Paraffin phase change driven deep sea bionic robotic fish

Abstract

The invention provides a paraffin phase change driven deep sea bionic robotic fish which comprises a tail fin driving module, two pectoral fin driving modules, a motion conversion module and a fish body module, the fish body module comprises a fish body, and the tail fin driving module comprises an execution elastomer, a phase change micro unit and a first heating structure. The motion conversion module comprises a rack piston, a transmission mechanism and a tail fin which are sequentially connected, paraffin materials are arranged in the phase change micro units, and the pectoral fin driving module comprises pectoral fins, small phase change micro units and a second heating structure. The paraffin phase change driving technology is adopted, the solid-liquid phase change volume expansion effect of the phase change material is controlled, the elastomer-gear transmission mechanism is used for converting the micro-expansion amount into the swing displacement of the bionic joint, and the driving module can achieve deep sea high-pressure environment self-adaption without dynamic sealing; the device has the characteristics of compact structure, high energy density, high compression resistance reliability and the like.

Description

Technical Field

[0001] The present invention relates to the field of phase change material application and deep-sea mechanical drive technology, and in particular to a paraffin phase change driven deep-sea bionic robotic fish. Background Art

[0002] Deep-sea bionic robot technology continues to expand its application boundaries. Traditional bionic robot fish mostly use motors or hydraulic drives to achieve tail fin / pectoral fin swing. Their drive units need to rely on complex sealing structures and pressure compensation systems in the high-pressure environment of the deep sea, resulting in a bloated overall structure and significant energy loss. There is also a safety hazard of sealing failure causing water leakage into the drive unit. Summary of the Invention

[0003] In response to the technical problems raised above, a paraffin phase change driven deep-sea bionic robotic fish is provided, which can meet the operational needs of deep-sea environmental exploration. The bionic fish outputs linear motion through a battery-heated phase change driver, and the linear output is converted into a swinging output of the tail fin through a transmission mechanism. The pectoral fin angle is changed by two pectoral fin phase change drivers to change the swimming direction of the bionic fish. The present invention adopts paraffin phase change drive technology, and through the precise control of the solid-liquid phase change volume expansion effect of the phase change material, the elastomer-gear transmission mechanism is used to convert the micro-expansion amount into the swing displacement of the bionic joint. The drive module can achieve self-adaptation to the deep-sea high-pressure environment without dynamic sealing. It has the characteristics of compact structure, high energy density, strong pressure resistance and reliability, and is particularly suitable for deep-sea bionic exploration, ecological monitoring and covert scientific research operation scenarios that require lightweight, low noise and long endurance.

[0004] The technical means adopted in the present invention are as follows: A paraffin phase-change driven deep-sea bionic robotic fish comprises: a caudal fin drive module, two sets of pectoral fin drive modules, a motion conversion module, and a fish body module. The fish body module comprises a fish body, the caudal fin drive module is mounted inside the fish body, the two sets of pectoral fin drive modules are connected to the left and right sides of the caudal fin drive module and extend to the outside of the fish body; the motion conversion module is connected to the tail of the fish body and is connected to the caudal fin drive module. The tail fin drive module includes an actuator elastic body, a phase-change micro unit and a first heating structure. The motion conversion module includes a rack piston, a transmission mechanism and a tail fin connected in sequence. The phase-change micro unit contains a paraffin material. The first heating structure is used to heat the phase-change micro unit. The paraffin material undergoes phase change and expands when heated, driving the actuator elastic body to axially deform. The deformation of the actuator elastic body drives the rack piston to perform linear motion, and the motion is transmitted to the transmission mechanism, which drives the tail fin to swing. The pectoral fin drive module includes pectoral fins, small phase-change microunits and a second heating structure. The pectoral fins are arranged on the outside of the fish body, and the small phase-change microunits and the second heating structure are located inside the fish body. The interior of the small phase-change microunits has paraffin material, and the second heating structure is used to heat the small phase-change microunits. The paraffin material expands due to phase change when heated, driving the pectoral fins to flap.

[0005] Furthermore, the phase change micro unit and the small phase change micro unit have the same structure, and the outer wall is a silicone tube. The interior of the silicone tube is a composite phase change material composed of paraffin and copper powder. The two ends of the silicone tube are sealed with silicone rubber glue.

[0006] Furthermore, the tail fin drive module also includes a rigid end cover and a rigid shell, the rigid end cover is sealed and connected to one end of the rigid shell, the actuator elastomer is connected to the other end of the rigid shell, the first heating structure adopts a ceramic heating plate, the phase change micro unit and the ceramic heating plate are both installed inside the rigid shell, the ceramic heating plate is connected to the wire I, and the wire I passes through the rigid end cover to the outside of the rigid shell.

[0007] Furthermore, one end of the rigid end cap is provided with an internal thread, and one end of the rigid shell is provided with an external thread, and the internal thread and the external thread are thread-sealed by rotation; the other end of the rigid end cap is provided with a square hole and an annular boss I, the square hole is used to lead out the wire I of the ceramic heating plate, and the annular boss I is provided with epoxy resin for sealing the lead-out point of the wire I; The cavity of the rigid shell is filled with ethylene glycol heat-conducting medium and is provided with a flow channel for transferring hydraulic fluid generated by phase change expansion; the actuator elastic body is cast using silicone as a material by a mold method, and the radial direction of the actuator elastic body is wrapped with multiple turns of nylon fiber thread; The other end of the rigid shell is a square boss I with a circular hole I. The upper end of the actuator elastic body is glued to the square boss I of the rigid shell by silicone rubber glue. The actuator elastic body as a whole is concentric with the circular hole I of the square boss I.

[0008] Furthermore, the pectoral fin drive module also includes a resin shell and a resin end cover, the resin shell and the resin end cover are both arranged inside the fish body, the root of the pectoral fin is connected to one end of the resin shell and is located on one side of the resin shell; the resin end cover is connected to the other side of the resin shell, the second heating structure adopts a small ceramic heating plate, the small phase change micro unit and the small ceramic heating plate are both installed inside the resin shell, the small ceramic heating plate is connected to a wire II, and the wire II passes through the resin end cover to the outside of the resin shell.

[0009] Furthermore, one end of the resin shell is provided with two square bosses II, each of which has a circular through hole I, and the upper surface of the fin root of the pectoral fin is provided with a circular through hole II, and the circular through hole II is concentrically assembled with the two circular through holes I and fixed with a cylindrical pin; A boss II is provided on the upper surface of the resin shell, and bosses I are provided on both sides of the rigid shell of the tail fin drive module, and the bosses I on both sides are respectively assembled and fixed with bosses II of the resin shells of the two sets of pectoral fin drive modules; The front surface of the resin shell is provided with an annular boss II, and the surface of the annular boss II is covered with a silicone film and fixed with silicone rubber glue; A circular hole II is formed on the rear surface of the resin housing, and a circular boss is provided on one surface of the resin end cap. The circular boss is concentrically matched with the circular hole II and fixed and sealed with epoxy resin; a rectangular through hole I is formed on the other surface of the resin end cap for passing the wire of the small ceramic heating plate, and the wire outlet is sealed with epoxy resin; There are three small phase-change micro units, and the three small phase-change micro units and a small ceramic heating plate are installed inside the resin shell, and the interior of the resin shell is injected with ethylene glycol heat-conducting medium.

[0010] Furthermore, the motion conversion module also includes a rigid sleeve, the transmission mechanism includes a large gear, a small gear, a medium gear, a gearbox, a gear fixing frame, a square sleeve, a rotating disk, a tail fin fixing frame and a tail handle mechanism, the rigid sleeve is fixedly connected to the rigid housing of the tail fin drive module, the actuator elastic body is inserted into the rigid sleeve, the rack piston is installed inside the rigid sleeve, the pinion is meshed with the rack of the rack piston, the pinion and the medium gear are coaxially installed on the optical axis, the optical axis is installed on the side wall of the rigid sleeve, the pinion is placed inside the rigid sleeve, and the medium gear is placed outside the rigid sleeve; The gear fixing frame, square shaft sleeve, tail fin fixing frame and tail handle mechanism are arranged in sequence from head to tail, the gear fixing frame is installed at the tail of the fish body, the large gear, medium gear and gearbox are all installed on the gear fixing frame, the medium gear is meshed with the large gear, the large gear is fixedly connected to the input shaft of the gearbox, the square shaft sleeve and the tail fin fixing frame are both fixedly connected to the gear fixing frame, the rotating disk is placed inside the tail fin fixing frame, the output shaft of the gearbox passes through the square shaft sleeve and is fixedly connected to the center of the rotating disk, the rotating disk and the tail fin fixing frame are both connected to the tail handle mechanism, and the tail fin is connected to the tail of the tail handle mechanism.

[0011] Furthermore, a square boss III is provided on the top of the rigid sleeve, a plurality of circular through holes III are provided on the square boss III, a plurality of threaded holes are provided on the end surface of the square boss I of the rigid shell of the tail fin drive module, and the plurality of circular through holes III and the plurality of threaded holes are fixed by a plurality of fixing bolts; A rack and a guide shaft with a return spring are provided on the lower surface of the rack piston. An annular boss III is provided in the middle of the inner cavity of the rigid sleeve. The outer ring of the annular boss III is used to limit the movement of the return spring, and the inner hole of the annular boss III is used to limit the axial movement of the guide shaft. An annular boss IV is provided on the inner cavity and outer portion of the side of the rigid sleeve, and the pinion gear and the middle gear are respectively mounted on the end faces of the two annular bosses IV. An optical shaft is connected to the inner holes of the two annular bosses IV, and the pinion gear and the middle gear are respectively fixedly connected to the two ends of the optical shaft by means of a set screw; A groove for placing a large gear and a middle gear is opened on one side of the gear fixing frame, and the large gear is fixedly connected to the input shaft of the gearbox through a jackscrew; A rectangular groove is formed on the other side of the gear fixing frame, and two rectangular through holes II are formed on the two sides of the rectangular groove. The gearbox is installed inside the rectangular groove; two chamfered buckles are provided on the inside of the two sides of the square sleeve for fixed connection with the two rectangular through holes II of the gear fixing frame; A circular through hole V is provided at the center of the rotating disk, and the output shaft of the gearbox passes through the circular through hole V and is interference fit; Two circular through holes VII are respectively formed at the upper and lower parts of one end surface of the tail fin fixing frame, and two circular through holes IV are respectively formed at the upper and lower ends of the other side of the gear fixing frame. The four circular through holes VII are aligned with the centers of the four circular through holes IV and are fixed with bolts; A circular through hole VIII with a notch is formed on each of the upper and lower surfaces of the tail fin fixing frame, and a shaft protection mechanism is provided at each circular through hole VIII; a resin shaft extends from one side of the tail handle mechanism, and the resin shaft is installed inside the circular through hole VIII of the tail fin fixing frame; A circular through hole IX is formed in the middle of the resin shaft, two bosses III are extended from one side of the rotating disk, and a circular through hole VI is formed on the end face of each boss III. The circular through hole IX is fixed to the circular through holes VI on the two bosses III by a cylindrical pin; The tail of the tail handle mechanism is provided with two cylindrical bosses I, each of which has a circular through hole X; one end of the tail fin is provided with a cylindrical boss II, each of which has a circular through hole XI, and the circular through hole XI is fixed to the two circular through holes X by an interference fit of a cylindrical pin.

[0012] Furthermore, the fish body module also includes a battery and electronic components, which are installed inside the fish body. The fish body is prepared by a mold method. The battery is electrically connected to the ceramic heating plate and the small ceramic heating plate. The electronic components include a single-chip microcomputer, a MOS tube relay and a step-down module.

[0013] Compared with the prior art, the present invention has the following advantages: 1. The paraffin phase change driven deep-sea bionic robotic fish provided by the present invention has efficient and compact driving, uses paraffin phase change expansion to directly drive the output shaft, has a streamlined structure, strong driving force and low cost, breaking through the volume limitation of traditional motors.

[0014] 2. The paraffin phase change-driven deep-sea bionic robotic fish provided by the present invention has a split phase change microunit combined with expanded graphite to enhance thermal conductivity, and is equipped with an indirect heating strategy to eliminate reset delay, ensure cycle stability, and make its thermal control more reliable.

[0015] 3. The paraffin phase change-driven deep-sea bionic robotic fish provided by the present invention has no dynamic sealing design, is resistant to high pressure and corrosion, directly outputs stable rotational motion, and is suitable for long-term operations in the deep sea.

[0016] Based on the above reasons, the present invention can be widely promoted in the fields of deep sea underwater detection, resource exploration, underwater facility maintenance and marine scientific research. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 This is an overall diagram of the bionic fish structure in a specific embodiment of the present invention.

[0019] Figure 2 This is a diagram of the internal structure of a bionic fish in a specific embodiment of the present invention.

[0020] Figure 3 This is a structural diagram of the tail fin drive module in a specific embodiment of the present invention.

[0021] Figure 4 This is an exploded view of the tail fin drive module in a specific embodiment of the present invention.

[0022] Figure 5 Schematic diagram of the structure of the rigid end cover in a specific embodiment of the present invention.

[0023] Figure 6It is a structural schematic diagram of the rigid shell in a specific embodiment of the present invention.

[0024] Figure 7 It is a cross-sectional view of the rigid shell in a specific embodiment of the present invention.

[0025] Figure 8 This is a structural diagram of the pectoral fin drive module in a specific embodiment of the present invention.

[0026] Figure 9 Schematic diagram of the front structure of the resin housing in a specific embodiment of the present invention.

[0027] Figure 10 Schematic diagram of the rear structure of the resin housing in a specific embodiment of the present invention.

[0028] Figure 11 It is a schematic structural diagram of the pectoral fin in a specific embodiment of the present invention.

[0029] Figure 12 It is a schematic structural diagram of one side of the resin end cover in a specific embodiment of the present invention.

[0030] Figure 13 It is a schematic structural diagram of the other side of the resin end cover in a specific embodiment of the present invention.

[0031] Figure 14 It is a partial structural perspective view of a tail fin drive module in a specific embodiment of the present invention.

[0032] Figure 15 This is a structural diagram of the motion conversion module in a specific embodiment of the present invention.

[0033] Figure 16 It is an exploded view of the motion conversion module in a specific embodiment of the present invention.

[0034] Figure 17 It is a partial structural perspective view of the motion conversion module in a specific embodiment of the present invention.

[0035] Figure 18 2 is a cross-sectional view of a rigid sleeve in a specific embodiment of the present invention.

[0036] Figure 19 Schematic diagram of the structure of the gear fixing frame in a specific embodiment of the present invention.

[0037] Figure 20 It is a schematic structural diagram of a square shaft sleeve in a specific embodiment of the present invention.

[0038] Figure 21 Schematic diagram of the structure of the rotating disk in a specific embodiment of the present invention.

[0039] Figure 22Schematic diagram of the structure of the tail fin fixing frame in a specific embodiment of the present invention.

[0040] Figure 23 It is a schematic structural diagram of the caudal peduncle mechanism and the caudal fin in a specific embodiment of the present invention.

[0041] Figure 24 This is a structural diagram of the fish body module in a specific embodiment of the present invention.

[0042] In the figure: 1. Tail fin drive module; 2. Pectoral fin drive module; 3. Motion conversion module; 4. Fish body module; 1-1, rigid end cap; 1-1-1, square hole; 1-1-2, annular boss I; 1-2, rigid housing; 1-2-1, boss I; 1-2-2, flow guide channel; 1-2-3, threaded hole; 1-2-4, annular groove; 1-2-5, square boss I; 1-3, executive elastomer; 1-4, phase change microunit; 1-5, ceramic heating plate; 2-1, resin shell; 2-1-1, circular through hole I; 2-1-2, square boss II; 2-1-3, boss II; 2-1-4, annular boss II; 2-1-5, circular hole II; 2-2, pectoral fin; 2-2-1, circular through hole II; 2-3, resin end cap; 2-3-1, circular boss; 2-3-2, rectangular through hole I; 2-4, small phase change microunit; 2-5, small ceramic heater; 3-1, rigid sleeve; 3-1-1, square boss III; 3-1-2, circular through hole III; 3-1-3, annular boss III; 3-1-4, annular boss IV; 3-1-5, optical axis; 3-2, rack piston; 3-3, large gear; 3-4, small gear; 3-5, medium gear; 3-6, gearbox; 3-7, gear holder; 3-7-1, rectangular slot; 3-7-2, circular through hole IV; 3-7-3, rectangular through hole II; 3-8, tail fin; 3-8 -1, circular through hole Ⅺ; 3-9, square bushing; 3-9-1, chamfered buckle; 3-10, rotating disk; 3-10-1, circular through hole Ⅴ; 3-10-2, boss III; 3-10-3, circular through hole VI; 3-11, tail fin fixing frame; 3-11-1, circular through hole VIII; 3-11-2, shaft protection mechanism; 3-12, tail handle mechanism; 3-12-1, circular through hole IX; 3-12-2, cylindrical boss I; 3-12-3, circular through hole X; 4-1. Fish body; 4-2. Battery; 4-3. Electronic components. DETAILED DESCRIPTION

[0043] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0047] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0048] For ease of description, spatially relative terms such as "above," "above," "on the upper surface of," and "above" may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "on top of" another device or structure would then be positioned as "below" or "below" the other device or structure. Thus, the exemplary term "above" may include both the orientations of "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used herein should be interpreted accordingly.

[0049] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0050] The present invention provides a deep-sea bionic robotic fish driven by paraffin phase change, which is used in the field of deep-sea underwater operations, mainly in complex operation scenarios such as deep-sea underwater detection, resource exploration, underwater facility maintenance and marine scientific research. Its bionic design and high-pressure adaptability can replace traditional submersibles to perform high-precision, long-term autonomous detection and collaborative operation tasks.

[0051] like Figure 1-Figure 2 As shown, the present invention is a paraffin phase change driven deep-sea bionic mechanical fish, comprising a tail fin drive module 1, two sets of pectoral fin drive modules 2, a motion conversion module 3, and a fish body module 4. The tail fin drive module 1 is installed inside the fish body 4-1 of the fish body module 4, and the two sets of pectoral fin drive modules 2 are connected to the left and right sides of the tail fin drive module 1 and both extend to the outside of the fish body 4-1; the motion conversion module 3 is connected to the tail of the fish body 4-1 and is connected to the tail fin drive module 1. The tail fin drive module 1, the pectoral fin drive module 2, and the motion conversion module 3 are assembled through a mechanical structure to form a fin drive system, and the battery and control system are connected to both ends of the phase change driver heating plate wire. Finally, the fin drive system, power control system, and buoyancy material are placed inside a 3D printed resin mold, and the bionic fish body is cast using the liquid silicone-glass microbead buoyancy material. After the fish body is solidified and formed, it is demolded to form a paraffin phase change driven bionic mechanical fish.

[0052] like Figure 3-Figure 4As shown, the tail fin drive module 1 is composed of the following components: a rigid end cover 1-1, a rigid shell 1-2, an executive elastomer 1-3, a phase change micro unit 1-4, and a ceramic heating plate 1-5. The rigid end cover 1-1 is sealed and connected to one end of the rigid shell 1-2. The executive elastomer 1-3 is connected to the other end of the rigid shell 1-2. The phase change micro unit 1-4 and the ceramic heating plate 1-5 are both installed inside the rigid shell 1-2. The ceramic heating plate 1-5 is connected to a wire I, which passes through the rigid end cover 1-1 and out to the outside of the rigid shell 1-2. The rigid end cover 1-1 and one end of the rigid shell 1-2 (drive shell) are each provided with an internal and external thread, and the thread is sealed by rotation. As shown Figure 5 As shown, the other end face of the rigid end cap 1-1 is provided with a square hole 1-1-1 and an annular boss I 1-1-2 for leading out and sealing the wire I of the ceramic heating plate 1-5. The cavity of the rigid shell 1-2 is filled with ethylene glycol heat-conducting medium and is provided with a guide channel 1-2-2. This guide channel 1-2-2 is an internal structure of the rigid shell 1-2 and is used to transfer the hydraulic fluid generated by phase change expansion. Figure 7 As shown, the other end of the rigid shell 1-2 is a square boss Ⅰ1-2-5 with a circular hole Ⅰ, and the end face of the square boss Ⅰ1-2-5 is provided with an annular groove 1-2-4 and four threaded holes 1-2-3. The executive elastomer 1-3 is connected to the annular groove 1-2-4. The executive elastomer 1-3 is cast using silicone as the material by a mold method, and the executive elastomer 1-3 is radially wound with multiple turns of nylon fiber line. The upper end of the executive elastomer 1-3 is bonded to the square boss Ⅰ1-2-5 of the rigid shell 1-2 using silicone rubber glue, and the executive elastomer 1-3 as a whole maintains a concentric relationship with the circular hole Ⅰ of the square boss Ⅰ1-2-5 of the rigid shell 1-2. As shown Figure 6 As shown, two bosses I1-2-1 are provided on each side of the rigid shell 1-2. The outer wall of the phase change micro unit 1-4 is a silicone tube, the interior of which is a composite phase change material composed of paraffin wax and copper powder, and both ends of the silicone tube are sealed with silicone rubber glue.

[0053] like Figure 8 As shown, the pectoral fin drive module 2 is composed of the following parts: resin shell 2-1, pectoral fin 2-2, resin end cover 2-3, small phase change micro unit 2-4, small ceramic heating plate 2-5, and the partial structural perspective diagram of the pectoral fin drive module 2 is shown in FIG. Figure 14As shown. The resin shell 2-1 and the resin end cap 2-3 are both arranged inside the fish body 4-1, the pectoral fin 2-2 is arranged outside the fish body 4-1, and the root of the pectoral fin 2-2 is connected to one end of the resin shell 2-1 and is located on the front side of the resin shell 2-1; the resin end cap 2-3 is connected to the back side of the resin shell 2-1, the small phase change micro unit 2-4 and the small ceramic heating plate 2-5 are both installed inside the resin shell 2-1, and the small ceramic heating plate 2-5 is connected to a wire II, which passes through the resin end cap 2-3 and out to the outside of the resin shell 2-1. As shown Figure 9 As shown, one end of the resin shell 2-1 is provided with two square bosses II2-1-2, and each square boss II2-1-2 is provided with a circular through hole I2-1-1. Figure 11 As shown, a circular through hole Ⅱ2-2-1 is provided on the upper surface of the root of the pectoral fin 2-2. The circular through hole Ⅱ2-2-1 is concentrically assembled with the circular through hole Ⅰ2-1-1 of the two square bosses Ⅱ2-1-2 of the resin shell 2-1 and fixed with a cylindrical pin. A boss Ⅱ2-1-3 is provided on the upper surface of the resin shell 2-1. The bosses Ⅱ2-1-3 of the resin shell 2-1 of the two sets of pectoral fin drive modules 2 are respectively assembled and fixed with the bosses Ⅰ1-2-1 on the two sides of the rigid shell 1-2. An annular boss Ⅱ2-1-4 is provided on the front surface of the resin shell 2-1, which is arranged between the resin shell 2-1 and the pectoral fin 2-2. The surface of the annular boss Ⅱ2-1-4 is covered with a silicone film and fixed with silicone rubber glue. As shown Figure 10 As shown, the rear surface of the resin shell 2-1 is provided with a circular hole II2-1-5. Figure 12 As shown, a circular boss 2-3-1 is provided on one surface of the resin end cover 2-3. The circular boss 2-3-1 is concentrically matched with the circular hole II 2-1-5 of the resin shell 2-1 and is fixed and sealed with epoxy resin; Figure 13 As shown, the other surface of the resin end cap 2-3 has a rectangular through-hole I 2-3-2 for passing wire II of the small ceramic heater 2-5 through it, which is sealed with epoxy resin. Three small phase change microunits 2-4 and the small ceramic heater 2-5 are mounted inside the resin housing 2-1, and the resin housing 2-1 is filled with ethylene glycol as a thermal conductive medium. The small phase change microunits 2-4 have the same structure as the phase change microunits 1-4, with an outer wall made of silicone tubes. Inside the silicone tubes is a composite phase change material composed of paraffin wax and copper powder, and both ends of the silicone tubes are sealed with silicone rubber glue.

[0054] like Figure 15-16 As shown, the motion conversion module 3 includes a rigid sleeve 3-1, a rack piston 3-2, a large gear 3-3, a small gear 3-4, a middle gear 3-5, a gearbox 3-6, a gear fixing frame 3-7, a tail fin 3-8, a square sleeve 3-9, a rotating disk 3-10, a tail fin fixing frame 3-11, and a tail handle mechanism 3-12. The partial structural perspective diagram of the motion conversion module 3 is shown in FIG. Figure 17As shown. The rigid sleeve 3-1 is fixedly connected to the rigid shell 1-2 of the tail fin drive module 1, the executive elastic body 1-3 is inserted into the rigid sleeve 3-1, the rack piston 3-2 is installed inside the rigid sleeve 3-1, the pinion 3-4 is meshed with the rack of the rack piston 3-2, the pinion 3-4 and the middle gear 3-5 are coaxially installed on the optical axis 3-1-5, the optical axis 3-1-5 is installed on the side wall of the rigid sleeve 3-1, the pinion 3-4 is placed inside the rigid sleeve 3-1, and the middle gear 3-5 is placed outside the rigid sleeve 3-1; the gear fixing frame 3-7, the square shaft sleeve 3-9, the tail fin fixing frame 3-11 and the tail handle mechanism 3-12 are arranged in sequence from head to tail, the gear fixing frame 3-7 is installed and connected to the outer wall of the rigid sleeve 3-1 and is located at the fish body 4- 1, the large gear 3-3, the middle gear 3-5 and the gearbox 3-6 are all mounted on the gear fixing frame 3-7, the middle gear 3-5 is meshed with the large gear 3-3, the large gear 3-3 is fixedly connected to the input shaft of the gearbox 3-6, the square shaft sleeve 3-9 and the tail fin fixing frame 3-11 are both fixedly connected to the gear fixing frame 3-7, the square shaft sleeve 3-9 is located between the gear fixing frame 3-7 and the tail fin fixing frame 3-11, the rotating disk 3-10 is placed inside the tail fin fixing frame 3-11, the output shaft of the gearbox 3-6 passes through the square shaft sleeve 3-9 and is fixedly connected to the center of the rotating disk 3-10, the rotating disk 3-10 and the tail fin fixing frame 3-11 are both connected to the tail handle mechanism 3-12, and the tail fin 3-8 is connected to the tail of the tail handle mechanism 3-12. Figure 18As shown, a square boss III3-1-1 is provided at the top of the rigid sleeve 3-1. Four circular through-holes III3-1-2 are located around the top of the square boss III3-1-1, which is used to mate with the rigid housing 1-2 and the actuator 1-3 and is secured via four fixing bolts. The four circular through-holes III3-1-2 are secured to the four threaded holes 1-2-3 on the end face of the square boss I1-2-5 via four fixing bolts, and the actuator 1-3 is inserted into the rigid sleeve 3-1. A rack piston 3-2 is mounted within the rigid sleeve 3-1. A rack and a guide shaft with a return spring are located on its lower surface. An annular boss III3-1-3 is located in the middle of the interior of the rigid sleeve 3-1. The outer ring of the annular boss III3-1-3 is used to limit the movement of the return spring, while the inner hole of the annular boss III3-1-3 is used to limit the axial movement of the guide shaft. An annular boss IV3-1-4 is provided on the inner cavity and outer portion of the side of the rigid sleeve 3-1. The small gear 3-4 and the middle gear 3-5 are respectively mounted on the end faces of the two annular bosses IV3-1-4, and an optical axis 3-1-5 passes through the inner holes of the two annular bosses IV3-1-4. The small gear 3-4 and the middle gear 3-5 pass through the optical axis 3-1-5 and are fixed with a top screw. The rack meshes normally with the small gear 3-4. A groove for placing the large gear 3-3 and the middle gear 3-5 is opened on one side of the gear fixing frame 3-7. The large gear 3-3 is fixed to the input shaft of the gearbox 3-6 with a top screw, and the large gear 3-3 meshes normally with the middle gear 3-5. Figure 19 As shown, a rectangular groove 3-7-1 is opened on the other side of the gear fixing frame 3-7, and two circular through holes IV 3-7-2 are opened at the upper and lower ends of the side of the gear fixing frame 3-7. Two rectangular through holes II 3-7-3 are opened on the two sides of the rectangular groove 3-7-1. The gearbox 3-6 is installed inside the rectangular groove 3-7-1. The square sleeve 3-9 passes through the output shaft of the gearbox 3-6, and two chamfered buckles 3-9-1 are provided on both sides of the square sleeve 3-9 (as shown in FIG. Figure 20 As shown), it is used to fix with the rectangular through hole II3-7-3 of the gear fixing frame 3-7. Figure 21 As shown, a circular through hole V3-10-1 is provided in the center of the rotating disk 3-10. The output shaft of the gearbox 3-6, which passes through the square bushing 3-9, passes through the circular through hole V3-10-1 in the center of the rotating disk 3-10 and has an interference fit. Two bosses III3-10-2 extend from one side of the rotating disk 3-10, and each boss III3-10-2 has a circular through hole VI3-10-3 formed on its end face. Two circular through holes VII are formed in the upper and lower parts of one end face of the tail fin fixing frame 3-11. These four circular through holes VII are aligned with the centers of the four circular through holes IV3-7-2 of the gear fixing frame 3-7 and are fixed with bolts; as shown in FIG. Figure 22As shown, a circular through hole VIII 3-11-1 is provided on each of the upper and lower surfaces of the tail fin fixing frame 3-11, and one of the circular through holes VIII 3-11-1 has a notch for installing the tail handle mechanism 3-12; a shaft protection mechanism 3-11-2 is provided at each circular through hole VIII 3-11-1. A resin shaft extends from one side of the tail handle mechanism 3-12 and is installed inside the circular through hole VIII 3-11-1 of the tail fin fixing frame 3-11, and a circular through hole IX 3-12-1 is provided in the middle of the resin shaft, which is fixed to the circular through hole VI 3-10-3 on the boss III 3-10-2 of the rotating disk 3-10 using a cylindrical pin. The shaft protection mechanism 3-11-2 is an annular end cover, which is installed at both ends of the resin shaft of the tail handle mechanism 3-12 to achieve fixation and limitation (to prevent the tail handle mechanism 3-12 from moving up and down). As shown Figure 23 As shown, the tail of the tail handle mechanism 3-12 is provided with two cylindrical bosses I 3-12-2, each of which has a circular through hole X 3-12-3. A cylindrical boss II is provided at one end of the tail fin 3-8, which also has a circular through hole XI 3-8-1. The circular through hole XI 3-8-1 is secured to the two circular through holes X 3-12-3 in the tail handle mechanism 3-12 by an interference fit using cylindrical pins.

[0055] like Figure 24 As shown, the fish body module 4 includes a buoyant fish body 4-1, a battery 4-2, and electronic components 4-3, both of which are installed inside the fish body 4-1. Battery 4-2 is electrically connected to ceramic heater plate 1-5 and small ceramic heater plate 2-5. Electronic components 4-3 include an STM32F103VET6 microcontroller, a MOSFET relay, and a 3.7V-3.3V step-down module. The bionic fish body 4-1 is fabricated using a mold method. After the fin drive system is assembled, it is installed inside the mold along with the battery 4-2 and electronic components 4-3, and then cast using a silicone-glass microbead buoyancy material.

[0056] The specific operation mode of the present invention is as follows: 1. Follow Figure 3-Figure 4 With rigid housing 1-2 as the main component, the following components are installed from left to right: rigid end cap 1-1, phase change microunit group 1-4, ceramic heater plate 1-5, and actuator 1-3. Rigid end cap 1-1 is sealed to rigid housing 1-2 via threads. Wire I of ceramic heater plate 1-5 is passed through square hole 1-1-1 in rigid end cap 1-1 and sealed with epoxy resin. Actuator 1-3 is bonded to square boss I 1-2-5 of rigid housing 1-2 using silicone rubber.

[0057] 2. Follow Figure 5With the resin shell 2-1 as the main body, the parts are installed from left to right in sequence, including the pectoral fin 2-2, the small phase change micro-unit 2-4 group, the small ceramic heating plate 2-5, and the resin end cover 2-3. The pectoral fin 2-2 is fixed to the resin shell 2-1 by a cylindrical pin, and the rectangular through hole Ⅰ2-3-2 of the resin end cover 2-3 passes the wire Ⅱ of the small ceramic heating plate 2-5 and is sealed with epoxy resin.

[0058] 3. Follow Figure 6-Figure 7 , install them from left to right in sequence, the rigid sleeve 3-1, rack piston 3-2, large gear 3-3, small gear 3-4, medium gear 3-5, gearbox 3-6, gear fixing frame 3-7, square sleeve 3-9, rotating disk 3-10, tail fin fixing frame 3-11, tail handle mechanism 3-12, tail fin 3-8, and match the executive elastomer 1-3 with the rigid sleeve 3-1, and fix the square boss III 3-1-1 of the rigid sleeve 3-1 and the square boss I 1-2-5 of the rigid shell 1-2 with four fixing bolts.

[0059] 4. Fix the two sets of pectoral fin drive modules 2 assembled in step 2 inside the clamping area of ​​the bosses Ⅰ1-2-1 on the two sides of the rigid shell 1-2, and weld and assemble the fin drive system assembled in steps 1, 2, and 3 with the battery 4-2 and the electronic components 4-3 respectively, and install them in the 3D printed fish body mold. Liquid buoyancy material is formed by mixing glass microbeads and silicone material, and poured into the interior of the fish body mold after vacuum degassing treatment. The mold is placed in a vacuum constant temperature box for curing, and demolding is performed to form the buoyancy material fish body 4-1, and the preparation of the bionic fish is completed.

[0060] The operating mechanism of the paraffin phase-change-driven deep-sea biomimetic robotic fish of the present invention is as follows: The biomimetic robotic fish heats the phase-change microunits 1-4 in the tail fin drive module 1 via ceramic heating plates 1-5. The wax material undergoes a phase-change expansion upon heating, driving the actuator 1-3 to axially deform. (The composite phase-change material in the phase-change microunits 1-4 melts upon heating, expanding in volume. This expansion displaces the surrounding heat-conducting medium, which flows through flow channels 1-2-2 into the interior of the actuator 1-3, causing the actuator 1-3 to deform.) This deformation is transmitted to the motion conversion module 3 through the rigid housing 1-2. Driven by the actuator 1-3, the rack piston 3-2 undergoes linear motion. The meshing pinion 3-4 amplifies this motion through the gearbox 3-6 and transmits it to the middle gear 3-5, ultimately driving the tail fin 3-8, which is coaxial with the large gear 3-3, to oscillate. When the small ceramic heater 2-5 within the pectoral fin drive module 2 is activated, the wax material in the small phase-change micro-unit 2-4 undergoes a phase change upon heating, causing its volume expansion to be transferred through the resin housing 2-1 to the pectoral fins 2-2, achieving biomimetic flapping of the bilateral pectoral fins. The two pectoral fin phase-change actuators change the angle of the pectoral fins 2-2, altering the bionic fish's swimming direction. (The composite phase-change material in the small phase-change micro-unit 2-4 melts upon heating, causing the volume expansion to displace liquid, inflating the silicone membrane and pushing the pectoral fins 2-2 to unfold.) The rotating disk 3-10 in the motion conversion module 3 and the tail shank mechanism 3-12 are linked via a square shaft sleeve 3-9, converting the rotational motion of the gear train into reciprocating deflection of the tail fin mount 3-11. When the power is cut off, the phase change material cools and contracts, the reset spring pushes the rack piston 3-2 to reset and resets the tail fin 3-8 through the reverse gear system. The battery 4-2 and electronic components 4-3 built into the fish body module 4 continue to supply energy to the heating system (ceramic heating plate 1-5, small ceramic heating plate 2-5) and regulate the motion phase difference, thereby realizing the deep-sea propulsion and posture coordinated control of the robotic fish.

[0061] The bionic fish of the present invention uses the built-in battery 4-2 of the fish body module 4 to periodically power the ceramic heating plate 1-5 of the tail fin drive module 1 and the small ceramic heating plate 2-5 of the pectoral fin drive module 2. The ceramic heating plate 1-5 heats the paraffin material within the phase change micro-unit 1-4, causing its thermal expansion to drive the axial deformation of the actuator elastomer 1-3, which is then transmitted to the motion conversion module 3 via the rigid shell 1-2. The rack piston 3-2 converts the deformation of the actuator elastomer 1-3 into linear displacement, which is gradually amplified and converted into rotational motion of the output shaft through the meshing gear set, driving the tail fin 3-8 to produce bionic swinging and propulsion of the fish body 4-1. The heating sequence of the small phase change units 2-4 in the bilateral pectoral fin drive modules 2 is synchronously controlled, and the expansion displacement difference is transmitted by the resin shell 2-1, achieving asymmetric flapping of the pectoral fins 2-2 to complete the steering. After power is cut off, the paraffin cools and shrinks, and the reset spring pushes the rack piston 3-2 in the opposite direction to reset. The gear system reverses to drive the tail fin 3-8 to swing back. No dynamic seal is required during the cycle and it is resistant to high pressure, making it suitable for long-distance autonomous cruising and control tasks in the deep sea.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A paraffin phase change driven deep-sea bionic robotic fish, characterized in that: include: A tail fin drive module (1), two sets of pectoral fin drive modules (2), a motion conversion module (3) and a fish body module (4), wherein the fish body module (4) comprises a fish body (4-1), the tail fin drive module (1) is installed inside the fish body (4-1), the two sets of pectoral fin drive modules (2) are connected to the left and right sides of the tail fin drive module (1) and both extend outwards to the outside of the fish body (4-1); the motion conversion module (3) is connected to the tail of the fish body (4-1) and is connected to the tail fin drive module (1); The tail fin drive module (1) includes an executive elastic body (1-3), a phase change micro unit (1-4) and a first heating structure; the motion conversion module (3) includes a rack piston (3-2), a transmission mechanism and a tail fin (3-8) connected in sequence; the interior of the phase change micro unit (1-4) has a paraffin material; the first heating structure is used to heat the phase change micro unit (1-4); the paraffin material expands due to the heat phase change and drives the executive elastic body (1-3) to axially deform; the deformation of the executive elastic body (1-3) drives the rack piston (3-2) to perform linear motion, and the motion is transmitted to the transmission mechanism, and the transmission mechanism drives the tail fin (3-8) to swing; The pectoral fin drive module (2) comprises pectoral fins (2-2), a small phase-change microunit (2-4) and a second heating structure. The pectoral fins (2-2) are arranged outside the fish body (4-1), the small phase-change microunit (2-4) and the second heating structure are located inside the fish body (4-1), the small phase-change microunit (2-4) has a paraffin material inside, and the second heating structure is used to heat the small phase-change microunit (2-4). The paraffin material undergoes phase change expansion when heated, thereby driving the pectoral fins (2-2) to flap.

2. The paraffin phase change driven deep-sea bionic robotic fish according to claim 1, characterized in that: The phase change microunits (1-4) and the small phase change microunits (2-4) have the same structure, and the outer walls are both silicone tubes. The interior of the silicone tubes is a composite phase change material composed of paraffin and copper powder, and the two ends of the silicone tubes are sealed by silicone rubber glue.

3. The paraffin phase change driven deep-sea bionic robotic fish according to claim 1, characterized in that: The tail fin drive module (1) further comprises a rigid end cover (1-1) and a rigid shell (1-2), wherein the rigid end cover (1-1) is sealedly connected to one end of the rigid shell (1-2), and the actuator elastomer (1-3) is connected to the other end of the rigid shell (1-2). The first heating structure adopts a ceramic heating plate (1-5), and the phase change micro unit (1-4) and the ceramic heating plate (1-5) are both installed inside the rigid shell (1-2). The ceramic heating plate (1-5) is connected to a wire I, and the wire I passes through the rigid end cover (1-1) to the outside of the rigid shell (1-2).

4. The paraffin phase change driven deep-sea bionic robotic fish according to claim 3, characterized in that: One end of the rigid end cover (1-1) is provided with an internal thread, and one end of the rigid shell (1-2) is provided with an external thread, wherein the internal thread and the external thread are thread-sealed by rotation; the other end of the rigid end cover (1-1) is provided with a square hole (1-1-1) and an annular boss I (1-1-2), wherein the square hole (1-1-1) is used for leading out a wire I of the ceramic heating plate (1-5), and epoxy resin is provided in the annular boss I (1-1-2) for sealing the lead-out portion of the wire I; The interior of the cavity of the rigid shell (1-2) is filled with ethylene glycol heat-conducting medium and is provided with a flow-conducting channel (1-2-2) for transmitting hydraulic fluid generated by phase change expansion; the executive elastic body (1-3) is cast using silicone as a material by a mold method, and the radial direction of the executive elastic body (1-3) is wound with multiple turns of nylon fiber wire; The other end of the rigid shell (1-2) is a square boss I (1-2-5) with a circular hole I. The upper end of the executive elastic body (1-3) is glued to the square boss I (1-2-5) of the rigid shell (1-2) by silicone rubber glue. The executive elastic body (1-3) is concentric with the circular hole I of the square boss I (1-2-5) as a whole.

5. The paraffin phase change driven deep-sea bionic robotic fish according to claim 1, characterized in that: The pectoral fin drive module (2) further comprises a resin shell (2-1) and a resin end cap (2-3), wherein the resin shell (2-1) and the resin end cap (2-3) are both arranged inside the fish body (4-1), the fin root of the pectoral fin (2-2) is connected to one end of the resin shell (2-1) and is located on one side of the resin shell (2-1); the resin end cap (2-3) is connected to the other side of the resin shell (2-1), the second heating structure adopts a small ceramic heating plate (2-5), the small phase change micro unit (2-4) and the small ceramic heating plate (2-5) are both installed inside the resin shell (2-1), and the small ceramic heating plate (2-5) is connected to a wire II, which passes through the resin end cap (2-3) to the outside of the resin shell (2-1).

6. The paraffin phase change driven deep-sea bionic robotic fish according to claim 5, characterized in that: One end of the resin shell (2-1) is provided with two square bosses II (2-1-2), each of the square bosses II (2-1-2) is provided with a circular through hole I (2-1-1), the upper surface of the fin root of the pectoral fin (2-2) is provided with a circular through hole II (2-2-1), the circular through hole II (2-2-1) is concentrically assembled with the two circular through holes I (2-1-1) and fixed with a cylindrical pin; A boss II (2-1-3) is provided on the upper surface of the resin shell (2-1), and bosses I (1-2-1) are provided on both sides of the rigid shell (1-2) of the tail fin drive module (1), and the bosses I (1-2-1) on both sides are respectively assembled and fixed with the bosses II (2-1-3) of the resin shells (2-1) of the two groups of pectoral fin drive modules (2); The front surface of the resin shell (2-1) is provided with an annular boss II (2-1-4), and the surface of the annular boss II (2-1-4) is covered with a silicone film and fixed with silicone rubber glue; A circular hole II (2-1-5) is formed on the rear surface of the resin housing (2-1); a circular boss (2-3-1) is formed on one surface of the resin end cover (2-3); the circular boss (2-3-1) is concentrically matched with the circular hole II (2-1-5) and fixedly sealed with epoxy resin; a rectangular through hole I (2-3-2) is formed on the other surface of the resin end cover (2-3) for passing the wire of the small ceramic heating plate (2-5); and the wire exit is sealed with epoxy resin; The small phase-change microunits (2-4) are provided with three small phase-change microunits (2-4), and the three small phase-change microunits (2-4) and the small ceramic heating plate (2-5) are installed inside the resin shell (2-1), and the interior of the resin shell (2-1) is injected with ethylene glycol heat-conducting medium.

7. The paraffin phase change driven deep-sea bionic robotic fish according to claim 1, characterized in that: The motion conversion module (3) further comprises a rigid sleeve (3-1), the transmission mechanism comprises a large gear (3-3), a small gear (3-4), a middle gear (3-5), a gearbox (3-6), a gear fixing frame (3-7), a square shaft sleeve (3-9), a rotating disk (3-10), a tail fin fixing frame (3-11) and a tail handle mechanism (3-12), the rigid sleeve (3-1) is fixedly connected to the rigid shell (1-2) of the tail fin drive module (1), and the actuator elastic body (1-3) is inserted into the rigid sleeve. The rack piston (3-2) is installed in the rigid sleeve (3-1), the pinion (3-4) is meshed with the rack of the rack piston (3-2), the pinion (3-4) and the middle gear (3-5) are coaxially installed on the optical axis (3-1-5), the optical axis (3-1-5) is installed on the side wall of the rigid sleeve (3-1), the pinion (3-4) is placed inside the rigid sleeve (3-1), and the middle gear (3-5) is placed outside the rigid sleeve (3-1); The gear fixing frame (3-7), the square shaft sleeve (3-9), the tail fin fixing frame (3-11) and the tail handle mechanism (3-12) are arranged in sequence from the head to the tail. The gear fixing frame (3-7) is connected to the outer wall of the rigid sleeve (3-1) and is located at the tail of the fish body (4-1). The large gear (3-3), the middle gear (3-5) and the gearbox (3-6) are all installed on the gear fixing frame (3-7). The middle gear (3-5) is meshed with the large gear (3-3). The large gear (3-3) is meshed with the gearbox (3-6). The square shaft sleeve (3-9) and the tail fin fixing frame (3-11) are both fixedly connected to the gear fixing frame (3-7); the rotating disk (3-10) is placed inside the tail fin fixing frame (3-11); the output shaft of the gearbox (3-6) passes through the square shaft sleeve (3-9) and is fixedly connected to the center of the rotating disk (3-10); the rotating disk (3-10) and the tail fin fixing frame (3-11) are both connected to the tail handle mechanism (3-12); and the tail fin (3-8) is connected to the tail of the tail handle mechanism (3-12).

8. The paraffin phase change driven deep-sea bionic robotic fish according to claim 7, characterized in that: A square boss III (3-1-1) is provided at the top end of the rigid sleeve (3-1), a plurality of circular through holes III (3-1-2) are provided on the square boss III (3-1-1), a plurality of threaded holes (1-2-3) are provided on the end face of the square boss I (1-2-5) of the rigid shell (1-2) of the tail fin drive module (1), and the plurality of circular through holes III (3-1-2) and the plurality of threaded holes (1-2-3) are fixed by a plurality of fixing bolts; A rack and a guide shaft with a return spring are provided on the lower surface of the rack piston (3-2); an annular boss III (3-1-3) is provided in the middle of the inner cavity of the rigid sleeve (3-1); the outer ring of the annular boss III (3-1-3) is used to limit the movement of the return spring; and the inner hole of the annular boss III (3-1-3) is used to limit the axial movement of the guide shaft; An annular boss IV (3-1-4) is respectively provided on the inner cavity and the outer portion of the side of the rigid sleeve (3-1); the pinion (3-4) and the middle gear (3-5) are respectively mounted on the end faces of the two annular bosses IV (3-1-4); an optical axis (3-1-5) is connected to the inner holes of the two annular bosses IV (3-1-4); the pinion (3-4) and the middle gear (3-5) are respectively fixedly connected to the two ends of the optical axis (3-1-5) via top screws; A groove for accommodating a large gear (3-3) and a middle gear (3-5) is provided on one side of the gear fixing frame (3-7); the large gear (3-3) is fixedly connected to the input shaft of the gearbox (3-6) via a top screw; A rectangular groove (3-7-1) is formed on the other side of the gear fixing frame (3-7), and two rectangular through holes II (3-7-3) are formed on two side surfaces of the rectangular groove (3-7-1). The gearbox (3-6) is installed inside the rectangular groove (3-7-1). Two chamfered buckles (3-9-1) are provided inside both sides of the square shaft sleeve (3-9) for fixed connection with the two rectangular through holes II (3-7-3) of the gear fixing frame (3-7). A circular through hole V (3-10-1) is provided at the center of the rotating disk (3-10), and the output shaft of the gearbox (3-6) passes through the circular through hole V (3-10-1) and is interference-fitted; Two circular through holes VII are respectively formed at the upper and lower parts of one end surface of the tail fin fixing frame (3-11), and two circular through holes IV (3-7-2) are respectively formed at the upper and lower ends of the other side of the gear fixing frame (3-7). The four circular through holes VII are aligned with the centers of the four circular through holes IV (3-7-2) and are fixed with bolts. A circular through hole VIII (3-11-1) with a notch is respectively formed on the upper and lower surfaces of the tail fin fixing frame (3-11), and a shaft protection mechanism (3-11-2) is respectively provided at each circular through hole VIII (3-11-1); a resin shaft extends from one side of the tail handle mechanism (3-12), and the resin shaft is installed inside the circular through hole VIII (3-11-1) of the tail fin fixing frame (3-11); A circular through hole IX (3-12-1) is formed in the middle of the resin shaft, two bosses III (3-10-2) extend from one side of the rotating disk (3-10), a circular through hole VI (3-10-3) is formed on the end face of each boss III (3-10-2), and the circular through hole IX (3-12-1) and the circular through holes VI (3-10-3) on the two bosses III (3-10-2) are fixed by cylindrical pins; The tail of the tail handle mechanism (3-12) is provided with two cylindrical bosses I (3-12-2), and each cylindrical boss I (3-12-2) is provided with a circular through hole X (3-12-3); one end of the tail fin (3-8) is provided with a cylindrical boss II, and the cylindrical boss II is provided with a circular through hole XI (3-8-1), and the circular through hole XI (3-8-1) is fixed to the two circular through holes X (3-12-3) by an interference fit of a cylindrical pin.

9. The paraffin phase change driven deep-sea bionic robotic fish according to claim 1, characterized in that: The fish body module (4) further comprises a battery (4-2) and an electronic component (4-3), wherein the battery (4-2) and the electronic component (4-3) are both installed inside the fish body (4-1), and the fish body (4-1) is prepared by a mold method. The battery (4-2) is electrically connected to the ceramic heating plate (1-5) and the small ceramic heating plate (2-5), and the electronic component (4-3) comprises a single-chip microcomputer, a MOSFET relay, and a step-down module.

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