gas storage chamber 51 is installed inside the machine body 1 and is filled with high-pressure inert gas. Both sides of the gas storage chamber 51 are equipped with jet pipes 511, which extend from the inside of the machine body 1 through the side wall of the machine body 1 to the outside of the machine body 1. A check valve 512 is installed on the jet pipe 511. The control component 52 is installed on the inner wall of the machine body 1 and is used to control the opening and closing of the check valve 512.

[0044] The gas filling chamber 51 is preferably nitrogen, which is the most abundant gas in the atmosphere and has a relatively small impact on the marine environment. It also has low reactivity and good safety. This invention achieves the function of stabilizing the balance of the robot body 1 through the gas chamber 51 and the control component 52, enabling the robot body 1 to actively adjust its posture when subjected to significant forces. When the tail fin 2 swings at high frequency or the robot body 1 is affected by underwater currents, the robot body 1 sways under stress, affecting its normal movement. Therefore, the gas chamber 51 is provided. Located near the center of the robot body 1, the gas chamber 51, filled with high-pressure nitrogen, inherently stabilizes the center of gravity of the robot body 1 due to buoyancy. When subjected to external forces, to prevent the robot body 1 from tilting, the control component 52 controls the opening of the check valve 512 in the corresponding direction, spraying nitrogen through the jet pipe 511. This reaction force then stabilizes the robot body 1 and maintains its balance.

[0045] Reference Figure 3 , Figures 8-10The control component 52 includes a control frame 521, a pressing strip 522, and an elastic element 523. The control frame 521 is slidably mounted on the inner wall of the body 1, and the control frame 521 is provided with an oblique protrusion 5211. The control frame 521 is connected to the valve disc of the check valve 512. A sliding groove is provided on the inner wall of the body 1, and the pressing strip 522 is slidably mounted in the sliding groove. The elastic element 523 is provided in the sliding groove, and its two ends are respectively connected to the bottom end of the sliding groove and the pressing strip 522. The pressing strip 522 and the oblique protrusion 5211 are tightly engaged. In the working state, when the tail fin 2 swings at high frequency, the first bracket 31 can push the pressing strip 522, the pressing strip 522 squeezes the oblique protrusion 5211, and the control frame 521 slides and opens the check valve 512.

[0046] This invention achieves the function of controlling the opening of the check valve 512 through the control frame 521, the oblique protrusion 5211, the pressing strip 522, and the elastic element 523. When the tail fin 2 swings at high frequency, the two levers 333 alternately push the first bracket 31 and the second bracket 32. When the distance between the lever 333 and the inner wall of the body 1 is the shortest, it completes the push of the first bracket 31. At this time, there is still a gap between the first bracket 31 and the inner wall of the body 1. The first bracket 31 and the tail fin 2 will continue to move under the action of inertia. The swing of the tail fin 2 will be buffered and damped by the resistance brought by the water. At the same time, after the first bracket 31 contacts the pressing strip 522, it overcomes the elastic force of the elastic element 523 to push the pressing strip. 522, the pressing bar 522 pushes the oblique protrusion 5211, which in turn pushes the control frame 521. The control frame 521 drives the valve disc connected to it to open the check valve 512. The jet pipe 511 sprays nitrogen gas to adjust the balance of the machine body. As the first rotating shaft 331 rotates, the first bracket 31 and the second bracket 32 ​​swing alternately. The first bracket 31 and the second bracket 32 ​​will also alternately push the pressing bars 522 on both sides, thereby achieving the effect of alternately opening the check valves 512 on both sides, so as to continuously ensure the balance of the machine body.

[0047] Reference Figure 8 Limiting blocks 34 are installed at the ends of the first bracket 31 and the second bracket 32 ​​away from the mounting frame 12; a guide rail 35 is installed inside the body 1, and the guide rail 35 slides in cooperation with the limiting block 34.

[0048] This invention achieves the function of stabilizing the rotation trajectory of the first support 31 and the second support 32 through the limiting block 34 and the guide rail 35, thereby enabling the tail fin 2 to swing stably at high frequency. To prevent the first support 31 and the second support 32 from shifting or tilting during high-frequency swing, which could damage the parts, a guide rail 35 is provided inside the body 1. The cooperation between the guide rail 35 and the limiting block 34 controls the rotation trajectory of the first support 31 and the second support 32, thereby preventing the first support 31 and the second support 32 from misaligning and jamming, improving the service life of the parts and the operational stability of the robot.

[0049] Reference Figure 8 A wear-resistant sleeve 334 is fitted onto lever 333.

[0050] The wear-resistant sleeve 334 is preferably made of rubber. When the lever 333 contacts the first bracket 31 and the second bracket 32, the deformation of the rubber wear-resistant sleeve 334 provides cushioning and shock absorption. At the same time, the wear-resistant sleeve 334 can rotate along the axis of the lever 333. As the lever 333 moves along the inner surface of the first bracket 31 and the second bracket 32, the rolling of the wear-resistant sleeve 334 along the inner surface of the first bracket 31 and the second bracket 32 ​​replaces the sliding of the lever 333 with the first bracket 31 and the second bracket 32, thereby reducing the wear of the parts and further improving the service life of the parts.

[0051] Reference Figure 1 and Figure 2 A buffer pad 14 is provided on the outer surface of the body 1.

[0052] The buffer pad 14 is preferably made of rubber. Rubber has waterproof and wear-resistant properties, which prevents the body 1 from being subjected to large impacts and wear when it comes into contact with foreign objects in the water, thereby protecting the body 1 and its internal parts. At the same time, when it is impacted by other objects, the buffer pad 14 can deform to buffer the impact, further improving the underwater robot's adaptability to the underwater environment.

[0053] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. A biomimetic underwater robot, comprising a body (1) and a tail fin (2), wherein a first mounting part and a second mounting part are respectively provided on the body (1) and the tail fin (2), and a connecting shaft (11) is rotatably mounted on the first mounting part, wherein the connecting shaft (11) is hinged to the second mounting part; Its features are, The body (1) is a hollow shell, and the body (1) is equipped with a power module (3) for controlling the swing of the tail fin (2). The power module (3) includes a first bracket (31) and a second bracket (32); A mounting bracket (12) is sleeved on the connecting shaft (11). One end of the first bracket (31) and the second bracket (32) is connected to the mounting bracket (12) and extends into the body (1). Two mounting plates (13) are also installed inside the frame, and two propulsion components (33) are provided on the mounting plates (13); The propulsion assembly (33) includes a first pivot (331), a mounting plate (332), and a lever (333); Two first rotating shafts (331) are respectively rotatably mounted on two mounting plates (13); There are two mounting plates (332), which are respectively fitted onto two first rotating shafts (331); The two ends of the lever (333) are connected to two mounting plates (332) respectively, and the axis of the lever (333) is offset from the axis of the mounting plate (332); The drive unit (4) is mounted on the mounting plate (13) and is used to drive the first rotating shaft (331) to rotate; In the working state, the two levers (333) alternately push the first bracket (31) and the second bracket (32) to move respectively; When the lever (333) pushes the first bracket (31) to its limit position, there is still a gap between the first bracket (31) and the inner wall of the body (1); The drive unit (4) includes a transmission assembly (41) and a rotary drive assembly (42). The transmission assembly (41) is mounted on the first rotating shaft (331) and is used to control the simultaneous rotation of the two first rotating shafts (331) on the same mounting plate (13); A rotary drive assembly (42) is mounted on a mounting plate (13) and is used to drive one of the first shafts (331) to rotate. In the working state, when one of the levers (333) moves closer to the first bracket (31), the other lever (333) moves away from the second bracket (32); the transmission assembly (41) includes two transmission gears (411), which are respectively sleeved on two first rotating shafts (331) located on the same mounting plate (13), and the two transmission gears (411) are meshed together; The body (1) is also equipped with a stabilization module (5), which includes an air storage chamber (51) and a control component (52); The gas storage chamber (51) is installed inside the body (1), and the gas storage chamber (51) is filled with high-pressure inert gas; The gas storage chamber (51) is equipped with jet pipes (511) on both sides. The jet pipes (511) extend from the inside of the body (1) through the side wall of the body (1) to the outside of the body (1). A check valve (512) is provided on the jet pipe (511); The control component (52) is located on the inner wall of the body (1) and is used to control the opening and closing of the check valve (512); The control assembly (52) includes a control frame (521), a pressing bar (522), and an elastic element (523); The control frame (521) is slidably mounted on the inner wall of the body (1), and the control frame (521) is provided with an oblique protrusion (5211). The control frame (521) is driven to the valve disc of the check valve (512); A sliding groove is provided on the inner wall of the body (1), and the pressing strip (522) is slidably installed in the sliding groove. The elastic element (523) is set in the sliding groove and its two ends are respectively connected to the bottom end of the sliding groove and the pressing strip (522), and the pressing strip (522) is in close contact with the oblique protrusion (5211). When the tail fin (2) swings at high frequency during operation, the first bracket (31) can push the pressing bar (522), the pressing bar (522) squeezes the oblique protrusion (5211), the control frame (521) slides and opens the check valve (512), the first bracket (31) and the second bracket (32) alternately push the pressing bars (522) on both sides, and alternately open the check valves (512) on both sides.

2. The biomimetic underwater robot according to claim 1, characterized in that, The rotary drive assembly (42) includes a rotary driver (421), a second shaft (422), a bevel gear (423), a second pulley (424), and a second timing belt (425). The rotary driver (421) is mounted on the mounting plate (13); The second rotating shaft (422) is rotatably mounted on the mounting plate (13); Two bevel gears (423) are provided. The two bevel gears (423) are respectively sleeved on the drive end of the rotary driver (421) and the second rotating shaft (422). The two bevel gears (423) are meshed and connected for transmission. There are two second pulleys (424), and the two second pulleys (424) are respectively sleeved on the first rotating shaft (331) and the second rotating shaft (422); The two sides of the second synchronous belt (425) are respectively connected across the two second pulleys (424).

3. The biomimetic underwater robot according to claim 1, characterized in that, Limiting blocks (34) are installed at the ends of the first bracket (31) and the second bracket (32) away from the mounting frame (12); The body (1) is equipped with a guide rail (35), which slides in conjunction with the limit block (34).

4. The biomimetic underwater robot according to claim 1, characterized in that, A wear-resistant sleeve (334) is fitted onto the lever (333).

5. A biomimetic underwater robot according to claim 1, characterized in that, The outer surface of the body (1) is provided with a cushioning pad (14).

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