Bionic robotic fish driven by spherical parallel mechanism

Abstract

The invention provides a bionic robotic fish driven by a spherical parallel mechanism. The bionic robotic fish comprises a bionic fish head; the pectoral fins are symmetrically arranged on the two sides of the bionic fish head; the bionic fish body is connected with the bionic fish head, a dorsal fin is arranged on the bionic fish body, the bionic fish body comprises a driving cabin section and a transmission cabin section, and a first supporting frame is arranged on the rear end face, away from the bionic fish head, of the driving cabin section; the driving mechanism is mounted on the first supporting frame; the bionic tail fin is movably connected with the bionic fish body, and the bionic tail fin is configured to oscillate and swing on two planes which are perpendicular to each other under the driving of the driving mechanism so as to push the bionic robotic fish to advance in water.

Description

Technical Field

[0001] The present disclosure relates to the technical field of underwater bionic robots, and more specifically, to a bionic robotic fish driven by a spherical parallel mechanism. Background Art

[0002] As land resources are increasingly reduced and exhausted, the pace of human development and utilization of marine resources will accelerate with the increasing demand for resources and the rapid progress of science and technology. Among them, underwater robots, as an important tool for human exploration, development and utilization of marine resources, have broad application prospects and potential application value, and therefore have attracted the attention of more and more scientific researchers.

[0003] Underwater robot technology involves knowledge from multiple disciplines and fields, and underwater propulsion technology is undoubtedly one of the key technologies. Traditional underwater robots are mostly propeller-driven, which causes great disturbance to the environment, makes a lot of noise, and has poor concealment. However, after a long period of natural evolution, aquatic organisms in nature have developed their own unique swimming methods and excellent swimming abilities, with characteristics such as high energy efficiency and rapid response. Therefore, researchers have carried out research on bionic underwater propulsion technology based on various underwater organisms, hoping to develop efficient and highly maneuverable bionic underwater robots.

[0004] At present, most underwater bionic robot fish use a drive system based on a series structure to achieve the purpose of imitating the swimming of fish. This type of underwater bionic robot fish with a series mechanism has a relatively simple structure design and a relatively simple control algorithm, but its output torque is small and the system stability is poor, and there are still certain limitations. Summary of the invention

[0005] In order to solve at least one of the technical problems in the prior art, an embodiment of the present disclosure provides a bionic robotic fish driven by a spherical parallel mechanism, which improves the flexibility of the bionic robotic fish in moving in water.

[0006] An embodiment of the present disclosure provides a bionic robotic fish driven by a spherical parallel mechanism, comprising: a bionic fish head; a pair of pectoral fins symmetrically arranged on both sides of the bionic fish head; a bionic fish body connected to the bionic fish head, the bionic fish body being provided with a dorsal fin, the bionic fish body comprising a driving compartment and a transmission compartment, a first support frame being provided on the rear end surface of the driving compartment away from the bionic fish head; a driving mechanism mounted on the first support frame; and a bionic tail fin movably connected to the bionic fish body, the bionic tail fin being constructed to oscillate and swing in two mutually perpendicular planes under the drive of the driving mechanism, so as to propel the bionic robotic fish to move in the water.

[0007] According to some embodiments of the present disclosure, the driving mechanism includes: a first driving component, mounted on the first supporting frame, the first driving component being configured to drive the bionic tail fin to transform within a first plane and a second plane perpendicular to each other; a second driving component, mounted on the first supporting frame, the second driving component being configured to drive the bionic tail fin to oscillate and swing in a direction perpendicular to the first plane; and a third driving component, mounted on the first supporting frame, the third driving component being configured to drive the bionic tail fin to oscillate and swing in a direction perpendicular to the second plane.

[0008] According to some embodiments of the present disclosure, a static platform parallel to the first support frame is provided in the transmission compartment, and the first drive assembly includes: a first motor, mounted on the first support frame; a first transmission unit, rotatably disposed on the static platform, the first transmission unit being connected to a first drive shaft of the first motor passing through the static platform; and a second drive shaft connected to the first transmission unit, the second drive shaft being configured to rotate the bionic tail fin driven by the first transmission unit, so that the bionic tail fin is converted between the first plane and the second plane.

[0009] According to some embodiments of the present disclosure, the first transmission unit includes: a first movable part, which is installed on the first driving shaft; a second movable part, and the first end of the second movable part is connected to the second driving shaft; and a coupling mechanism, including: a connecting block, which is installed between the second end of the second movable part and the first movable part, and two mutually perpendicular coupling shafts, which are rotatably connected to the second end of the second movable part and the first movable part, respectively, so that the first movable part drives the second driving shaft to rotate through the coupling mechanism and the second movable part, and is configured to allow the second movable part to swing relative to the first movable part in a direction perpendicular to the first plane or in a direction perpendicular to the second plane.

[0010] According to some embodiments of the present disclosure, the first movable part and the second movable part both include: a cylinder, the first drive shaft or the second drive shaft is connected to the through hole of the cylinder; and a pair of protrusions protruding axially at the edge of the cylinder, the connecting block is limited between the pair of protrusions, and both ends of one of the two coupling shafts are rotatably coupled to the pair of protrusions, and both ends of the other coupling shaft of the two coupling shafts are rotatably coupled to the other pair of protrusions.

[0011] According to some embodiments of the present disclosure, each of the second drive assembly and the third drive assembly includes: a second motor, mounted on the first support frame; a second transmission unit, rotatably disposed on the static platform, the first end of the second transmission unit being connected to the third drive shaft of the second motor passing through the static platform; a moving platform, the second drive shaft rotatably passing through the moving platform; and a swinging part, connected to the second transmission unit, the two groups of the swinging parts of the second drive assembly and the third drive assembly being disposed perpendicularly to each other on the static platform, the moving platform being installed in the middle of each group of the swinging parts, the two groups of the swinging parts being constructed such that when one group of the swinging parts drives the moving platform to swing in a direction perpendicular to the first plane or in a direction perpendicular to the second plane under the drive of the second motor, the other group of the swinging parts provides a guiding effect for the swinging of the moving platform.

[0012] According to some embodiments of the present disclosure, each group of the above-mentioned swing parts includes: two mounting frames, which are mounted on the above-mentioned static platform, the four mounting frames of the two groups of the above-mentioned swing parts are located at the vertices of a square, and the two mounting frames belonging to one group of swing parts are located at the vertices opposite to the diagonals of the above-mentioned square; two swing shafts, which are rotatably mounted on the two mounting frames respectively and extend parallel to the diagonals of the above-mentioned square, the geometric centers of the four swing shafts of the two groups of the above-mentioned swing parts are located on the cross-section passing through the center of a sphere, and one of the two swing shafts rotates under the drive of the above-mentioned second transmission unit; and two arc-shaped transmission arms, which are respectively connected between the above-mentioned swing shafts and the moving platform, each of the above-mentioned transmission arms is constructed to be telescopic along the arc extension direction, so that when the two above-mentioned transmission arms belonging to one group of swing parts swing along the spherical surface of the above-mentioned sphere under the drive of the above-mentioned swing shaft, the two above-mentioned transmission arms belonging to another group of swing parts telescopic along the spherical surface of the above-mentioned sphere in the swinging direction.

[0013] According to some embodiments of the present disclosure, each of the above-mentioned transmission support arms includes: a first support arm, the first end of the above-mentioned first support arm is connected to the above-mentioned swing axis and extends along the spherical surface of the above-mentioned sphere; a limit member extending from both sides of the second end of the above-mentioned first support arm in a direction perpendicular to the above-mentioned swing axis; and two second support arms extending from the above-mentioned moving platform toward the above-mentioned first support arm along the spherical surface of the above-mentioned sphere, and each of the above-mentioned second support arms is provided with a guide groove, and the above-mentioned limit members can be slidably engaged in the above-mentioned guide grooves respectively, so that the above-mentioned first support arm can be telescoped between the above-mentioned second support arms.

[0014] According to some embodiments of the present disclosure, each of the second transmission units includes: a first bevel gear mounted on the third drive shaft; a second bevel gear meshing with the first bevel gear and connected to one swing shaft of two swing shafts of a set of swing parts.

[0015] According to some embodiments of the present disclosure, the bionic fish head includes: a shell, the shell is configured to have a chamber, a second support frame is arranged in the chamber, and the second support frame is provided with: two groups of fourth drive components, respectively connected to a pair of the pectoral fins, each group of the fourth drive components is configured to change the swinging angle of each of the pectoral fins, so as to control the snorkeling depth during the movement of the bionic robotic fish and change the movement posture of the bionic robotic fish.

[0016] According to an embodiment of the present disclosure, a bionic robotic fish driven by a spherical parallel mechanism has a pair of pectoral fins symmetrically arranged on both sides of a bionic fish head, a bionic fish body connected to the bionic fish head, a dorsal fin arranged on the bionic fish body, the bionic fish body comprising a driving compartment and a transmission compartment, a first support frame is arranged on the rear end surface of the driving compartment away from the bionic fish head, the driving mechanism is mounted on the first support frame, the bionic tail fin is movably connected to the bionic fish body, the bionic tail fin is constructed to oscillate and swing in two mutually perpendicular planes under the drive of the driving mechanism to push the bionic robotic fish to move in the water, and can simulate the swimming methods of different kinds of fish underwater, while improving the flexibility of the bionic robotic fish moving in the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a side view of a bionic robotic fish from a first perspective according to an exemplary embodiment of the present disclosure;

[0018] Figure 2 is a side view of a bionic robotic fish from a second perspective according to an exemplary embodiment of the present disclosure;

[0019] Figure 3 is a side view of a bionic robotic fish from a third perspective according to an exemplary embodiment of the present disclosure;

[0020] Figure 4 is a stereoscopic view of the interior of a bionic fish body according to an exemplary embodiment of the present disclosure;

[0021] Figure 5 is a stereoscopic view of a hemispherical housing installed on a static platform according to an exemplary embodiment of the present disclosure;

[0022] Figure 6 is a perspective view of a driving mechanism according to an exemplary embodiment of the present disclosure;

[0023] Figure 7 is a partial stereoscopic diagram of a first transmission unit driving a second drive shaft to work according to an exemplary embodiment of the present disclosure;

[0024] Figure 8 is an exploded view of parts of a first transmission unit according to an exemplary embodiment of the present disclosure;

[0025] Fig. 9 is an exploded view of parts of a driving mechanism according to an exemplary embodiment of the present disclosure;

[0026] Fig.10 is a stereoscopic view of the interior of a bionic fish head according to an illustrative embodiment of the present disclosure.

[0027] In the drawings, the meanings of the reference numerals are as follows:

[0028] 1. Shell;

[0029] 101. a first shell;

[0030] 102. A second housing;

[0031] 2. Pectoral fins;

[0032] 3. Bionic fish body;

[0033] 31. A first support frame;

[0034] 32. Quiet platform;

[0035] 4. Dorsal fin;

[0036] 5. Bionic tail fin;

[0037] 6. Underwater height sensor;

[0038] 7. Water depth sensor;

[0039] 8. The first motor;

[0040] 81. First Activity Department;

[0041] 82. Moving platform;

[0042] 83. Bushing;

[0043] 84. Second Activity Department;

[0044] 85. Second drive shaft;

[0045] 800, cylinder;

[0046] 801, protrusion;

[0047] 802, through hole;

[0048] 803, connection block;

[0049] 804, coupling shaft;

[0050] 9. Second motor;

[0051] 91. Second fixing frame;

[0052] 92, 104, first arm;

[0053] 93, 105, limiter;

[0054] 94, 106, second arm;

[0055] 95, 107, guide groove;

[0056] 96. Second mounting frame;

[0057] 97, 109, second bevel gear;

[0058] 98. Third drive shaft;

[0059] 99, second swing axis;

[0060] 10. Install the block;

[0061] 103, first swing axis;

[0062] 108. a first mounting frame;

[0063] 11. The third motor;

[0064] 111. Fourth drive shaft;

[0065] 112. Transmission rod;

[0066] 12. A second supporting frame;

[0067] 13. Cover plate;

[0068] 14. Image acquisition component;

[0069] 15. Second mounting hole;

[0070] 16. Threading bolt;

[0071] 17. Hemispherical shell. DETAILED DESCRIPTION

[0072] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0073] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0074] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0075] In the case of using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). In the case of using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, or C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0076] An underwater bionic robotic fish based on a driving mechanism of a serial mechanism, each joint of the underwater bionic robotic fish is based on the motor movement of the previous joint. In order to solve the limitations of the driving mechanism of the serial structure in driving the underwater bionic robotic fish to move in the water, according to the inventive concept of one aspect of the present disclosure, a pair of pectoral fins are symmetrically arranged on both sides of the bionic fish head, the bionic fish body is connected to the bionic fish head, a dorsal fin is arranged on the bionic fish body, the bionic fish body includes a driving compartment and a transmission compartment, a first support frame is arranged on the rear end surface of the driving compartment away from the bionic fish head, the driving mechanism is installed on the first support frame, the bionic tail fin is movably connected to the bionic fish body, and the bionic tail fin is constructed to oscillate and swing in two mutually perpendicular planes under the drive of the driving mechanism to drive the bionic robotic fish to move in the water. The swimming methods of different types of fish underwater can be simulated, and at the same time, the flexibility of the bionic robotic fish moving in the water is improved.

[0077] Figure 1 is a side view of a bionic robotic fish from a first perspective according to an exemplary embodiment of the present disclosure, Figure 2 is a side view of a bionic robotic fish from a second perspective according to an exemplary embodiment of the present disclosure, Figure 3 is a side view of a bionic robotic fish from a third perspective according to an illustrative embodiment of the present disclosure.

[0078] According to an embodiment of the present disclosure, a bionic robotic fish driven by a spherical parallel mechanism is provided, such as Figure 1 , Figure 2 and Figure 3 As shown, it includes a bionic fish head, a pair of pectoral fins 2, a bionic fish body 3, a driving mechanism and a bionic caudal fin 5. A pair of pectoral fins 2 are symmetrically arranged on both sides of the bionic fish head. The bionic fish body 3 is connected to the bionic fish head, and a dorsal fin 4 is arranged on the bionic fish body 3. The bionic fish body 3 includes a driving compartment and a transmission compartment. A first support frame 31 is arranged on the rear end surface of the driving compartment away from the bionic fish head. The driving mechanism is installed on the first support frame 31. The bionic caudal fin 5 is movably connected to the bionic fish body 3. The bionic caudal fin 5 is constructed to oscillate and swing in two mutually perpendicular planes under the drive of the driving mechanism to drive the bionic robot fish to move in the water.

[0079] According to the embodiment of the present disclosure, the dorsal fin 4 adopts a streamlined design, is designed and formed in proportion to the size of the dorsal fin of a real fish, and is installed on the upper surface of the bionic fish body 3.

[0080] According to the embodiment of the present disclosure, the bionic tail fin 5 is designed to be proportionally reduced in size based on the tail fin size of a real fish, and the bionic tail fin 5 is movably connected to the bionic fish body 3 .

[0081] According to an embodiment of the present disclosure, a first support frame 31 is provided in the driving compartment of the bionic fish body 3 along a plane perpendicular to the traveling direction of the bionic robotic fish, and the driving mechanism is installed on the first support frame 31 .

[0082] According to the embodiments of the present disclosure, a pair of pectoral fins 2 are symmetrically arranged on both sides of the bionic fish head 3, the bionic fish body 3 is connected to the bionic fish head, a dorsal fin 4 is arranged on the bionic fish body 3, the bionic fish body 3 includes a driving compartment and a transmission compartment, a first support frame 31 is arranged on the rear end surface of the driving compartment away from the bionic fish head, the driving mechanism is installed on the first support frame 31, the bionic tail fin 5 is movably connected to the bionic fish body 3, and the bionic tail fin 5 is constructed to oscillate and swing in two perpendicular planes under the drive of the driving mechanism to drive the bionic robot fish to move in the water. It can simulate the swimming methods of different kinds of fish underwater, and at the same time, improve the flexibility of the bionic robot fish moving in the water.

[0083] According to an embodiment of the present disclosure, the driving mechanism includes a first driving assembly, a second driving assembly and a third driving assembly. The first driving assembly is mounted on the first support frame 31, and the first driving assembly is configured to drive the bionic tail fin 5 to transform in a first plane and a second plane perpendicular to each other. The second driving assembly is mounted on the first support frame 31, and the second driving assembly is configured to drive the bionic tail fin 5 to oscillate and swing in a direction perpendicular to the first plane. The third driving assembly is mounted on the first support frame 31, and the third driving assembly is configured to drive the bionic tail fin 5 to oscillate and swing in a direction perpendicular to the second plane.

[0084] Figure 4 is a stereoscopic view of the interior of a bionic fish body 3 according to an exemplary embodiment of the present disclosure.

[0085] According to the embodiments of the present disclosure, Figure 4 As shown, the vertical plane where the bionic tail fin 5 is located is the first plane, and the horizontal plane perpendicular to the vertical plane is the second plane.

[0086] According to an embodiment of the present disclosure, in order to simulate the swimming mode of real fish underwater, such as sharks or whales. The bionic tail fin 5 is driven to convert to the first plane by the first driving component, and then the bionic tail fin 5 is driven to oscillate and swing in a direction perpendicular to the first plane by the second driving component. At this time, the swimming mode of the bionic robot fish is similar to the swimming mode of a shark. The bionic tail fin 5 is driven to convert to the second plane by the first driving component, and then the bionic tail fin 5 is driven to oscillate and swing in a direction perpendicular to the second plane by the third driving component. At this time, the swimming mode of the bionic robot fish is similar to the swimming mode of a whale.

[0087] According to the embodiments of the present disclosure, by driving the bionic tail fin 5 to transform within a first plane and a second plane that are perpendicular to each other, it is possible to simulate the swimming patterns of different types of fish underwater to adapt to the living environment and behavior patterns of different types of fish underwater. Changing the state of the bionic tail fin 5 can more effectively drive the bionic robot fish to move in the water, and better control the direction and speed, maintain stability and flexibility under different underwater conditions, have little disturbance to the environment, low noise, better concealment, and reduce energy consumption.

[0088] According to an embodiment of the present disclosure, a static platform 32 parallel to the first support frame 31 is provided in the transmission compartment, and the first driving assembly includes a first motor 8, a first transmission unit, and a second driving shaft 85. The first motor 8 is mounted on the first support frame 31. The first transmission unit is rotatably arranged on the static platform 32, and the first transmission unit is connected to the first driving shaft of the first motor 8 passing through the static platform. The second driving shaft 85 is connected to the first transmission unit, and the second driving shaft 85 is configured to rotate the bionic tail fin 5 under the drive of the first transmission unit, so that the bionic tail fin 5 is converted between the first plane and the second plane.

[0089] According to the embodiments of the present disclosure, Figure 4 As shown, the first motor 8 is threadedly coupled to the first support frame 31 via a pair of first fixing frames, and the pair of first fixing frames are symmetrically fixed on both sides of the first motor 8 .

[0090] According to an embodiment of the present disclosure, the first support frame 31 may be formed by a substantially circular support plate, and a rubber gasket mounting groove is circumferentially arranged on the edge of the first support frame 31, and an O-ring is assembled to improve the sealing performance of the bionic fish body 3 in an underwater environment.

[0091] Figure 5 1 is a perspective view of a hemispherical housing 17 installed on a static platform 32 according to an exemplary embodiment of the present disclosure.

[0092] According to an embodiment of the present disclosure, the static platform 32 is fixed to the first support frame 31 by a plurality of bolts. Figure 5 As shown, a hemispherical shell 17 is installed on the side of the static platform 32 opposite to the first support frame 31, and the hemispherical shell 17 is covered on the periphery of the driving mechanism to form a cabin of the transmission compartment. The hemispherical shell 17 is shaped by a floating material and forms a streamlined whole with the bionic fish body 3, thereby reducing the resistance of the bionic robot fish in the water. Since the bionic fish body 3 and the hemispherical shell 17 are sealed and isolated by the first support frame 31 formed by the support plate, water in the hemispherical shell 17 is prevented from entering the bionic fish body 3.

[0093] Figure 6 is a perspective view of a driving mechanism according to an exemplary embodiment of the present disclosure, Figure 7 It is a partial stereoscopic diagram of a first transmission unit driving a second drive shaft 85 to work according to an illustrative embodiment of the present disclosure.

[0094] According to the embodiments of the present disclosure, Figure 6 and Figure 7 As shown, the first transmission unit is connected to the first drive shaft of the first motor 8 passing through the static platform 32, so as to rotate under the drive of the first drive shaft. The first end of the second drive shaft 85 is connected to the first transmission unit, and a mounting block 10 is installed on the second end of the second drive shaft 85. The mounting block 10 is provided with a plurality of first mounting holes in a direction perpendicular to the first plane, for example, two first mounting holes are provided. The bionic tail fin 5 is installed on the mounting block 10 through two mounting rods passing through the two first mounting holes respectively, so as to rotate under the drive of the second drive shaft 85, so as to realize the conversion between the first plane and the second plane.

[0095] Figure 8 is an exploded view of parts of a first transmission unit according to an exemplary embodiment of the present disclosure.

[0096] According to the embodiments of the present disclosure, Figure 6 , Figure 7 and Figure 8 As shown, the first transmission unit includes a first movable part 81, a second movable part 84 and a coupling mechanism. The first movable part 81 is installed on the first drive shaft. The first end of the second movable part 84 is connected to the second drive shaft 85. The coupling mechanism includes a connecting block 803 and two mutually perpendicular coupling shafts 804. The connecting block 803 is installed between the second end of the second movable part 84 and the first movable part 81. The two mutually perpendicular coupling shafts 804 are rotatably connected to the second end of the second movable part 84 and the first movable part 81, respectively, so that the first movable part 81 drives the second drive shaft 85 to rotate through the coupling mechanism and the second movable part 84, and is configured to allow the second movable part 84 to swing relative to the first movable part 81 in a direction perpendicular to the first plane or in a direction perpendicular to the second plane.

[0097] According to an embodiment of the present disclosure, two mutually perpendicular coupling shafts 804 extend in a direction perpendicular to the first plane and in a direction perpendicular to the second plane, respectively, and are rotatably connected to the second end of the second movable portion 84 and the first movable portion 81, respectively, so that the first movable portion 81 drives the second drive shaft 85 to rotate through the coupling mechanism and the second movable portion 84. When the second movable portion 84 swings relative to the first movable portion 81 in a direction perpendicular to the first plane through the coupling shaft 804 extending in a direction perpendicular to the second plane, the second movable portion 84 is restricted from swinging in a direction perpendicular to the second plane by the connecting block 803. When the second movable portion 84 swings relative to the first movable portion 81 in a direction perpendicular to the second plane through the coupling shaft 804 extending in a direction perpendicular to the first plane, the second movable portion 84 is restricted from swinging in a direction perpendicular to the first plane by the connecting block 803.

[0098] According to the embodiments of the present disclosure, Figure 8 As shown, the first movable part 81 and the second movable part 84 each include a cylinder 800 and a pair of protrusions 801. The first drive shaft or the second drive shaft 85 is connected to the through hole 802 of the cylinder 800. The pair of protrusions 801 protrude axially at the edge of the cylinder 800, the connecting block 803 is limited between the pair of protrusions 801, and the two ends of one of the two coupling shafts 804 are rotatably coupled to the pair of protrusions 801, and the two ends of the other coupling shaft 804 are rotatably coupled to the other pair of protrusions 801.

[0099] According to the embodiments of the present disclosure, Figure 7As shown, the first drive shaft passes through the static platform 32 and extends into the through hole 802 of the cylinder 800 of the first movable part 81. The bolt passes through the cylinder 800 of the first movable part 81 and the first drive shaft to prevent the first drive shaft from rotating relative to the cylinder 800 of the first movable part 81, so that the cylinder 800 of the first movable part 81 is driven by the first drive shaft to rotate relative to the static platform 32. The first end of the second drive shaft 85 is connected to the through hole 802 of the cylinder 800 of the second movable part 84. The bolt passes through the cylinder 800 of the second movable part 84 and the second drive shaft 85 to prevent the second drive shaft 85 from rotating relative to the cylinder 800 of the second movable part 84. The second drive shaft 85 extends in a direction perpendicular to the static platform 32, and a mounting block 10 is installed on the second end of the second drive shaft 85.

[0100] According to the embodiments of the present disclosure, Figure 8 As shown, a pair of protrusions 801 (mounting ears) of the first movable part 81 and a pair of protrusions 801 of the second movable part 84 are arranged perpendicular to each other in the radial direction, and the connecting block 803 is limited between the pair of protrusions 801. One of the two coupling shafts 804 extends in a direction perpendicular to the first plane and is rotatably coupled to the pair of protrusions 801 of the second movable part 84. The other coupling shaft 804 extends in a direction perpendicular to the second plane and is rotatably coupled to the pair of protrusions 801 of the first movable part 81, so that the second movable part 84 can swing relative to the first movable part 81 in a direction perpendicular to the first plane or in a direction perpendicular to the second plane.

[0101] According to an embodiment of the present disclosure, each of the second drive assembly and the third drive assembly includes a second motor 9, a second transmission unit, a moving platform 82 and a swinging part. The second motor 9 is mounted on the first support frame 31. The second transmission unit is rotatably arranged on the static platform 32, and the first end of the second transmission unit is connected to the third drive shaft 98 of the second motor 9 passing through the static platform 32. The second drive shaft 85 rotatably passes through the moving platform 82. The swinging part is connected to the second transmission unit, and the two groups of swinging parts of the second drive assembly and the third drive assembly are arranged perpendicularly to each other on the static platform 32, and the moving platform 82 is installed in the middle of each group of swinging parts. The two groups of swinging parts are constructed such that when one group of swinging parts drives the moving platform 82 to swing in a direction perpendicular to the first plane or in a direction perpendicular to the second plane under the drive of the second motor 9, the other group of swinging parts provides a guiding effect for the swinging of the moving platform 82.

[0102] According to the embodiments of the present disclosure, Figure 4 As shown, the second motors 9 of the second drive assembly and the third drive assembly are respectively threadedly coupled to the first support frame 31 via two pairs of second fixing frames 91 , and each pair of second fixing frames 91 is symmetrically fixed on both sides of each second motor 9 .

[0103] According to the embodiments of the present disclosure, Figure 6 and Figure 7 As shown, the movable platform 82 is constructed as an annular cylinder, the second drive shaft 85 rotatably passes through the movable platform 82, and a sleeve 83 is provided between the second drive shaft 85 and the movable platform 82, and the sleeve 83 can enable the second drive shaft 85 to rotate smoothly relative to the movable platform 82.

[0104] In an illustrative embodiment, when one of the two groups of swing parts drives the moving platform 82 to swing in a direction perpendicular to the first plane under the drive of the second motor 9 of the second drive assembly, the other group of swing parts provides a guide for the swing of the moving platform 82 in a direction perpendicular to the first plane. When one of the two groups of swing parts drives the moving platform 82 to swing in a direction perpendicular to the second plane under the drive of the second motor 9 of the third drive assembly, the other group of swing parts provides a guide for the swing of the moving platform 82 in a direction perpendicular to the second plane. In this way, the moving platform 82 drives the second drive shaft 85 to swing in directions perpendicular to each other with the two groups of swing parts, and on the other hand, the second drive shaft 85 can also rotate relative to the moving platform 82. Therefore, the first drive assembly, the second drive assembly and the third drive assembly for driving the second drive shaft 85 and the bionic tail fin 5 to rotate and swing are arranged in parallel, thereby shortening the length of the entire bionic robot fish.

[0105] Fig. 9 is an exploded view of parts of a driving mechanism according to an illustrative embodiment of the present disclosure.

[0106] According to the embodiments of the present disclosure, Figure 6 and Fig. 9 As shown, each group of swing parts includes two mounting frames, two swing shafts and two arc-shaped transmission arms. The two mounting frames are mounted on the static platform 32, the four mounting frames of the two groups of swing parts are located at the vertices of a square, and the two mounting frames belonging to one group of swing parts are located at the vertices opposite to the diagonal of the square. The two swing shafts are rotatably mounted on the two mounting frames respectively and extend parallel to the diagonal of the square. The geometric centers of the four swing shafts of the two groups of swing parts are located on the cross section of a sphere passing through the center of the sphere, and one of the two swing shafts rotates under the drive of the second transmission unit. The two arc-shaped transmission arms are respectively connected between the swing shaft and the moving platform 82, and each transmission arm is constructed to extend and retract along the arc extension direction, so that when the two transmission arms belonging to one group of swing parts swing along the spherical surface of the sphere under the drive of the swing shaft, the two transmission arms belonging to the other group of swing parts extend and retract along the spherical surface of the sphere in the swinging direction.

[0107] According to the embodiment of the present disclosure, the swinging part of the second driving assembly is the first swinging part, which includes two first mounting frames 108, two first swinging shafts 103 and two arc-shaped first transmission arms, and the swinging part of the third driving assembly is the second swinging part, which includes two second mounting frames 96, two second swinging shafts 99 and two arc-shaped second transmission arms. The two first mounting frames 108 and the two second mounting frames 96 are both hollow frames, which reduce the mass while ensuring the structural strength, so as to achieve the design goal of lightweight and ensure the stability of the bionic robot fish moving in the water.

[0108] According to an embodiment of the present disclosure, the geometric center of the connecting block 803 installed between the second end of the second movable part 84 and the first movable part 81, the line connecting the geometric centers of the two first swing axes 103, and the line connecting the geometric centers of the two second swing axes 99 are located on the same section passing through the center of a sphere, and the geometric center of the connecting block 803 installed between the second end of the second movable part 84 and the first movable part 81 is located at the center of the sphere.

[0109] According to an embodiment of the present disclosure, two first mounting frames 108 are symmetrically mounted on both sides of the first movable part 81 along a direction perpendicular to the second plane, that is, located at the vertices of a set of diagonal lines of the square. Two first swing shafts 103 are rotatably mounted on the two first mounting frames 108, respectively, and extend parallel to the diagonal lines of the square. The line connecting the geometric centers of the two first swing shafts 103 is located on a cross section of a sphere passing through the center of the sphere. One of the two first swing shafts 103 rotates under the drive of the second transmission unit. Two arc-shaped first transmission arms are respectively connected between the first swing shaft 103 and the movable platform 82, and each first transmission arm is configured to extend and retract along the arc extension direction, so that when the two first transmission arms of the first swing part swing along the spherical surface of the sphere in a direction perpendicular to the first plane under the drive of the first swing shaft 103, the two second transmission arms of the second swing part extend and retract along the spherical surface of the sphere in the swinging direction. When the two first transmission arms swing along the spherical surface of the sphere in a direction perpendicular to the first plane driven by the first swing shaft 103, the two first transmission arms drive the moving platform 82, and the moving platform 82 drives the second movable part 84 through the second driving shaft 85 to swing together in a direction perpendicular to the first plane with the geometric center of the connecting block 803 as the center of the sphere, so that the bionic tail fin 5 oscillates and swings in a direction perpendicular to the first plane, forming a running rhythm similar to that of real fish, thereby realizing the propulsion of the bionic robot fish in the water.

[0110] According to an embodiment of the present disclosure, two second mounting frames 96 are symmetrically mounted on both sides of the first movable part 81 along a direction perpendicular to the first plane, that is, located at the opposite vertices of another set of diagonals of the square. Two second swing shafts 99 are rotatably mounted on the two second mounting frames 96, respectively, and extend parallel to the diagonals of the square. The line connecting the geometric centers of the two second swing shafts 99 is located on a cross section of a sphere passing through the center of the sphere, and one of the two second swing shafts 99 rotates under the drive of the second transmission unit. Two arc-shaped second transmission arms are respectively connected between the second swing shaft 99 and the movable platform 82, and each second transmission arm is configured to extend and retract along the arc extension direction, so that when the two second transmission arms of the second swing part swing along the spherical surface of the sphere in a direction perpendicular to the second plane under the drive of the second swing shaft 99, the two first transmission arms of the first swing part extend and retract along the spherical surface of the sphere in the swinging direction. When the two second transmission arms swing along the spherical surface of the sphere in a direction perpendicular to the second plane driven by the second swing shaft 99, the two second transmission arms drive the moving platform 82, and the moving platform 82 drives the second movable part 84 through the second driving shaft 85 to swing in a direction perpendicular to the second plane with the geometric center of the connecting block 803 as the center of the sphere, so that the bionic tail fin 5 oscillates and swings in a direction perpendicular to the second plane, forming a running rhythm similar to that of real fish, thereby realizing the propulsion of the bionic robot fish in the water.

[0111] According to an embodiment of the present disclosure, the two first transmission arms belonging to the first swing part and the two second transmission arms belonging to the second swing part are each other's driving arms and driven arms. When the two first transmission arms belonging to the first swing part swing along the spherical surface of the sphere in a direction perpendicular to the first plane as driving arms, the two second transmission arms of the second swing part stretch and retract along the spherical surface of the sphere in the swinging direction as driven arms. When the two second transmission arms belonging to the second swing part swing along the spherical surface of the sphere in a direction perpendicular to the second plane as driving arms, the two first transmission arms of the first swing part stretch and retract along the spherical surface of the sphere in the swinging direction as driven arms.

[0112] According to the embodiments of the present disclosure, Figure 6 and Fig. 9 As shown, each transmission arm includes a first arm, a stopper and two second arms. The first end of the first arm is connected to the swing axis and extends along the spherical surface of the sphere. The stopper extends from both sides of the second end of the first arm in a direction perpendicular to the swing axis. The two second arms extend from the driven platform toward the first arm along the spherical surface of the sphere, and each second arm is provided with a guide groove, and the stopper is slidably engaged in the guide groove, so that the first arm can be extended and retracted between the second arms.

[0113] According to the embodiment of the present disclosure, the first end of the first arm 104 of each first transmission arm is configured as an annular cylinder, and the first ends of the first arms 104 of the two first transmission arms are respectively sleeved outside the two first swing shafts 103 and extend along the spherical surface of the sphere. The two first swing shafts 103 both extend in a direction perpendicular to the second plane, and the stoppers 105 of the two first transmission arms extend from both sides of the second ends of the two first arms 104 in a direction perpendicular to the two first swing shafts 103. The second arms 106 of the two first transmission arms extend from the driven platform 82 toward the first arm 104 of the first transmission arm along the spherical surface of the sphere, and guide grooves 107 are provided on the second arms 106 of the two first transmission arms. The limit members 105 of the two first transmission arms are respectively located in the middle position of the two guide grooves 107 and are slidably engaged in the two guide grooves 107, so that when the two second transmission arms swing along the spherical surface of the sphere in a direction perpendicular to the second plane under the drive of the second swing shaft 99, the second arm 106 of one first transmission arm can shrink close to the first arm 104 of the first transmission arm, and the second arm 106 of the other first transmission arm can extend away from the first arm 104 of the first transmission arm and reciprocate.

[0114] According to the embodiment of the present disclosure, the first end of the first arm 92 of each second transmission arm is configured as an annular cylinder, and the first ends of the first arms 92 of the two second transmission arms are respectively sleeved outside the two second swing shafts 99 and extend along the spherical surface of the sphere. The two second swing shafts 99 extend in a direction perpendicular to the first plane, and the stoppers 93 of the two second transmission arms extend from both sides of the second ends of the two first arms 92 in a direction perpendicular to the two second swing shafts 99. The second arms 94 of the two second transmission arms extend from the driven platform 82 toward the first arms 92 of the second transmission arms along the spherical surface of the sphere. Guide grooves 95 are provided on the second arms 94 of the two second transmission arms. The limit members 93 of the two second transmission arms are respectively located in the middle position of the two guide grooves 95 and are slidably engaged in the two guide grooves 95, so that when the two first transmission arms swing along the spherical surface of the sphere in a direction perpendicular to the first plane under the drive of the first swing shaft 103, the second arm 94 of one second transmission arm can shrink close to the first arm 92 of the second transmission arm, and the second arm 94 of the other second transmission arm can extend away from the first arm 92 of the second transmission arm and reciprocate.

[0115] According to the embodiments of the present disclosure, Figure 6 , Figure 7 and Fig. 9As shown, each second transmission unit includes a first bevel gear and a second bevel gear. The first bevel gear is mounted on the third drive shaft 98. The second bevel gear is meshed with the first bevel gear and is connected to one swing shaft of two swing shafts of a set of swing parts.

[0116] According to an embodiment of the present disclosure, the first bevel gear and the second bevel gear have a fixed transmission ratio. The second motor 9 can decelerate and torque the output torque through the first bevel gear and the second bevel gear and transmit it to one of the two swing shafts of a group of swing parts, thereby amplifying the torque output by the second motor 9.

[0117] According to an embodiment of the present disclosure, the second bevel gear 109 in the second transmission unit of the second drive assembly is connected to one of the two first swing shafts 103 of the first swing part. The second bevel gear 97 in the second transmission unit of the third drive assembly is connected to one of the two second swing shafts 99 of the second swing part.

[0118] Fig.10 is a stereoscopic view of the interior of a bionic fish head according to an illustrative embodiment of the present disclosure.

[0119] According to the embodiments of the present disclosure, Fig.10 As shown, the bionic fish head includes a shell 1, which is configured to have a chamber, in which a second support frame 12 is provided, and two sets of fourth drive components are provided on the second support frame 12. The two sets of fourth drive components are respectively connected to a pair of pectoral fins 2, and each set of fourth drive components is configured to change the swing angle of each pectoral fin 2 to control the snorkeling depth during the movement of the bionic robotic fish and change the movement posture of the bionic robotic fish.

[0120] According to an embodiment of the present disclosure, the shell 1 includes a first shell 101 and a second shell 102, which are symmetrically combined, and the edges of the first shell 101 and the second shell 102 are fixed and pressed by multiple bolts, and rubber gasket mounting grooves are provided on the edges of the first shell 101 and the second shell 102, and the sealing performance between the first shell 101 and the second shell 102 in an underwater environment is improved by assembling an O-ring.

[0121] According to an embodiment of the present disclosure, there is a chamber between the first shell 101 and the second shell 102, a window is opened at the front end of the first shell 101 or the second shell 102, and a cover 13 is arranged on the window, and the image acquisition component 14 is installed on the cover 13. The cover 13 provides a better underwater field of view for the image acquisition component 14, and the image acquisition component 14 is used to capture the moving picture of the bionic robot fish underwater.

[0122] According to the embodiment of the present disclosure, a second support frame 12 is provided in the chamber, and the second support frame 12 is installed in the chamber by a plurality of bolts. Two sets of fourth drive assemblies are provided on the second support frame 12, and each set of fourth drive assemblies includes a third motor 11, and a fourth drive shaft 111 extends from the third motor 11, and passes through the second shell 102 to be connected to the pectoral fin 2 on the outside of the bionic fish body 3. A plurality of transmission rods 112 are also connected between each pectoral fin 2 and the third motor 11, and the transmission rod 112 transmits the power of the third motor 11 to the pectoral fin 2, and drives the pectoral fin 2 to rotate, so as to change the swing angle of the pectoral fin 2, and the two third motors 11 of the two sets of fourth drive assemblies are independently connected to a pair of pectoral fins 2 through two fourth drive shafts 111.

[0123] According to an embodiment of the present disclosure, the pectoral fins 2 have a bionic streamlined feature with a thick front side and a thin rear side along the traveling direction of the bionic robot fish. When the front side of a pair of pectoral fins 2 is high and the rear side is low under the drive of the two fourth drive shafts 111, the bionic robot fish will be subjected to a downward reaction force of the water when traveling in the water. At this time, the bionic robot fish can dive while traveling in the water. When the front side of a pair of pectoral fins 2 is low and the rear side is high under the drive of the two fourth drive shafts 111, the bionic robot fish can be subjected to an upward reaction force of the water when traveling in the water. At this time, the bionic robot fish can float while traveling in the water. When one of the pectoral fins 2 in a pair of pectoral fins 2 has a high front side and a low rear side, and the other pectoral fin 2 has a low front side and a high rear side, the bionic robot fish can roll over in the water.

[0124] According to an embodiment of the present disclosure, a third support frame is provided in the chamber, and the third support frame is installed in the chamber by multiple bolts. The third support frame is arranged in parallel with the second support frame 12, and a power supply component is installed on the third support frame (if the space on the second support frame 12 permits, the power supply component can also be installed on the second support frame 12), which is used to provide power to various components in the bionic robotic fish and provide support for the bionic robotic fish to independently complete underwater operations. The power supply component can select a battery pack, and the battery pack can use a 6s1p rechargeable lithium battery, which can be recharged for reuse after a single underwater operation is completed.

[0125] According to an embodiment of the present disclosure, a side panel is provided in the chamber, and the side panel is arranged vertically with the second support frame 12 and the third support frame. A plurality of second mounting holes 15 are provided on the side panel, and the plurality of second mounting holes 15 are used to respectively fix a plurality of threading bolts 16 to realize the exchange of electricity and information between the bionic fish head and the bionic fish body 3 and the bionic tail fin 5.

[0126] According to an embodiment of the present disclosure, a sensor component is provided at the bottom of the second shell 102, and the sensor component includes an underwater height sensor 6 and a water depth sensor 7, and the underwater height sensor 6 and the water depth sensor 7 are used to sense the external state of the current underwater bionic robotic fish.

[0127] According to an embodiment of the present disclosure, a main control board is also installed on the second support frame 12, and the main control board is used to establish a connection with a host computer and perform wireless data communication, control various drive components, and process information collected by the sensor components.

[0128] According to the embodiments of the present disclosure, the bionic robotic fish adopts a modular design. The various parts of the bionic robotic fish can be disassembled and assembled separately for subsequent maintenance, which improves the convenience of maintenance and debugging. The bionic tail fin 5 of the bionic robotic fish is driven by multiple drive components in parallel. The coordinated working mode of multiple drive components provides higher rigidity and control accuracy, which can provide better maneuverability when facing scenarios with greater underwater resistance, improve the flexibility of underwater travel, and achieve better load capacity and work efficiency.

[0129] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined or coupled in a variety of ways, even if such combinations or couplings are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined or coupled in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or couplings fall within the scope of the present disclosure.

[0130] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure, and the shapes and sizes of the components in the drawings do not reflect the actual size and proportion, but only illustrate the contents of the embodiments of the present disclosure.

[0131] Unless otherwise indicated, the numerical parameters in this specification and the appended claims are approximate values ​​and can be changed according to the desired properties obtained by the content of the present disclosure. Specifically, all numbers used in the specification and claims to express the content of the composition, reaction conditions, etc., should be understood to be modified by the term "about" in all cases. In general, the meaning of the expression is to include changes in some embodiments of ±10%, in some embodiments of ±5%, in some embodiments of ±1%, and in some embodiments of ±0.5% by a specific number.

[0132] The ordinal numbers used in the specification and claims, such as "first", "second", "third", etc., to modify the corresponding elements, do not themselves mean that the elements have any ordinal numbers, nor do they represent the order of one element and another element, or the order in the manufacturing method. The use of these ordinal numbers is only used to clearly distinguish a component with a certain name from another component with the same name.

[0133] In addition, unless the steps are specifically described or must occur in sequence, the order of the above steps is not limited to the above list, and can be changed or rearranged according to the required design. And the above embodiments can be mixed and matched with each other or with other embodiments based on design and reliability considerations, that is, the technical features in different embodiments can be freely combined to form more embodiments.

[0134] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A bionic robotic fish driven by a spherical parallel mechanism, comprising: Bionic fish head; a pair of pectoral fins, symmetrically arranged on both sides of the bionic fish head; A bionic fish body connected to the bionic fish head, the bionic fish body is provided with a dorsal fin, the bionic fish body comprises a driving compartment section and a transmission compartment section, and a first support frame is provided on a rear end surface of the driving compartment section away from the bionic fish head; A driving mechanism, mounted on the first supporting frame; as well as A bionic tail fin is movably connected to the bionic fish body. The bionic tail fin is configured to oscillate and swing in two mutually perpendicular planes under the drive of the drive mechanism, so as to propel the bionic robotic fish to move in the water.

2. The bionic robotic fish according to claim 1, wherein: The driving mechanism comprises: A first driving assembly, mounted on the first supporting frame, wherein the first driving assembly is configured to drive the bionic tail fin to transform between a first plane and a second plane that are perpendicular to each other; A second driving assembly, mounted on the first support frame, the second driving assembly being configured to drive the bionic tail fin to oscillate in a direction perpendicular to the first plane; A third driving assembly is installed on the first supporting frame, and the third driving assembly is configured to drive the bionic tail fin to oscillate in a direction perpendicular to the second plane.

3. The bionic robotic fish according to claim 2, wherein: A static platform parallel to the first support frame is provided in the transmission compartment, and the first driving assembly includes: A first motor, mounted on the first support frame; A first transmission unit is rotatably disposed on the static platform, the first transmission unit being connected to a first driving shaft of the first motor passing through the static platform; and The second driving shaft is connected to the first transmission unit, and the second driving shaft is configured to rotate the bionic tail fin under the drive of the first transmission unit, so that the bionic tail fin switches between the first plane and the second plane.

4. The bionic robotic fish according to claim 3, wherein: The first transmission unit comprises: A first movable part, mounted on the first driving shaft; a second movable portion, a first end of the second movable portion being connected to the second driving shaft; and Coupling mechanism, comprising: a connecting block mounted between the second end of the second movable part and the first movable part, and Two mutually perpendicular coupling shafts are rotatably connected to the second end of the second movable part and the first movable part respectively, so that the first movable part drives the second driving shaft to rotate through the coupling mechanism and the second movable part, and is constructed to allow the second movable part to swing relative to the first movable part in a direction perpendicular to the first plane or in a direction perpendicular to the second plane.

5. The bionic robotic fish according to claim 4, wherein: The first movable part and the second movable part both include: a cylinder, wherein the first drive shaft or the second drive shaft is connected to a through hole of the cylinder; and A pair of protrusions protrude axially from the edge of the cylinder, the connecting block is limited between the pair of protrusions, and both ends of one of the two coupling shafts are rotatably coupled to the pair of protrusions, and both ends of the other coupling shaft of the two coupling shafts are rotatably coupled to the other pair of protrusions.

6. The bionic robotic fish according to claim 3, wherein: Each of the second drive assembly and the third drive assembly comprises: A second motor, mounted on the first support frame; A second transmission unit is rotatably disposed on the static platform, wherein a first end of the second transmission unit is connected to a third driving shaft of the second motor passing through the static platform; a moving platform, wherein the second drive shaft rotatably passes through the moving platform; and The swing part is connected to the second transmission unit, and the two groups of the swing parts of the second drive component and the third drive component are arranged perpendicularly to each other on the static platform. The moving platform is installed in the middle of each group of the swing parts. The two groups of the swing parts are constructed so that when one group of the swing parts drives the moving platform to swing along a direction perpendicular to the first plane or along a direction perpendicular to the second plane under the drive of the second motor, the other group of the swing parts provides a guiding effect for the swinging of the moving platform.

7. The bionic robotic fish according to claim 6, wherein: Each set of the swing parts comprises: Two mounting frames are mounted on the static platform, the four mounting frames of the two groups of the swing parts are located at the vertices of a square, and the two mounting frames belonging to one group of the swing parts are located at the vertices opposite to the diagonal of the square; Two swing shafts are rotatably mounted on the two mounting frames, respectively, and extend parallel to the diagonal of the square, the geometric centers of the four swing shafts of the two groups of swing parts are located on a cross section passing through the center of a sphere, and one of the two swing shafts rotates under the drive of the second transmission unit; and Two arc-shaped transmission arms are respectively connected between the swing shaft and the moving platform, and each of the transmission arms is constructed to extend and retract along the arc extension direction, so that when the two transmission arms belonging to one group of swing parts swing along the spherical surface of the ball under the drive of the swing shaft, the two transmission arms belonging to the other group of swing parts extend and retract along the spherical surface of the ball in the swinging direction.

8. The bionic robotic fish according to claim 7, wherein: Each of the transmission arms comprises: A first arm, wherein a first end of the first arm is connected to the swing shaft and extends along the spherical surface of the sphere; a stopper extending from both sides of the second end of the first support arm in a direction perpendicular to the swing axis; and Two second arms extend from the moving platform toward the first arm along the spherical surface of the sphere, and each of the second arms is provided with a guide groove, and the limit members are slidably engaged in the guide grooves, so that the first arm can be telescoped between the second arms.

9. The bionic robotic fish according to claim 7, wherein: Each of the second transmission units comprises: A first bevel gear, mounted on the third drive shaft; The second bevel gear is meshed with the first bevel gear and connected to one swing shaft of the two swing shafts of a set of swing parts.

10. The bionic robotic fish according to claim 1, wherein: The bionic fish head comprises: The housing is configured to have a chamber therein, a second support frame is disposed in the chamber, and the second support frame is provided with: Two groups of fourth drive components are respectively connected to a pair of the pectoral fins, and each group of the fourth drive components is configured to change the swinging angle of each pectoral fin to control the snorkeling depth and change the moving posture of the bionic robotic fish during its movement.

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