Underwater bionic equipment capable of rising and submerging

Abstract

The invention discloses underwater bionic equipment capable of rising and submerging. The underwater bionic equipment comprises a three-section cabin body, namely a front-section detection cabin, a middle-section buoyancy control cabin and a rear-section propelling cabin, the propelling mechanism drives the equipment to advance in water; the gravity center adjusting mechanism is arranged in the middle-section buoyancy control cabin, is used for controlling the gravity center position of the bionic equipment and comprises a linear guide rail, a battery assembly slidably mounted on the linear guide rail and a linear driving device for driving the battery assembly to operate; the system further comprises an attitude control module. And the basic buoyancy mechanism is configured to enable the bionic equipment to keep a horizontal posture in a static floating state and enable the highest point of the back to be flush with the water surface. When the battery assembly moves forwards, the head of the bionic equipment is driven to bend downwards to achieve diving, and when the battery assembly moves backwards, the head of the bionic equipment floats upwards to achieve diving. The robot has the capabilities of advancing, steering, ascending, diving and self-balancing in water; the size is small, the adaptability is high, and the mechanism is simplified and integrated; and meanwhile, sufficient expansion capability is realized.

Description

Technical field

[0001] The present invention relates to the technical field of bionic equipment, and in particular to a submersible underwater bionic equipment. [Background Technology]

[0002] Bionic devices, such as bionic devices, are biomimetic machines that leverage the swimming mechanism of fish for propulsion. Equipped with various sensors and utilizing advanced control and communication methods, they can form a system of sensors that mimics the structure of a fish's body and can swim. These robotic fish, equipped with these sensors, possess excellent maneuverability and stealth, can operate in confined spaces, and achieve low-noise movement. Bionic devices can play a significant role in operating in complex environments, in fishing, ocean monitoring, marine life observation, and military reconnaissance.

[0003] However, according to investigations, existing bionic devices often have the following problems:

[0004] 1. The single drive system reduces flexibility and cannot meet the working requirements under various complex working conditions;

[0005] 2. The tail swing mechanism is made of rigid material. This slows down the robot fish's overall speed, affecting its underwater working efficiency. It also fails to cushion the impact of the water flow, causing damage to the tail. It can also cause the bionic device to yaw or even roll over during movement.

[0006] 3. The direction of travel of the bionic device is adjusted by changing the unilateral swing amplitude of the tail. The turning radius is large, and the device is almost stationary when turning, which greatly reduces the flexibility of the bionic device.

[0007] 4. The existing standard fixing frame is selected to fix the internal structure of the fish body, making it difficult to adjust the fish body density and lower the center of gravity of the fish body, and the fish body does not have the ability to dive and float. [Summary of the invention]

[0008] The present invention provides a submersible underwater bionic device, comprising a segmented sealed housing 1, the segmented sealed cavity comprising a forward detection cabin 11, a mid-section buoyancy control cabin 12, and a rearward propulsion cabin 13, connected in sequence; a propulsion mechanism 14 for driving the rearward propulsion cabin 13 to swing relative to the mid-section buoyancy control cabin 12 to generate forward thrust; and a center of gravity adjustment mechanism 121 disposed within the mid-section buoyancy control cabin 12, comprising a linear guide rail, a battery assembly 1212 slidably mounted on the linear guide rail, a linear drive device 1213 for driving the battery assembly 1212; and a posture control module 122. When the battery assembly 1212 moves forward, the head of the bionic device dips downward to achieve submersion; when the battery assembly 1212 moves backward, the head of the bionic device rises to achieve surfacing. The present invention possesses the capabilities of forward, steering, submersible, and self-balancing in water; and is compact, highly adaptable, and streamlined, integrated. It also possesses ample expansion capabilities.

[0009] In order to solve the above technical problems, the present invention provides a submersible underwater bionic device, which adopts the following technical solutions, including:

[0010] The segmented sealed shell 1 comprises a front detection cabin 11, a middle buoyancy control cabin 12 and a rear propulsion cabin 13 connected in sequence;

[0011] a propulsion mechanism 14 connected to the rear end of the middle buoyancy control cabin 12 and the front end of the rear propulsion cabin 13, and configured to drive the rear propulsion cabin 13 to swing relative to the middle buoyancy control cabin 12 to generate forward thrust;

[0012] The center of gravity adjustment mechanism 121 is provided on the inner wall of the shell of the middle buoyancy control cabin 12, and includes a linear guide rail 1211 extending along the axis of the middle buoyancy control cabin 12, a battery assembly 1212 slidably mounted on the linear guide rail, and a linear drive device 1213 that drives the battery assembly 1212 to move along the guide rail;

[0013] a posture control module 122 , which is in communication with the propulsion mechanism 14 and the center of gravity adjustment mechanism 121 and is configured to control the motion posture of the bionic device;

[0014] A basic buoyancy mechanism is provided in the segmented sealed housing 1. The basic buoyancy structure and the center of gravity adjustment mechanism 121 are cooperatively configured so that when the battery assembly 1212 is located in the middle of the linear slide rail 1211, the bionic device can maintain a horizontal posture in a stationary floating state, with the highest point of the back flush with the water surface.

[0015] The battery assembly 1212 is configured as follows:

[0016] When moving toward the front detection cabin 11, the head of the bionic device is driven to dive downward to achieve diving;

[0017] When moving toward the rear propulsion cabin 13 , the head of the bionic device is driven to tilt upward to achieve floating.

[0018] The present invention provides a submersible underwater bionic device that has the ability to move forward, turn, rise and dive, and self-balance in water; it is small in size, highly adaptable, and has a streamlined and integrated structure; and it also has sufficient expansion capabilities.

[0019] As described above, in the submersible underwater bionic device, the center of gravity adjustment mechanism 121 further includes a slider 1214 detachably connected to the battery assembly 1212 , and the battery assembly 1212 is slidably mounted on the linear slide rail 1211 via the slider 1214 .

[0020] As described above, in a submersible underwater bionic device, the linear drive device 1213 includes a screw rod 12131 and an adjusting motor 12132 that drives the screw rod 12131 to rotate. The screw rod 12131 is threadedly engaged with the slider 1214 and converts the rotational motion of the adjusting motor 12132 into the linear motion of the battery assembly 1212.

[0021] As described above, a submersible underwater bionic device also includes a steering mechanism 15, which connects the rear end of the front detection cabin 11 and the front end of the middle buoyancy control cabin 12, and is configured to drive the front detection cabin 11 to rotate relative to the middle buoyancy control cabin 12 to change the direction of travel of the bionic device.

[0022] As described above, in a submersible underwater bionic device, the steering mechanism 15 includes a steering servo 151 arranged at the front end of the middle buoyancy control cabin 12, the steering arm of the steering servo 151 is connected to the rear end of the front detection cabin 11, and the steering servo 151 is configured to drive the front detection cabin 11 to swing relative to the middle buoyancy control cabin 12.

[0023] In the above-mentioned submersible underwater bionic device, the steering servo 151 is configured to drive the front detection cabin 11 to swing horizontally by ±25° relative to the middle buoyancy control cabin 12 .

[0024] As described above, the submersible underwater bionic device, the propulsion mechanism 14 includes a swinging servo 141 arranged at the rear end of the middle buoyancy control cabin 12, the steering arm of the swinging servo 141 is connected to the front end of the rear propulsion cabin 13, the rear propulsion cabin 13 includes a flexible fishtail piece 131 arranged at the rear end of the rear propulsion cabin 13 and made of flexible material, the swinging servo 141 drives the flexible fishtail piece 131 to swing and generate propulsion force by swinging the rear propulsion cabin 13.

[0025] In the above-mentioned submersible underwater bionic device, the swing servo 141 is configured to drive the rear propulsion cabin 13 to swing horizontally by ±35° relative to the middle buoyancy control cabin 12.

[0026] As described above, a submersible underwater bionic device has two pectoral fin servos 1231 symmetrically arranged on the outer shell of the middle buoyancy control cabin 12 close to one end of the front detection cabin 11. The two pectoral fin servos 1231 are both connected to the deflectable pectoral fins 123 and are in communication with the attitude control module 122. The pectoral fins 123 are configured to assist the bionic device in pitching or rolling.

[0027] As described above, in a submersible underwater bionic device, a detection system 111 is provided on the shell of the front detection cabin 11. The detection system 111 includes a sonar detector, a camera and a lighting lamp. The detection system 111 is configured to detect the presence of fish schools and / or environmental information.

[0028] As described above, in a submersible underwater bionic device, a wireless communication module 132 is provided on the shell of the middle buoyancy control cabin 12 and / or the shell of the rear propulsion cabin 13, and the wireless communication module 132 is configured to transmit and receive wireless signals.

[0029] As described above, in a submersible underwater bionic device, a wireless charging module 124 is provided at the bottom of the mid-section buoyancy control cabin 12 . The wireless charging module 124 is electrically connected to the battery assembly 1212 , and the wireless charging module 124 is configured to charge the battery assembly 1212 .

[0030] In the above-mentioned submersible underwater bionic device, a dorsal fin 125 is provided on the top shell of the mid-section buoyancy control cabin 12 for stabilizing the forward posture.

[0031] As described above, in a submersible underwater bionic device, a radar detection system 1251 is provided on the top shell of the mid-section buoyancy control cabin 12. The radar detection system 1251 is configured to monitor obstacles on the water surface or in the water in real time to enable the bionic device to automatically avoid obstacles.

[0032] As described above, in a submersible underwater bionic device, the attitude control module 122 includes an IMU sensor 1221 and an MCU control unit; the IMU sensor 1221 is arranged on the inner wall of the shell of the front detection cabin 11 through a shock-absorbing structure, and is communicated with the MCU control unit, and is configured to collect motion data of the bionic device; the MCU control unit is arranged on the inner wall of the shell of the middle buoyancy control cabin 12, and the MCU control unit is configured to control each actuator according to the motion data.

[0033] In the above-mentioned submersible underwater bionic device, the shock-absorbing structure includes a three-point silicone bracket welded to the inner wall of the shell of the front detection cabin 11.

[0034] As described above, a submersible underwater bionic device is provided with a sealing assembly 16 at the connection between the front end of the front detection cabin 11 and the front end of the middle buoyancy control cabin 12, as well as at the connection between the rear end of the middle buoyancy control cabin 12 and the front end of the rear propulsion cabin 13.

[0035] As described above, a submersible underwater bionic device is provided with a battery box on the inner wall of the bottom shell of the mid-section buoyancy control cabin 12, and the battery box includes a detachably connected battery bottom box 1262 and a battery box cover 1263, and the battery bottom box 1262 and the battery box cover 1263 jointly define the accommodating space of the center of gravity adjustment mechanism 121, and the linear slide rail 1211 and the linear drive device 1213 are arranged on the battery bottom box 1262.

[0036] As described above, a submersible underwater bionic device further includes a counterweight block 127, which is arranged on the inner wall of the bottom shell of the mid-section buoyancy control cabin 12 and / or connected to the battery assembly 1212. The counterweight block 127 is configured to lower the center of gravity of the bionic device.

[0037] As described above, a submersible underwater bionic device, the basic buoyancy structure includes a buoyancy member 2 arranged in a segmented sealed shell 1; the buoyancy member 2 is made of foam material and is distributed in at least one of the front detection cabin 11, the middle buoyancy control cabin 12 and the rear propulsion cabin 13 to provide buoyancy.

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] 1. This invention adopts a three-stage structure. The center of gravity adjustment mechanism 121 in the middle buoyancy control cabin 12 can adjust the center of gravity of the bionic device in real time, achieving pitch and fall. Combined with the propulsion mechanism 14 in the rear propulsion cabin, it can achieve both diving and surfacing. This compact design offers strong adaptability, a streamlined and integrated structure, and ample expansion capabilities.

[0040] 2. The steering servo 151 of the front detection cabin 11, the pectoral fin servo 1231, the swing servo 141 of the rear propulsion cabin 13 and the center of gravity adjustment mechanism 121 cooperate with each other to achieve control of pitch, steering, rolling, diving / surfacing, and achieve high maneuverability.

[0041] 3. The rear propulsion cabin 13 adopts a flexible fishtail member 131, which can effectively buffer the impact of water flow while realizing bionic wave propulsion.

[0042] 4. Use IMU+MCU to fuse data in real time and intelligently control the motion posture of bionic devices.

[0043] 5. Modular design: the battery assembly is sealed by the battery box to improve the waterproof performance, and the battery assembly 1212 can be quickly disassembled, which reduces maintenance costs and makes maintenance more convenient and efficient.

[0044] 6. Bionic devices normally float on the water surface, which can save energy, improve battery life, reduce the weight of batteries and improve flexibility.

Brief Description of the Drawings

[0045] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein:

[0046] Figure 1 This is a schematic diagram of the three-dimensional structure of a submersible underwater bionic device according to the present invention;

[0047] Figure 2 Schematic diagram of the cross-sectional structure of a submersible underwater bionic device according to the present invention;

[0048] Figure 3 This is a schematic diagram of the exploded structure of a mid-section buoyancy control cabin 12 of a submersible underwater bionic device according to the present invention;

[0049] Figure 4 This is a structural schematic diagram of a steering mechanism 15 of a submersible underwater bionic device according to the present invention;

[0050] Figure 5 This is a schematic structural diagram of a propulsion structure of a submersible underwater bionic device according to the present invention;

[0051] Figure 6 This is a schematic structural diagram of a submersible underwater bionic device according to the present invention when submerged;

[0052] Figure 7 for Figure 6 Schematic diagram of the cross-sectional structure;

[0053] Figure 8 This is a schematic structural diagram of a submersible underwater bionic device of the present invention when it is floating up;

[0054] Figure 9 for Figure 8 Schematic diagram of the cross-sectional structure;

[0055] Figure 10 This is a schematic diagram of the structure of a submersible underwater bionic device of the present invention when turning;

[0056] Figure 11 A diagram showing the quick-release structure of a battery for a submersible underwater bionic device according to the present invention;

[0057] Figure 12 This is an overall exploded view of a submersible underwater bionic device according to the present invention. [Specific implementation method]

[0058] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0059] like Figure 1 As shown, a submersible underwater bionic device includes a segmented sealed shell 1, which adopts a three-section sealed shell structure, including a front detection cabin 11, a middle buoyancy control cabin 12 and a rear propulsion cabin 13 connected in sequence; a propulsion mechanism 14, which connects the rear end of the middle buoyancy control cabin 12 and the front end of the rear propulsion cabin 13, and is configured to drive the rear propulsion cabin 13 to swing relative to the middle buoyancy control cabin 12 to generate forward thrust; a center of gravity adjustment mechanism 121, which is arranged in the middle buoyancy control cabin 12, and includes a linear slide rail 1211 extending along the axis direction of the middle buoyancy control cabin 12, a battery assembly 1212 slidably mounted on the linear guide rail, and a linear drive device 1213 that drives the battery assembly 1212 to move along the slide rail; an attitude control module 12 2, is in communication with the propulsion mechanism 14 and the center of gravity adjustment mechanism 121, and is configured to control the motion posture of the bionic device; the basic buoyancy mechanism is disposed within the segmented sealed housing 1, and the basic buoyancy structure and the center of gravity adjustment mechanism 121 are cooperatively configured so that when the battery assembly 1212 is located in the middle of the linear slide 1211, the bionic device can maintain a horizontal posture in a static floating state, with the highest point of its back flush with the water surface; preferably, the basic buoyancy structure can be a buoyancy chamber, which is provided with air or a material that can provide buoyancy, such as foam; the battery assembly 1212 is configured to drive the head of the bionic device downward to achieve diving when moving toward the front detection cabin 11, and to drive the head of the bionic device upward to achieve buoyancy when moving toward the rear propulsion cabin 13. The present invention provides a submersible underwater bionic device that has the ability to advance, turn, ascend, dive, and self-balance in water; it is compact, highly adaptable, and has a streamlined and integrated structure; and it also has sufficient expansion capabilities.

[0060] like Figure 1 and Figure 2As shown, one embodiment of the bionic device provided by the present invention can be a bionic fish, and of course it can also be a bionic structure such as a bionic ray. The front detection cabin 11 can be set to a total length of 120 mm and a maximum diameter of 80 mm, including a 15 mm streamlined bionic device fish mouth structure and a 105 mm sealed buoyancy chamber. The streamlined design of the bionic device fish mouth reduces water resistance and avoids turbulence interfering with the sensor. The front detection cabin 11 adopts an aluminum alloy shell. The buoyancy chamber of the front detection cabin 11 is integrated with an IMU sensor 1221, wherein the IMU sensor 1221 adopts a BMI088 six-axis sensor, including an MS5837 pressure sensor, and is installed 2 mm above the center line of the cabin 50 mm from the front end. It is fixed by a three-point silicone shock-absorbing bracket to filter vibration and make the posture data more accurate. Preferably, a detection system 111 is also installed within the buoyancy chamber of the forward detection cabin 11. This system is capable of detecting the presence of fish and the surrounding environment. This system includes a visual detection system 111, a sonar detector, an image recognition system, and auxiliary viewing lights. Preferably, the visual detection system 111 utilizes a fisheye dual-axis gimbal 1111, which includes a sonar and camera. This gimbal 1111 is positioned above the bionic device's fish mouth structure, near the IMU sensor 1221 and positioned to mimic the device's eye. This allows for ±30° pitch adjustment, expanding the detection area. Auxiliary searchlights are placed on either side of the gimbal to enhance image clarity and improve detection accuracy.

[0061] like Figure 1-Figure 3As shown, the mid-section buoyancy control cabin 12 can be configured as a sealed buoyancy cabin with a total length of 160mm and a maximum diameter of 100mm. The mid-section buoyancy control cabin 12 utilizes an aluminum alloy shell and carbon fiber reinforced nylon walls. A center of gravity adjustment mechanism 121 is provided within the cabin 12. This mechanism comprises two HIWINMGN12C linear slides 1211 arranged parallel to the cabin's axial line at the bottom. The slides are 170mm long, spaced 45mm apart, and have a load capacity of ≥5kg. The dual linear slides 1211 enhance load capacity, improve roll resistance, and enhance attitude response speed. The cabin also includes a battery assembly 1212, a rectangular structure measuring 70×50×25mm. It integrates a tungsten alloy counterweight 127, which accounts for 30% of the total mass. The battery assembly 1212 has a two-hour battery life. Preferably, the cabin also includes a slider 1214, which is secured to the slider 1214 via four sets of M3 screws. The system also includes a linear drive device 1213 that drives the battery assembly 1212 along the slide rail. Preferably, the linear drive device 1213 includes a screw 12131 and an adjustment motor 12132 that rotates the screw 12131. The screw 12131 is threadedly engaged with the slider 1214, converting the rotational motion of the adjustment motor 12132 into linear motion of the battery assembly 1212. The screw 12131 is a trapezoidal lead screw with a diameter of 12 mm and a lead of 5 mm. The adjustment motor 12132 is a stepper motor, resulting in a simple, practical, and reliable structure. Preferably, the linear drive device 1213 can also utilize common linear drive structures such as cylinders and connecting rods. A wireless charging coil with a diameter of 50 mm is embedded in the inner bottom of the mid-section buoyancy control cabin 12. This coil utilizes the Qi standard, has an efficiency of 85%, and is compatible with wireless charging. If used with a solar wireless charging panel, it can be expanded to solar wireless charging, improving environmental adaptability. Preferably, a counterweight 127 can also be set at the bottom of the mid-section buoyancy control cabin 12 to lower the center of gravity and improve the motion stability of the bionic device. The interior of the mid-section buoyancy control cabin 12 is integrated with a posture control module 122, which is configured to control the motion posture of the bionic device, including an MCU control unit arranged inside the mid-section buoyancy control cabin 12 and an IMU sensor 1221 connected to the MCU control unit by telecommunications. Preferably, the MCU control unit includes an STM32H743 main control, a battery management system, a communication module, a water depth sensor MS5837 and a Hall sensor for detecting the position of the screw rod 12131. Multiple sensors work together to improve recognition accuracy. Preferably, two pectoral fin servos 1231 are symmetrically arranged on the outer shell of the mid-section buoyancy control cabin 12 near the front detection cabin 11. The two pectoral fin servos 1231 are both connected to the deflectable pectoral fins 123 and are in communication with the posture control module 122. The pectoral fins 123 are configured to assist the bionic device in pitching or rolling.The pectoral fins 123 provide stability when sailing in a straight line, generate lift when floating up, and generate pressure when floating down, thereby improving the ability to operate in complex environments and increasing energy efficiency.

[0062] like Figure 1 and Figure 2 As shown, the rear propulsion cabin 13 can be set to a total length of 120mm and a maximum diameter of 70mm. The rear propulsion cabin 13 adopts a glass fiber shell, and the rear conical contraction section transitions to the tail. The rear propulsion cabin 13 includes a flexible fishtail member 131 made of flexible material. By swinging the rear propulsion cabin 13, the flexible fishtail member 131 is driven to swing to generate propulsion force, and the flexible tail is more likely to generate vortex propulsion. Preferably, a wireless communication module 132 is set inside the rear propulsion cabin 13, and the wireless communication module 132 is configured to transmit and receive wireless signals. Preferably, the wireless communication module 132 includes a flexible PCB antenna manufactured by laser direct forming technology, and the flexible PCB antenna is attached to the upper edge of the flexible fishtail member 131 to enhance the signal transmission effect. The skeleton of the flexible fishtail member 131 is made of gradient hardness silicone with a Shore hardness gradient of 40A→70A. Spring steel sheets with a diameter of 1.2mm and a spacing of 8mm are embedded inside. Preferably, in addition to the 5G antenna deployed on the tail fin, redundant antennas operating in different frequency bands can be deployed on the dorsal fin 125, dual-frequency diversity reception can improve the signal-to-noise ratio, and a circular gap remote control receiving antenna can be integrated in the tail handle, 30 mm away from the root of the tail fin.

[0063] The connection structure of each compartment is as follows Figure 4 and Figure 5 As shown, Figure 4As shown, the front section detection cabin 11 and the middle section buoyancy control cabin 12 are connected by a steering mechanism 15, and the steering mechanism 15 is configured to drive the front section detection cabin 11 to rotate relative to the middle section buoyancy control cabin 12 to change the direction of travel of the bionic device. The steering mechanism 15 adopts an orthogonal axis gear transmission scheme, which is highly efficient and has a stable center of gravity. Preferably, the orthogonal axis gear transmission scheme can be implemented using a variable speed gear set of a conventional servo, and the steering mechanism 15 includes a steering servo 151 arranged at the front end of the middle section buoyancy control cabin 12, and the steering arm of the steering servo 151 is connected to the front section detection cabin 11, and the steering servo 151 is configured to drive the front section detection cabin 11 to swing horizontally by ±25° relative to the middle section buoyancy control; preferably, the steering servo 151 is configured to drive the front section detection cabin 11 to swing horizontally by ±15°-25° relative to the middle section buoyancy control to obtain a better turning radius. Preferably, the gearbox of the steering servo 151 utilizes a laser-welded stainless steel housing with a magnetic fluid rotary seal, internally filled with a perfluoropolyether (PFPE) oil bath for lubrication. A 3mm micro-solenoid valve is located at the bottom of the gearbox for emergency draining. The steering servo 151 is connected to the MCU control unit via telecommunications, which controls its operation. Preferably, the steering servo 151 is located near the bottom of the mid-section buoyancy control cabin 12, where it is located at the center of gravity, to enhance operational stability. Preferably, because the steering servo 151 is located near the bottom, the steering mechanism 15 also includes a steering bearing 153 located near the top of the forward detection cabin 11. The steering bearing 153 is mounted on the mid-section buoyancy control cabin 12, which is equipped with a steering waterproof rubber ring 152. The steering arm of the steering servo 151 includes a movable end connected to the forward detection cabin 11 and a fixed end connected to the speed change gear set. The axis of the steering bearing 153 coincides with the axis of the fixed end of the steering arm of the steering servo 151. The coordination of the steering servo 151 and the steering bearing 153 improves the stability of the connection while ensuring the head rotation performance.

[0064] like Figure 5As shown, the middle section buoyancy control cabin 12 and the rear section propulsion cabin 13 are connected by a propulsion mechanism 14, and the propulsion mechanism 14 is configured to drive the rear section propulsion cabin 13 to swing relative to the middle section buoyancy control cabin 12 to generate forward thrust. The propulsion mechanism 14 adopts an orthogonal axis gear transmission scheme, which is highly efficient and has a stable center of gravity. Preferably, the orthogonal axis gear transmission scheme can be implemented using a variable speed gear set of a conventional servo, and the propulsion mechanism 14 includes a swinging servo 141 arranged at the rear end of the middle section buoyancy control cabin 12, and the steering arm of the swinging servo 141 is connected to the rear section propulsion cabin 13, and the swinging servo 141 is configured to drive the rear section propulsion cabin 13 to swing horizontally by ±35° relative to the middle section buoyancy control cabin 12; preferably, the swinging servo 141 is configured to drive the rear section propulsion cabin 13 to swing horizontally by ±30°-35° relative to the middle section buoyancy control cabin 12 to obtain better propulsion. Preferably, the gearbox of the oscillating servo 141 utilizes a laser-welded stainless steel housing with a magnetic fluid rotary seal, internally filled with a perfluoropolyether (PFPE) oil bath for lubrication. A Φ3mm micro-solenoid valve is installed at the bottom of the gearbox for emergency drainage. The oscillating servo 141 is electrically connected to the MCU control unit, which controls its operation. Preferably, the oscillating servo 141 is positioned near the bottom of the rear end of the mid-section buoyancy control cabin 12, where the center of gravity is located, to enhance operational stability. Preferably, because the oscillating servo 141 is positioned near the bottom, the propulsion mechanism 14 also includes a oscillating bearing 143 positioned near the top of the rear-section propulsion cabin 13. The oscillating bearing 143 is mounted on the mid-section buoyancy control cabin 12, which is equipped with a oscillating waterproof rubber ring 142. The steering arm of the oscillating servo 141 includes a movable end connected to the rear-section propulsion cabin 13 and a fixed end connected to the speed change gear set. The axis of the oscillating bearing 143 coincides with the axis of the fixed end of the steering arm of the oscillating servo 141. The swing servo 141 and the swing bearing 143 are provided to cooperate with each other, thereby improving the stability of the connection and ensuring the rotation performance of the tail.

[0065] like Figure 6-Figure 9 As shown, there is a structural diagram and an internal state diagram of the bionic device of the present invention when diving and floating. Figure 6-Figure 9This is an embodiment of the present invention, in which the bionic device is a bionic fish. The bionic fish is used as an example below to illustrate the device's descent and ascent. This is achieved through the coordinated control of three modules: a center of gravity adjustment mechanism 121, a tail fin propulsion mechanism, and pectoral fins 123. The entire process is commanded by the MCU control unit, and sensors provide real-time feedback, forming an efficient closed-loop system. The core principle is that center of gravity movement drives pitch attitude. The battery assembly 1212 is located at the bottom of the mid-section buoyancy control chamber 12. This is the heaviest single component within the bionic device's main body. Battery assembly 1212 is driven linearly within the mid-section buoyancy control chamber 12 via a linear drive 1213. When diving is required, the MCU control unit commands the stepper motor to rotate, driving the screw 12131 to move the battery assembly 1212 forward along the linear guide rail 1211, in the direction of the bionic device's head. As the battery assembly 1212 moves forward, the center of gravity of the entire bionic device shifts forward. Based on the principle of leverage, this causes the fish's head to sink and its tail to rise, resulting in a diving posture. When ascending is required, the MCU control unit instructs the stepper motor to rotate in the opposite direction, driving screw 12131 and moving battery assembly 1212 rearward along linear guide 1211, toward the tail of the bionic device. As battery assembly 1212 moves rearward, the center of gravity of the entire bionic device shifts rearward. According to the principle of leverage, this causes the fish's head to rise and its tail to sink, resulting in a tilted-back posture. The attitude angle generated by center of gravity shift alone is not sufficient for efficient ascent and descent. Propulsion is achieved by the swinging of the tail fin, while fluid lift / downforce is generated by the pectoral fins 123. When the tail fin swings sideways in a rhythmic pattern, it pushes the water backward, generating forward thrust according to Newton's third law. This is the primary propulsion force for the bionic device's forward motion. During descent, the bionic device assumes a diving posture, and the tail fin maintains its normal propulsive swing frequency, providing forward momentum. This forward momentum, combined with the downward angle of the fish's head, generates a downward component, driving the bionic device downward. The same principle applies to ascent. In addition, the cooperation of the pectoral fins 123 is also required. The pectoral fins 123 are symmetrically arranged on both sides of the mid-section buoyancy control cabin 12, have an airfoil structure, and are driven by the pectoral fin servos 1231. When diving, after the center of gravity moves forward to form a diving posture, the MCU control unit commands the pectoral fins 123 on both sides to deflect downward at the same time, for example, -30°. At this time, the airfoil section of the pectoral fins 123 is like the downward deflection of the wing of an airplane. According to the Bernoulli principle, a low-pressure area is generated on the upper surface of the pectoral fins 123 and a high-pressure area is generated on the lower surface, thereby generating a downward force. This force will significantly enhance the tendency of the bionic device head to sink, making the dive faster and more stable. When floating, after the center of gravity moves backward to form a head-up posture, the MCU control unit commands the pectoral fins 123 on both sides to deflect upward at the same time, for example, +30°. At this time, according to the Bernoulli principle, an upward lift force is generated. This force greatly enhances the tendency of the bionic device head to lift up, making the floating speed faster and more stable.The combination of center of gravity movement, tail fin propulsion, pectoral fin 123 fluid dynamics and precise control enables the bionic device to complete ascent and descent in the water flexibly, efficiently and stably, just like a real fish.

[0066] like Figure 10 Figure 2 shows the structure of the bionic device of the present invention during steering. The core steering mechanism of the bionic device lies in the relative rotation of the front detection cabin 11 and the middle buoyancy control cabin 12. The front detection cabin 11 is connected to the middle buoyancy control cabin 12 via a steering mechanism 15. The steering mechanism 15 includes a steering servo 151 that controls the deflection of the front detection cabin 11. When steering is required, such as turning left, the MCU control unit controls the steering servo 151, which rotates the front detection cabin 11 counterclockwise by an angle, for example, 15°, as viewed from above the bionic device. At this point, the streamlined head, i.e., the mouth portion of the bionic device, is no longer parallel to the forward direction of the main body, but forms an angle. When the bionic device moves forward under the propulsion of the tail fin, the water flow impacts the front detection cabin 11 and generates a lateral force. This lateral force generates a deflection torque that causes the head of the bionic device to continue to turn left, achieving left steering while the tail fin continues to provide thrust. Similarly, when it is necessary to turn right, the MCU control unit controls the steering servo 151 to rotate the front detection cabin 11 clockwise by an angle, such as 15°, when viewed from above the bionic device. At this time, the streamlined head, i.e., the mouth part of the bionic device, is no longer parallel to the forward direction of the main body, but forms an angle. When the bionic device moves forward under the action of the tail fin propulsion, the water flow will impact the front detection cabin 11 and generate a lateral force at the same time. This lateral force will generate a deflection torque that causes the head of the bionic device to continue to turn to the right, and the right turn will be achieved while the tail fin continues to provide thrust. This steering direction is different from the tail rudder of a traditional underwater robot and is one of the key bionic designs, enabling it to achieve flexible steering movements similar to those of a real fish.

[0067] like Figure 11The figure shows a schematic diagram of the quick-release battery structure for a submersible underwater bionic device according to the present invention. The mid-section buoyancy control compartment 12 is equipped with a battery compartment, which houses the center of gravity adjustment mechanism 121. The battery compartment includes a battery base 1262 and a battery cover 1263. A linear slide 1211 and a linear drive device 1213 are mounted on the battery base 1262. The battery base 1262 and the battery cover 1263 are detachably connected via screws. The battery assembly 1212 is housed in an independently sealed compartment, enhancing waterproof performance. A waterproof door 1261 is provided at the bottom of the mid-section buoyancy control compartment 12, sealed with a silicone seal and electromagnetic lock. The battery compartment is mounted on the waterproof door 1261. The battery assembly 1212 is designed as a drawer-like structure, snapping onto the slider 1214. The bottom of the battery assembly 1212 features magnetic quick-release contacts with an IPX7 waterproof rating. To replace battery assembly 1212, simply open the electromagnetic lock on waterproof door 1261 to expose battery base compartment 1262. Loosen the screws securing battery base compartment 1262 to battery compartment cover 1263 to reveal battery assembly 1212. Then, simply pull battery assembly 1212 out of the slot on slider 1214 to remove it. Align the fully charged battery assembly 1212 with the slot on slider 1214 and push it in until it stops. Once fully charged, the magnetic contacts automatically snap shut. Subsequently, assemble battery base compartment 1262 and waterproof door 1261 one by one, then lock the electromagnetic lock to complete battery assembly 1212 replacement. The magnetic guide allows for precise docking during blind operation, while multiple seals ensure the waterproofing of battery assembly 1212. The simple quick-release mechanism allows for ultra-fast battery replacement in 30 seconds, making it simple and practical.

[0068] like Figure 1 and Figure 2 As shown, a dorsal fin 125 is provided on the top of the mid-section buoyancy control cabin 12. The dorsal fin 125 adopts an airfoil cross-section and has the characteristics of low resistance and high stability. The dorsal fin 125 adopts a carbon fiber main frame and a flexible skin on the outer surface. The flexible skin is integrally molded with 60A Shore hardness silicone. The dorsal fin 125 can generate downwash when the bionic device is in motion to suppress the tail vortex and reduce deviation from the straight route. Preferably, the dorsal fin 125 can be equipped with an equipment platform, such as a radar detection system 1251. The radar detection system 1251 can adopt a lidar solution, a sonar solution, or a dual-mode collaborative architecture. In conjunction with a cloud-based algorithm, it can achieve obstacle avoidance and autonomous planning of detour routes.

[0069] like Figure 12The figure shows an overall exploded view of a submersible underwater bionic device of the present invention. The connection between the front detection cabin 11 and the middle buoyancy control cabin 12, as well as the connection between the middle buoyancy control cabin 12 and the rear propulsion cabin 13, are both provided with a sealing assembly 16. The sealing assembly 16 includes an inter-segment flange seal, a rotating shaft seal, and a dynamic gap seal. The flange seals of each cabin section use fluororubber O-rings and anaerobic sealants. The head steering shaft connecting the front detection cabin 11 and the middle buoyancy control cabin 12 uses a Trelleborg HS type rotary seal, which is reinforced with fluororubber + aramid. The tail swing shaft between the middle buoyancy control cabin 12 and the rear propulsion cabin 13 uses a magnetic fluid seal, which uses a perfluoropolyether carrier fluid + nano iron powder. The dynamic gap between the forward detection cabin 11 and the mid-section buoyancy control cabin 12 is sealed with a U-shaped silicone seal. The seal has a cross-section of 12 mm, a lip thickness of 2 mm, a Shore hardness of 50A, and a compression set rate of less than 10%. It is installed by double-sided bonding using 3M4905 adhesive and mechanical clips, and the mechanical clips use stainless steel springs. The mid-section buoyancy control cabin 12 and the rear-section propulsion cabin 13 are sealed with an X-shaped four-lip fluororubber seal. The Shore hardness is 70A, and the friction coefficient after silicone grease lubrication is 0.3. The installation method is a molded integrated sealing groove. Preferably, to further enhance the waterproof effect, a skin 161 is provided on the main body of the bionic device. Preferably, the front-to-middle gap is covered with a corrugated silicone sleeve with a thickness of 1.5 mm and a Shore hardness of 40A. The mid-section body is sprayed with a polyurethane elastomer with a thickness of 2 mm and a surface Ra of 0.8 μm. The rear-to-middle gap is covered with a segmented fluororubber skin with a thickness of 2 mm and a Shore hardness of 70A. The pectoral fin 123 is preferably constructed of gradient hardness silicone, with a Shore A 60A base to Shore A 40A tip coating. The flexible fishtail element 131 is coated with a 0.8mm thick thermoplastic polyurethane (TPU) film. This synergistic combination of elastomer seals and a composite skin achieves IP68 protection while ensuring freedom of movement. The fluid-optimized guide skin 161 system reduces the overall drag coefficient to 0.071, a 14% reduction compared to the initial design, fully meeting the requirements for agile maneuverability within 5 meters of water.

[0070] like Figure 12 As shown, the basic buoyancy structure includes a buoyancy member 2 disposed in a segmented sealed shell 1; the buoyancy member 2 is made of foam material and is distributed in at least one of the front detection cabin 11, the middle buoyancy control cabin 12, and the rear propulsion cabin 13 to provide buoyancy. The buoyancy member 2 is configured so that the back of the bionic device is flush with the water surface when it is normally floating. Preferably, as Figure 12As shown, the forward detection cabin 11 is equipped with a forward buoyancy element 21, and the mid-section buoyancy control cabin 12 is equipped with a mid-section buoyancy element 22. The buoyancy element 2 can be made of polyethylene foam to provide buoyancy. The foam has strong shaping properties, providing buoyancy while also protecting the equipment within the cabin. Preferably, the buoyancy element 2 is detachable and can be quickly withdrawn. In practical applications, for example, the total required buoyancy compensation = total displacement - total machine weight - detection equipment load = 2322g - 1420g - 200g = 702g. Once the total required buoyancy compensation is determined, the front, mid, and rear sections can be trimmed according to the specific ratio to determine the required buoyancy element, such as the volume of polyethylene foam. By using a balancing system for the buoyancy element 2, precise buoyancy control is ensured while maintaining maintainability. The device remains afloat under normal conditions, improving energy efficiency and maintaining stable performance during long-term underwater operations. Maintenance time is reduced by 70% compared to traditional solutions, meeting industrial-grade reliability requirements.

Claims

1. A submersible underwater bionic device, characterized in that include: A segmented sealed housing (1) comprises a front detection cabin (11), a middle buoyancy control cabin (12) and a rear propulsion cabin (13) connected in sequence; a propulsion mechanism (14) connected to the rear end of the middle buoyancy control cabin (12) and the front end of the rear propulsion cabin (13), and configured to drive the rear propulsion cabin (13) to swing relative to the middle buoyancy control cabin (12) to generate forward thrust; A center of gravity adjustment mechanism (121) is arranged on the inner wall of the shell of the middle section buoyancy control cabin (12), comprising a linear guide rail (1211) extending along the axis direction of the middle section buoyancy control cabin (12), a battery assembly (1212) slidably mounted on the linear guide rail, and a linear drive device (1213) driving the battery assembly (1212) to move along the guide rail; a posture control module (122) in communication with the propulsion mechanism (14) and the center of gravity adjustment mechanism (121), and configured to control the motion posture of the bionic device; A basic buoyancy mechanism is provided in the segmented sealed housing (1), wherein the basic buoyancy structure and the center of gravity adjustment mechanism (121) are cooperatively configured such that when the battery assembly (1212) is located in the middle of the linear slide rail (1211), the bionic device can maintain a horizontal posture in a stationary floating state, with the highest point of the back flush with the water surface; The battery assembly (1212) is configured as follows: When moving toward the front detection cabin (11), the head of the bionic device is driven to dive downward to achieve diving; When moving toward the rear propulsion cabin (13), the head of the bionic device is driven to tilt upward to achieve floating.

2. A submersible bionic device as claimed in claim 1, characterized in that The center of gravity adjustment mechanism (121) further includes a slider (1214) detachably connected to the battery assembly (1212), and the battery assembly (1212) is slidably mounted on the linear slide rail (1211) via the slider (1214).

3. A submersible bionic device as claimed in claim 2, characterized in that The linear drive device (1213) comprises a screw rod (12131) and an adjustment motor (12132) for driving the screw rod (12131) to rotate; the screw rod (12131) is threadedly engaged with the slider (1214) and converts the rotational motion of the adjustment motor (12132) into linear motion of the battery assembly (1212).

4. The submersible underwater bionic device according to claim 1, characterized in that The device further comprises a steering mechanism (15), wherein the steering mechanism (15) is connected to the rear end of the front detection cabin (11) and the front end of the middle buoyancy control cabin (12), and is configured to drive the front detection cabin (11) to rotate relative to the middle buoyancy control cabin (12) to change the travel direction of the bionic device.

5. The submersible underwater bionic device according to claim 4, characterized in that The steering mechanism (15) comprises a steering servo (151) arranged at the front end of the middle buoyancy control cabin (12); a steering arm of the steering servo (151) is connected to the rear end of the front detection cabin (11); and the steering servo (151) is configured to drive the front detection cabin (11) to swing relative to the middle buoyancy control cabin (12).

6. The submersible underwater bionic device according to claim 5, characterized in that The steering servo (151) is configured to drive the front detection cabin (11) to swing horizontally by ±25° relative to the middle buoyancy control cabin (12).

7. The submersible underwater bionic device according to claim 1, characterized in that The propulsion mechanism (14) includes a swinging steering gear (141) arranged at the rear end of the middle section buoyancy control cabin (12); a steering arm of the swinging steering gear (141) is connected to the front end of the rear section propulsion cabin (13); the rear section propulsion cabin (13) includes a flexible fishtail member (131) arranged at the rear end of the rear section propulsion cabin (13) and made of a flexible material; the swinging steering gear (141) drives the flexible fishtail member (131) to swing by swinging the rear section propulsion cabin (13) to generate propulsion force.

8. The submersible underwater bionic device according to claim 7, characterized in that The swing steering engine (141) is configured to drive the rear section propulsion cabin (13) to swing horizontally by ±35° relative to the middle section buoyancy control cabin (12).

9. The submersible underwater bionic device according to claim 1, characterized in that Two pectoral fin servos (1231) are symmetrically arranged on the outer shell of the middle section buoyancy control cabin (12) at one end close to the front section detection cabin (11), and the two pectoral fin servos (1231) are both connected to the deflectable pectoral fins (123) and are in communication connection with the attitude control module (122), and the pectoral fins (123) are configured to assist the bionic device in pitching or rolling.

10. The submersible underwater bionic device according to claim 1, characterized in that A detection system (111) is provided on the shell of the front detection cabin (11), wherein the detection system comprises a sonar detector, a camera and a lighting lamp, and the detection system (111) is configured to detect the presence of fish schools and / or environmental information.

11. The submersible underwater bionic device according to claim 1, characterized in that A wireless communication module (132) is provided on the shell of the mid-section buoyancy control cabin (12) and / or the shell of the rear-section propulsion cabin (13), and the wireless communication module (132) is configured to transmit and receive wireless signals.

12. The submersible underwater bionic device according to claim 1, characterized in that A wireless charging module (124) is provided at the bottom of the mid-section buoyancy control cabin (12), the wireless charging module (124) is electrically connected to the battery assembly (1212), and the wireless charging module (124) is configured to charge the battery assembly (1212).

13. The submersible underwater bionic device according to claim 1, characterized in that A dorsal fin (125) for stabilizing the forward posture is provided on the top shell of the mid-section buoyancy control cabin (12).

14. The submersible underwater bionic device according to claim 1, characterized in that A radar detection system (1251) is provided on the top shell of the mid-section buoyancy control cabin (12), and the radar detection system (1251) is configured to monitor obstacles on the water surface or in the water to enable the bionic device to automatically avoid obstacles.

15. The submersible underwater bionic device according to claim 1, characterized in that The attitude control module (122) comprises an IMU sensor (1221) and an MCU control unit; the IMU sensor (1221) is arranged on the inner wall of the shell of the front section detection cabin (11) through a shock-absorbing structure, is communicatively connected with the MCU control unit, and is configured to collect motion data of the bionic device; the MCU control unit is arranged on the inner wall of the shell of the middle section buoyancy control cabin (12), and is configured to control each actuator according to the motion data.

16. The submersible underwater bionic device according to claim 1, characterized in that The shock-absorbing structure comprises a three-point silicone bracket welded to the inner wall of the shell of the front detection cabin (11).

17. The submersible underwater bionic device according to claim 1, characterized in that A sealing assembly (16) is provided at the connection between the rear end of the front detection cabin (11) and the front end of the middle buoyancy control cabin (12), and at the connection between the rear end of the middle buoyancy control cabin (12) and the front end of the rear propulsion cabin (13).

18. The submersible underwater bionic device according to claim 1, characterized in that A battery box is provided on the inner wall of the bottom shell of the mid-section buoyancy control cabin (12), and the battery box includes a detachably connected battery bottom box (1262) and a battery box cover (1263). The battery bottom box (1262) and the battery box cover (1263) jointly define a storage space for the center of gravity adjustment mechanism (121). The linear slide rail (1211) and the linear drive device (1213) are provided on the battery bottom box (1262).

19. The submersible underwater bionic device according to claim 1, characterized in that It also includes a counterweight (127), which is arranged on the inner wall of the bottom shell of the mid-section buoyancy control cabin (12) and / or connected to the battery assembly, and the counterweight (127) is configured to lower the center of gravity of the bionic device.

20. The submersible underwater bionic device according to claim 1, characterized in that The basic buoyancy structure comprises a buoyancy member (2) arranged in the segmented sealed shell (1); the buoyancy member (2) is made of foam material and is distributed in at least one of the front detection cabin (11), the middle buoyancy control cabin (12) and the rear propulsion cabin (13) to provide buoyancy.

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