A bionic robotic fish capable of underwater sampling

Abstract

The present invention discloses a bionic robot fish capable of underwater sampling, and relates to the technical field of underwater sampling, including a bionic robot fish body, the bionic robot fish body including a fin plate, a propeller and an image collector, the image collector being arranged at the front end of the bionic robot fish body, an operating cavity being provided inside the bionic robot fish body, a buffer component being arranged inside the operating cavity, and the buffer component including two groups of first springs symmetrically fixedly connected inside the operating cavity. The descent of the bionic robot fish body can be buffered by the compressed first spring, wherein the impact of the bionic robot fish body on the bottom sand and gravel after the descent can be reduced, and in addition, the contact range between the bionic robot fish body and the bottom sand and gravel can be reduced by inserting a contact block into the sand and gravel, thereby reducing the diffusion of sand and gravel, avoiding the influence of the diffused sand and gravel on the image acquisition of the image collector, and improving the acquisition efficiency of the image collector.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater sampling, and in particular to a bionic robot fish capable of underwater sampling. Background Art

[0002] The appearance of a bionic robot fish is usually similar to that of a real fish. Its streamlined body can reduce resistance in water, and its outer shell is made of lightweight waterproof material. The propulsion system includes tail fin swing propulsion and body wave propulsion, and some also have devices that simulate the function of the fish bladder to adjust buoyancy. It is mainly used for underwater environment detection, and has functions such as image acquisition, water pressure monitoring, and water quality monitoring;

[0003] In the process of sampling images of the underwater environment, it is necessary to identify the target before shooting. Due to the complex underwater environment, in different geological environments, such as sand and gravel at the bottom of the river and sand and gravel at the bottom of the sea, the bionic robot fish will impact the sand and gravel when it comes into contact with it, causing the sand and gravel to spread in the water, resulting in the bionic robot fish being unable to identify the target through the image collector. It is necessary to wait for the raised sand and gravel to sink to the bottom of the water before image recognition and collection can be performed, thereby reducing the efficiency of image collection. In addition, in the underwater mud environment, the bionic robot fish cannot be effectively fixed on the mud. If it encounters flowing waters, the flowing waters are mainly caused by water pressure differences, thermal convection and other factors that cause water to flow, making it impossible for the bionic robot fish to maintain stability during image collection, resulting in unclear collected images. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a bionic robot fish capable of underwater sampling.

[0005] The technical solution is as follows:

[0006] A bionic robotic fish capable of underwater sampling comprises a bionic robotic fish body, wherein the bionic robotic fish body comprises a fin plate, a propeller and an image collector, wherein the image collector is arranged at the front end of the bionic robotic fish body, an operating cavity is provided inside the bionic robotic fish body, and a buffer component is arranged inside the operating cavity;

[0007] The buffer assembly includes two groups of first springs symmetrically fixedly connected inside the operating chamber, each group of the first springs includes two first springs, the bottoms of the four first springs are fixedly connected with a movable plate, the lower surface of the movable plate is fixedly connected with a buffer tube, the bottom of the bionic robotic fish body is provided with four holes for the buffer tube to slide, the buffer tube passes through the holes and is exposed at the bottom of the bionic robotic fish body, the bottom of the bionic robotic fish body is fixedly connected with a sealing tube, and the outer surface of the bottom of the buffer tube is fixedly connected with a contact plate.

[0008] A support assembly is provided in the buffer tube, and the support assembly includes four second springs fixedly connected to the lower surface of the movable plate, the bottom ends of the four second springs are fixedly connected to a lower pressure frame, the lower pressure frame is slidably arranged inside the buffer tube, the upper surface of the lower pressure frame is fixedly connected to a first movable rod, the top of the buffer tube is provided with a hole for the first movable rod to pass through, and the first movable rod extends to the inside of the operating chamber, the lower end of the lower pressure frame is provided with a long rod arranged in a circular array and not less than six, and the bottom of the long rod of the first movable rod is hinged with a support rod. The inner wall of the buffer tube is fixedly connected to a fixed frame, the fixed frame is provided with a hole for the long rod of the lower pressure frame to slide, the upper surface of the fixed frame is fixedly connected to a third spring, the top of the third spring is fixedly connected to a second movable rod, the middle part of the fixed frame is provided with a hole for the second movable rod to slide, the bottom end of the second movable rod extends to the bottom of the fixed frame, and the bottom end of the second movable rod is fixedly connected to a contact block.

[0009] Furthermore, the inner surface of the sealing tube is provided with a protrusion that contacts the buffer tube, and the protrusion of the sealing tube is made of rubber material.

[0010] Furthermore, the contact block is composed of a cylindrical rod and an inverted cone, the upper surface of the inverted cone of the contact block is set as an inclined surface, and the end of the support rod facing the contact block is provided with an inclined surface adapted to the inclined surface of the contact block, and the inclined surface at the bottom of the support rod is in contact with the inclined surface on the inverted cone of the contact block.

[0011] Furthermore, the buffer component also includes mounting grooves symmetrically opened on the left and right sides of the bionic robot fish body, the outer surface of the bionic robot fish body is fixedly connected to a fixing ring, an air tank is fixedly connected between the mounting groove and the fixing ring, an electric jet valve is fixedly connected to the side of the air tank away from the image collector, compressed gas is stored in the air tank, and the nozzle of the electric jet valve faces upward.

[0012] Furthermore, a transmission assembly is provided inside the operating chamber, and the transmission assembly includes four groups of fixed shafts fixedly connected to the operating chamber and are symmetrical on the left and right, each group of the fixed shafts includes two fixed shafts and the two fixed shafts are respectively arranged at the top and bottom of the operating chamber, the two fixed shafts of each group of the fixed shafts are rotatably connected to transmission wheels and a belt is transmission-connected between the two transmission wheels, a connecting plate is fixedly connected to the side of the movable plate facing the belt, an end of the connecting plate away from the movable plate is fixedly connected to the belt, and a connecting rod is fixedly connected between the belts on the same side.

[0013] Furthermore, a fixing component is provided at the bottom of the bionic robot fish body, and the fixing component includes a retraction groove opened at the bottom of the bionic robot fish body, the top of the retraction groove is connected to the operating chamber, a downward pressure rod is fixedly connected between the two connecting rods, and the downward pressure rod is slidably arranged inside the operating chamber, and a third movable rod is fixedly connected to the lower surface of the downward pressure rod, and a piston is fixedly connected to the bottom end of the third movable rod, and a fixing tube is fixedly connected to the lower surface of the piston, and a gear rod is slidably connected to the inside of the fixing tube, and a fourth spring is fixedly connected between the top of the gear rod and the lower surface of the piston.

[0014] Furthermore, the piston is slidably arranged inside the retraction groove, the piston is made of rubber material, and the outer edge of the piston is tightly fitted with the inner surface of the retraction groove.

[0015] Furthermore, the fixing assembly also includes a plurality of connecting frames uniformly and fixedly connected to the bottom of the fixing tube, the connecting frames are rotatably connected to a tooth plate, the tooth plate is meshed with a tooth rod, a side of the tooth plate away from the tooth rod is fixedly connected to a swing rod, and a fixed grab plate is uniformly and fixedly connected to the bottom of the swing rod.

[0016] As described above, the beneficial effects of the bionic robotic fish capable of underwater sampling in the present invention are as follows:

[0017] The compressed first spring can buffer the descent of the bionic robot fish body, thereby reducing the impact of the bionic robot fish body on the sand and gravel at the bottom of the water after the descent. In addition, the contact block is inserted into the sand and gravel to reduce the contact range between the bionic robot fish body and the sand and gravel at the bottom of the water, thereby reducing the diffusion of sand and gravel, avoiding the influence of the diffused sand and gravel on the image acquisition of the image collector, and improving the acquisition efficiency of the image collector;

[0018] When the support rod continues to move downward, the support rod is extended toward the outside of the buffer tube under the guidance of the inclined surface of the contact block. When the support rod is extended toward the outside, it is also inserted into the silt or gravel, which can ensure the stability of the buffer tube inserted into the silt or gravel, and avoid the buffer tube being inserted into the silt or gravel and unable to ensure effective fixation. In addition, after the buffer tube is inserted into the silt or gravel, the bionic robot fish body may shake in the flowing water. By extending the support rod toward the outside in the silt or gravel, the buffer tube can be prevented from loosening due to loose fixation after being inserted into the silt or gravel, and can play a supporting role for the bionic robot fish body, thereby achieving the purpose of stabilizing the image acquisition of the image collector.

[0019] The toothed plate drives the swing arm to swing downward, and the downward swing of the swing arm will cause the fixed grab plate to gradually insert into the mud or gravel. Multiple fixed grab plates inserted into the mud or gravel can further fix the bionic robot fish to a certain extent. When the water flows, the bionic robot fish body can also remain stable at the bottom of the water, ensuring the stability of image acquisition by the image collector. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0021] Figure 2 is a cross-sectional view of the present invention;

[0022] Figure 3 For the present invention Figure 2 A schematic diagram of the structure enlargement in the middle;

[0023] Figure 4 For the present invention Figure 2 A magnified schematic diagram of the structure at B in the middle;

[0024] Figure 5 It is a three-dimensional schematic diagram of the structure of the lower pressure frame, support rods and other components of the present invention;

[0025] Figure 6 It is a three-dimensional schematic diagram of the bottom perspective of the bionic robotic fish body of the present invention;

[0026] Figure 7 It is a structural schematic diagram of the fixing assembly and other components of the present invention;

[0027] Figure 8 For the present invention Figure 7 A magnified schematic diagram of the structure at C in the middle;

[0028] Fig. 9 It is a schematic structural stereogram of the fixing assembly of the present invention.

[0029] Among them, the various figures in the present invention are:

[0030] 1. Bionic robot fish body; 11. Image collector; 2. Operation chamber;

[0031] 31. first spring; 32. movable plate; 33. buffer tube; 34. sealing tube; 35. contact plate; 36. mounting groove; 37. fixing ring; 38. gas storage tank; 39. electric jet valve;

[0032] 41. second spring; 42. lower pressure frame; 43. first movable rod; 44. support rod; 45. fixed frame; 46. third spring; 47. second movable rod; 48. contact block;

[0033] 51. Fixed shaft; 52. Transmission wheel; 53. Belt; 54. Connecting plate; 55. Connecting rod;

[0034] 61. Pressing rod; 62. Third movable rod; 63. Retracting groove; 64. Piston; 65. Fixed tube; 66. Fourth spring; 67. Gear rod; 68. Connecting frame; 69. Gear plate; 610. Swinging rod; 611. Fixed grab plate. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] The embodiments provided by the present invention will be described in detail below:

[0037] like Figure 1 As shown, a bionic robotic fish capable of underwater sampling includes a bionic robotic fish body 1. The bionic robotic fish body 1 includes a fin plate, a thruster (i.e., a propeller) and an image collector 11. The image collector 11 is arranged at the front end of the bionic robotic fish body 1. The bionic robotic fish body 1 is a structure in the prior art and will not be described in detail here.

[0038] An operating chamber 2 is provided inside the bionic robot fish body 1, and a buffer component is provided inside the operating chamber 2;

[0039] like Figures 1 to 4 As shown, the buffer assembly includes two groups of first springs 31 fixedly connected inside the running chamber 2 in a bilaterally symmetrical manner, each group of first springs 31 includes two springs, the bottom of the four first springs 31 is fixedly connected with a movable plate 32, the lower surface of the movable plate 32 is fixedly connected with a buffer tube 33, and the bottom of the bionic robot fish body 1 is provided with four holes for the buffer tube 33 to slide, and the buffer tube 33 passes through the holes and is exposed at the bottom of the bionic robot fish body 1. The bottom of the bionic robot fish body 1 is fixedly connected with four sealing tubes 34 corresponding to the positions of the four buffer tubes 33, and the sealing tubes 34 are located on the periphery of the buffer tube 33, as shown in FIG. Figure 3As shown, the inner surface of the sealing tube 34 is provided with a protrusion that contacts the buffer tube 33, and the protrusion of the sealing tube 34 is set to a rubber material, wherein the protrusion of the sealing tube 34 and the buffer tube 33 are tightly fitted to seal the operation chamber 2, preventing liquid from entering the inside of the operation chamber 2 from between the buffer tube 33 and the sealing tube 34, and in addition, the protrusion of the sealing tube 34 can scrape off the dirt on the outer surface of the buffer tube 33 when the buffer tube 33 moves up and down, preventing the dirt from being attached to the buffer tube 33 and affecting subsequent use. The outer surface of the bottom of the four buffer tubes 33 is fixedly connected with a contact plate 35.

[0040] like Figures 1 to 5 As shown, a support assembly is provided in the buffer tube 33, and the support assembly includes four second springs 41 respectively fixedly connected to the lower surface of the movable plate 32, the bottom ends of the four second springs 41 are fixedly connected to a lower pressure frame 42, the lower pressure frame 42 is slidably arranged inside the buffer tube 33, the upper surface of the lower pressure frame 42 is fixedly connected to a first movable rod 43, the second springs 41 are sleeved on the first movable rod 43, a hole is opened at the top of the buffer tube 33 for the first movable rod 43 to pass through, and the first movable rod 43 extends to the inside of the operating chamber 2, and the lower end of the lower pressure frame 42 is set as six long rods arranged in a circular array, and the bottom of each long rod is hinged with a support rod 44. The inner wall of the buffer tube 33 is fixedly connected with a fixing frame 45, and a hole is formed on the fixing frame 45 for the long rod of the lower pressing frame 42 to slide. A third spring 46 is fixedly connected to the upper surface of the fixing frame 45, and a second movable rod 47 is fixedly connected to the top of the third spring 46. A hole is formed in the middle of the fixing frame 45 for the second movable rod 47 to slide. The bottom end of the second movable rod 47 extends to the bottom of the fixing frame 45, and a contact block 48 is fixedly connected to the bottom end of the second movable rod 47. Figure 4 As shown, the contact block 48 is composed of a cylindrical rod and an inverted cone. The upper surface of the inverted cone of the contact block 48 is set as an inclined surface, and the end of the support rod 44 facing the contact block 48 is set with an inclined surface that matches the inclined surface of the contact block 48. The inclined surface at the bottom of the support rod 44 is in contact with the inclined surface on the inverted cone of the contact block 48, which is used to push the contact block 48 to move downward synchronously when the support rod 44 moves downward, and at the same time guide the support rod 44 to expand outward.

[0041] like Figure 1 As shown, the buffer assembly also includes mounting grooves 36 symmetrically opened on the left and right sides of the bionic robot fish body 1. The outer surface of the bionic robot fish body 1 is fixedly connected to a fixing ring 37 corresponding to the position of the mounting groove 36 by bolts. An air tank 38 is fixedly connected between the mounting groove 36 and the fixing ring 37. An electric jet valve 39 is fixedly connected to the side of the air tank 38 away from the image collector 11. Compressed gas is stored in the air tank 38. The nozzle of the electric jet valve 39 faces upward. The compressed gas in the air tank 38 is ejected outward from the electric jet valve 39 to push the bionic robot fish body 1 to move downward as a whole.

[0042] like Figure 2 , Figure 3 and Figure 7 As shown, a transmission assembly is provided inside the operating chamber 2, and the transmission assembly includes four groups of fixed shafts 51 fixedly connected to the operating chamber 2 and symmetrically arranged on the left and right sides, each group of fixed shafts 51 includes two fixed shafts 51, and the two fixed shafts 51 are respectively arranged at the top and the bottom of the operating chamber 2, and the two fixed shafts 51 of each group of fixed shafts 51 are rotatably connected to the two fixed shafts 51, and a belt 53 is transmission-connected between the two driving wheels 52, and a connecting plate 54 is fixedly connected to the side of the movable plate 32 facing the belt 53, and the end of the connecting plate 54 away from the movable plate 32 is fixedly connected to the belt 53, as shown in FIG. Figure 2 As shown, connecting rods 55 are fixedly connected between the belts 53 on the same side, and there are two connecting rods 55 in total.

[0043] like Figures 6 to 9 As shown, a fixing component is provided at the bottom of the bionic robot fish body 1, and the fixing component includes a retraction groove 63 opened at the bottom of the bionic robot fish body 1, and the retraction groove 63 is arranged in an inverted T shape, and the top of the retraction groove 63 is connected to the running chamber 2, as shown in FIG. Figure 7 As shown, a lower pressure rod 61 is fixedly connected between the two connecting rods 55, and the lower pressure rod 61 is slidably arranged inside the operating chamber 2. A third movable rod 62 is fixedly connected to the lower surface of the lower pressure rod 61, and a piston 64 is fixedly connected to the bottom end of the third movable rod 62. The piston 64 is located in the retraction groove 63, as shown in FIG. Figure 8 As shown, the piston 64 is slidably arranged inside the retraction groove 63, the piston 64 is set to a rubber material, and the outer edge of the piston 64 is tightly fitted with the inner surface of the retraction groove 63 to prevent liquid from entering the interior of the operating chamber 2, the lower surface of the piston 64 is fixedly connected to a fixed tube 65, and the interior of the fixed tube 65 is slidably connected to a gear rod 67, and a fourth spring 66 is fixedly connected between the top of the gear rod 67 and the lower surface of the piston 64, and the bottom of the fixed tube 65 is fixedly connected to a plurality of connecting frames 68 arranged in a ring array, and a tooth plate 69 is rotatably connected to the connecting frame 68, and a plurality of teeth are evenly arranged on the outer surface of the tooth plate 69 close to the gear rod 67, and the teeth are meshed with the gear rod 67, and a swing rod 610 is fixedly connected to the side of the tooth plate 69 away from the gear rod 67, and a fixed grab plate 611 is fixedly connected to the bottom of the swing rod 610.

[0044] The following is the entire working process and working principle of the above embodiment:

[0045] The initial state is:

[0046] The movable plate 32 is at the lowest position of the operating chamber 2, the first spring 31 is not compressed, the second spring 41 is not stretched, the support rod 44 is inside the buffer tube 33, the inclined surface of the contact block 48 is in conflict with the bottom of the buffer tube 33, the third spring 46 is not compressed, the connecting plate 54 is at the lowest position of the operating chamber 2, the connecting rod 55 is at the highest position of the operating chamber 2, the pressing rod 61 is at the highest position, and the pressing rod 61 makes the piston 64 at the highest position inside the retraction groove 63 through the third movable rod 62. The fourth spring 66 is not compressed by the gear rod 67, the swing rod 610 is in a horizontal state, and the swing rod 610 is also located inside the retraction groove 63.

[0047] The working status is:

[0048] The bionic robot fish body 1 is put into the water, and the water area here includes rivers, lakes and other places with silt or gravel on the bottom. After the bionic robot fish body 1 is put into the water, the propeller pushes the bionic robot fish body 1 to swim in the water, and the swimming direction of the bionic robot fish body 1 is controlled by cooperating with the fish fin plate. When it reaches the designated position, the image collector 11 is used to perform image recognition on the landform and bottom material to be sampled, and the image collection is completed to realize the collection work.

[0049] During the image acquisition process, the buffer component buffers the descent of the bionic robotic fish body 1:

[0050] After the bionic robot fish body 1 enters the water, it may encounter factors such as water pressure difference and thermal convection that cause water flow. The flow of water will affect the image acquisition of the image collector 11, resulting in the image collector 11 being unable to stably acquire images of the target object. To this end, when the image collector 11 is acquiring images, the electric jet valve 39 is opened to allow the compressed gas in the gas tank 38 to continuously eject outward from the electric jet valve 39. When the compressed gas is ejected outward, the bionic robot fish body 1 moves toward the bottom of the water. The electric jet valve 39 jets to assist the descent of the bionic robot fish body 1, thereby preventing the bionic robot fish body 1 from descending and preventing the contact block 48 from being inserted into the mud or gravel on the bottom of the water. The buffer component and the support component on the bionic robot fish body 1 move downward synchronously. When the bionic robot fish body 1 moves downward and contacts the sand and gravel or mud at the bottom of the water, the contact block 48 will be inserted into the gap of the sand and gravel at the bottom of the water or into the mud, and then the bionic robot fish body 1 continues to descend and the contact plate 35 will contact the sand and gravel or mud. After the contact plate 35 contacts the sand and gravel or mud, it will apply a reaction force to the buffer tube 33 moving downward, so that the buffer tube 33 moves inside the sealing tube 34 toward the inside of the running chamber 2, and the movable plate 32 moves upward to compress the first spring 31, and the compressed first spring 31 will buffer the descent of the bionic robot fish body 1. If the bottom of the water is sand and gravel, the impact of the bionic robot fish body 1 on the sand and gravel at the bottom of the water can be reduced. In addition, by inserting the contact block 48 into the sand and gravel, the contact range between the bionic robot fish body 1 and the sand and gravel at the bottom of the water can be reduced, thereby avoiding the diffusion of sand and gravel particles, thereby avoiding the influence of the diffused sand and gravel on the image acquisition of the image collector 11, and improving the clarity of the image acquisition of the image collector 11.

[0051] The support assembly stabilizes the bionic robotic fish body 1:

[0052] When the contact block 48 is inserted into the sand or silt at the bottom of the water and the contact plate 35 contacts the sand or silt, the electric jet valve 39 is always jetting, so that the bionic robot fish body 1 continues to move downward, and the top of the inner cavity of the operating cavity 2 will contact the top of the first movable rod 43, thereby pushing the first movable rod 43 to move downward, and also driving the lower pressure frame 42 to move downward inside the buffer tube 33. At the same time, the lower pressure frame 42 will also stretch the second spring 41. When the long rod at the bottom of the lower pressure frame 42 moves downward, it will also drive the support rod 44 to move downward in the buffer tube 33. The inclined surface of the support rod 44 will push the inclined surface of the contact block 48 to make the contact block 48 move downward. The downward movement of the contact block 48 will drive the second movable rod 47 to move downward and compress the third spring 46, and when the support rod 44 continues to move downward, the support rod 44 is guided by the inclined surface of the contact block 48 to expand outward from the buffer tube 33. When the support rod 44 is expanded outward, it will also be inserted into the silt or gravel, which can ensure the stability of the buffer tube 33 inserted into the silt or gravel, and avoid the buffer tube 33 being unable to be effectively fixed after being inserted into the silt or gravel. In addition, after the buffer tube 33 is inserted into the silt or gravel, the bionic robot fish body 1 may shake in the flowing water. The support of multiple support rods 44 can prevent the loosening caused by the loose fixation of the contact block 48 after being inserted into the silt or gravel, thereby playing a supporting role for the bionic robot fish body 1, and thereby achieving the purpose of stabilizing the image collector 11 for image acquisition.

[0053] The fixing component fixes the bionic robot fish body 1 on the sandstone:

[0054] When the movable plate 32 moves upward and compresses the first spring 31, the connecting plate 54 will drive the belt 53 to transmit on the transmission wheel 52, and the transmission of the belt 53 will drive the connecting rod 55 to move downward inside the operating chamber 2, and the connecting rod 55 will drive the pressing rod 61 to move downward synchronously, and the pressing rod 61 will drive the third movable rod 62 and the piston 64 to move downward synchronously inside the retraction groove 63, and the piston 64 will drive the fixed tube 65, the gear rod 67, the connecting frame 68 and the gear plate 69 to move downward, and the gear plate 69 will drive the swing rod 610 to move downward synchronously. When the gear rod 67 moves downward and is hit by sand or silt, the gear rod 67 cannot continue to move downward, and the piston 6 Continuing to move downward will compress the fourth spring 66 between the gear rod 67. When the piston 64 drives the fixed tube 65 to continue to move downward, the fixed tube 65 drives the connecting frame 68 and the gear plate 69 to move downward. The gear plate 69 rotates downward due to the engagement with the gear rod 67. The gear plate 69 drives the swing rod 610 to swing downward. The downward swing of the swing rod 610 will gradually insert the fixed gripping plate 611 into the mud or gravel pile. The insertion of multiple fixed gripping plates 611 into the mud or gravel can further fix the bionic robot fish to a certain extent. When the water flows, the bionic robot fish body 1 can also remain stable, which can ensure the stability of image acquisition by the image collector 11.

[0055] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic robotic fish capable of underwater sampling, comprising a bionic robotic fish body (1), wherein the bionic robotic fish body (1) comprises a fin plate, a propeller and an image collector (11), wherein the image collector (11) is arranged at the front end of the bionic robotic fish body (1), and is characterized in that: An operating chamber (2) is provided inside the bionic robotic fish body (1), and a buffer component and a support component arranged on the buffer component are arranged inside the operating chamber (2); The buffer assembly comprises two groups of first springs (31) symmetrically fixedly connected inside the operating chamber (2), each group of the first springs (31) comprises two first springs (31), the bottoms of the four first springs (31) are fixedly connected to a movable plate (32), the lower surface of the movable plate (32) is fixedly connected to a buffer tube (33), the bottom of the bionic robot fish body (1) is provided with four holes for the buffer tube (33) to slide, the buffer tube (33) passes through the holes and is exposed at the bottom of the bionic robot fish body (1), the bottom of the bionic robot fish body (1) is fixedly connected to a sealing tube (34), and the outer surface of the bottom of the buffer tube (33) is fixedly connected to a contact plate (35); A support assembly is provided in the buffer tube (33), and the support assembly includes four second springs (41) fixedly connected to the lower surface of the movable plate (32), the bottom ends of the four second springs (41) are fixedly connected to a lower pressure frame (42), the lower pressure frame (42) is slidably arranged inside the buffer tube (33), the upper surface of the lower pressure frame (42) is fixedly connected to a first movable rod (43), the top of the buffer tube (33) is provided with a hole for the first movable rod (43) to pass through, and the first movable rod (43) extends to the inside of the operating chamber (2), and the lower end of the lower pressure frame (42) is arranged as a long rod arranged in a circular array and having no less than six rods, The bottom of the long rod of the first movable rod (43) is hinged with a support rod (44), the inner wall of the buffer tube (33) is fixedly connected with a fixing frame (45), the fixing frame (45) is provided with a hole for the long rod of the lower pressure frame (42) to slide, the upper surface of the fixing frame (45) is fixedly connected with a third spring (46), the top of the third spring (46) is fixedly connected with a second movable rod (47), the middle part of the fixing frame (45) is provided with a hole for the second movable rod (47) to slide, the bottom end of the second movable rod (47) extends to the bottom of the fixing frame (45), and the bottom end of the second movable rod (47) is fixedly connected with a contact block (48); The contact block (48) is composed of a cylindrical rod and an inverted cone, the upper surface of the inverted cone of the contact block (48) is arranged as an inclined surface, one end of the support rod (44) facing the contact block (48) is arranged with an inclined surface matching the inclined surface of the contact block (48), and the inclined surface at the bottom of the support rod (44) is in abutment with the inclined surface on the inverted cone of the contact block (48); The buffer component further comprises mounting grooves (36) symmetrically arranged on the left and right sides of the bionic robot fish body (1); a fixing ring (37) is fixedly connected to the outer surface of the bionic robot fish body (1); a gas storage tank (38) is fixedly connected between the mounting groove (36) and the fixing ring (37); a side of the gas storage tank (38) away from the image collector (11) is fixedly connected to an electric jet valve (39); compressed gas is stored in the gas storage tank (38); a nozzle of the electric jet valve (39) faces upward; A transmission assembly is arranged inside the operating chamber (2), and the transmission assembly includes four groups of fixed shafts (51) fixedly connected inside the operating chamber (2) and symmetrically arranged on both sides, each group of the fixed shafts (51) includes two fixed shafts (51), and the two fixed shafts (51) are respectively arranged at the top and the bottom of the operating chamber (2), the two fixed shafts (51) of each group of the fixed shafts (51) are rotatably connected to a transmission wheel (52), and a belt (53) is transmission-connected between the two transmission wheels (52), a connecting plate (54) is fixedly connected to the side of the movable plate (32) facing the belt (53), and an end of the connecting plate (54) away from the movable plate (32) is fixedly connected to the belt (53), and a connecting rod (55) is fixedly connected between the belts (53) located on the same side.

2. The bionic robotic fish capable of underwater sampling according to claim 1, characterized in that: The inner surface of the sealing tube (34) is provided with a protrusion that contacts the buffer tube (33), and the protrusion of the sealing tube (34) is made of rubber material.

3. The bionic robotic fish capable of underwater sampling according to claim 2, characterized in that: A fixing component is provided at the bottom of the bionic robot fish body (1), and the fixing component includes a retraction groove (63) opened at the bottom of the bionic robot fish body (1), the top of the retraction groove (63) is connected to the operating chamber (2), a pressing rod (61) is fixedly connected between the two connecting rods (55), the pressing rod (61) is slidably arranged inside the operating chamber (2), the lower surface of the pressing rod (61) is fixedly connected to a third movable rod (62), the bottom end of the third movable rod (62) is fixedly connected to a piston (64), the lower surface of the piston (64) is fixedly connected to a fixing tube (65), the interior of the fixing tube (65) is slidably connected to a gear rod (67), and a fourth spring (66) is fixedly connected between the top of the gear rod (67) and the lower surface of the piston (64).

4. The bionic robotic fish capable of underwater sampling according to claim 3, characterized in that: The piston (64) is slidably disposed inside the retraction groove (63); the piston (64) is made of a rubber material, and the outer edge of the piston (64) is tightly fitted to the inner surface of the retraction groove (63).

5. The bionic robotic fish capable of underwater sampling according to claim 4, characterized in that: The fixing assembly further comprises a plurality of connecting frames (68) uniformly fixedly connected to the bottom of the fixing tube (65); a tooth plate (69) is rotatably connected to the connecting frame (68); the tooth plate (69) is meshed with the tooth rod (67); a swing rod (610) is fixedly connected to the side of the tooth plate (69) away from the tooth rod (67); and a fixed gripping plate (611) is uniformly fixedly connected to the bottom of the swing rod (610).

Images