Bionic water jet machine fish with micro supercharging injection device and working method

Abstract

This invention relates to a biomimetic water-shooting robotic fish with a micro-pressurized jetting device and its operating method. The robotic fish includes a main body with an embedded water-shooting component. The water-shooting component includes a water-shooting chamber located at the head of the main body. A pressure rod is coaxially and slidably connected within the water-shooting chamber to facilitate compression of the chamber. A water-shooting pipe extending from the head for water ejection is connected to the front end of the water-shooting chamber, and a water inlet pipe extending from the top of the head for water intake is connected to the top end of the water-shooting chamber. The rear end of the pressure rod is supported by a spring, and a rack is fixed to the lower end of the pressure rod, meshing with an incomplete gear to drive the pressure rod backward and compress the spring. The incomplete gear is driven by a first servo motor. This biomimetic water-shooting robotic fish with a micro-pressurized jetting device has a reasonable structure and realizes a biomimetic carrier platform for flexible underwater movement and water jetting towards targets on the water surface.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, and in particular to a biomimetic water-shooting robotic fish with a micro-pressurized jet device and its working method. Background Technology

[0002] With the development of marine engineering technology, the demand for intelligent underwater equipment in fields such as marine ranching is increasing, playing a crucial role in scenarios such as environmental monitoring, resource management, and fish population control. However, existing underwater equipment generally suffers from problems such as limited functionality, insufficient operational flexibility, and poor coordination between monitoring and intervention, making it difficult to meet the diverse needs of complex operational scenarios in marine ranching.

[0003] In nature, archerfish possess a unique water-shooting hunting mechanism. They accelerate water flow through their oral cavity to create a high-speed jet, precisely striking their prey. Their water-shooting mode exhibits highly efficient energy conversion characteristics at the fluid dynamics level. Simultaneously, archerfish employ a BCF (Body-Fluid Coel Propulsion) mode, relying on the movement of their tail fin for efficient swimming, while their pectoral fins control buoyancy and posture. This synergistic biological characteristic of movement and function provides important biomimetic inspiration for the development of novel underwater intelligent devices.

[0004] The application of bionics in underwater robotics has made some progress. Researchers at home and abroad have conducted extensive research on the structural design, driving methods, and control systems of bionic robotic fish. However, existing results mostly focus on achieving a single swimming function, and have not yet organically integrated the water-shooting function with efficient swimming and flexible posture control. How to accurately replicate the water-shooting mechanism and motion characteristics of archerfish and develop bionic robotic fish that combine water-shooting function with high maneuverability has become a key technological challenge to overcome the limitations of existing underwater equipment applications. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a biomimetic water-shooting robotic fish with a micro-pressurized jet device and its working method, which is not only reasonably structured, but also flexible and convenient to operate and has a good interactive experience.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is: a biomimetic water-shooting robotic fish with a micro-pressurized jetting device, comprising a robotic fish body, wherein a water-shooting component is embedded in the robotic fish body, the water-shooting component includes a water-shooting cavity opened at the head of the robotic fish body, a pressure rod coaxially and slidably connected in the water-shooting cavity to facilitate squeezing the water-shooting cavity chamber, a water-shooting pipe extending out of the fish head for shooting water is connected to the front end of the water-shooting cavity, a water inlet pipe extending out from the top of the fish head for absorbing water is connected to the top end of the water-shooting cavity, the rear end of the pressure rod is supported by a spring, and a rack is fixed at the lower end of the pressure rod and meshes with an incomplete gear through the rack to drive the pressure rod to move backward to compress the spring, the incomplete gear being driven by a first servo motor.

[0007] Furthermore, the water jet pipe is equipped with a one-way valve that supplies water only; L-shaped drive brackets are symmetrically fixed on both sides of the incomplete gear, and the drive brackets are driven by a first servo motor at the coaxial position with the incomplete gear.

[0008] Furthermore, the water-shooting assembly includes a water-shooting frame embedded in the main body of the robotic fish, the water-shooting chamber is opened on the water-shooting frame, the rear end of the pressure rod is fixedly connected to a top cylinder, the two ends of the spring are respectively abutted between the rear end of the top cylinder and the rear end of the water-shooting frame, and a guide rod protruding horizontally forward on the water-shooting frame to guide the spring, the spring being coaxially sleeved outside the guide rod.

[0009] Furthermore, the main body of the robotic fish has symmetrically arranged flat pectoral fins on both sides of the head. The flat pectoral fins are fixedly connected by a connecting shaft. A drive gear meshes with the drive gear on the connecting shaft via a driven gear. The drive gear is driven by a second servo motor, which is embedded in the main body of the robotic fish.

[0010] Furthermore, the main body of the robotic fish is provided with a tail fin assembly at its tail end. The tail fin assembly includes a partition that separates the tail fin assembly from the water-shooting assembly. One side of the partition is fixedly connected to the water-shooting frame, and the other side is fixedly connected to a servo bracket. A third servo is fixedly mounted on the servo bracket. A tail fin mounting bracket is provided at the rear of the servo bracket. Two connecting discs protrude from the front end of the tail fin mounting bracket. The two connecting discs are located on the upper and lower sides of the servo bracket, respectively. One connecting disc is connected to the drive end of the third servo, and the other connecting disc is rotatably connected to the servo bracket.

[0011] Furthermore, a fish-tail-shaped tail fin skeleton is fixedly connected to the rear side of the tail fin mounting bracket, and the tail fin skeleton is covered with a silicone tail fin.

[0012] Furthermore, the main body of the robotic fish is equipped with a controller electrically connected to the water-shooting component, and the main body of the robotic fish is equipped with a lithium battery pack for power supply. The controller is equipped with an STM32 microcontroller.

[0013] Furthermore, a rubber ring is fitted and fixed to the front end of the pressure rod to pressurize and spray water into the water jet chamber in a similar syringe-like manner.

[0014] Furthermore, the main body of the robotic fish is covered by an outer shell, which consists of a head shell, an upper shell, a lower shell, and a tail cover that covers the tail fin assembly.

[0015] A biomimetic water-shooting robotic fish with a micro-pressurized jetting device operates as follows: The device is placed in a water environment. The second servo motor drives the pectoral fin to pitch and oscillate, achieving buoyancy and diving. The third servo motor drives the silicone tail fin to oscillate, achieving forward movement. When the controller receives a water-shooting command, the first servo motor is activated, driving the incomplete gear to rotate. The rack moves backward, and the top cylinder compresses the spring to store elastic potential energy. During this process, the pressure rod moves backward, allowing external water to enter the water-shooting chamber through the inlet pipe. When the spring reaches its maximum compression, the first servo motor quickly reverses its rotation, and the spring stretches, causing the pressure rod to move forward rapidly, squeezing the water in the water-shooting chamber and ejecting it at high speed from the water-shooting nozzle, forming a columnar jet and completing the water-shooting action.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. Bionic design conforms to biological characteristics, resulting in excellent movement efficiency. Inspired by the morphology and movement mechanism of natural archerfish, it employs a BCF propulsion mode combined with a crescent-shaped tail fin to reduce water resistance; the angle of attack of the pectoral fins allows for control of buoyancy and the angle of water jetting, enabling coordinated swimming and water jetting functions to improve underwater operational efficiency.

[0017] 2. The water jetting function is highly controllable and applicable to a wide range of scenarios. A miniature pressurized jetting device is designed, which realizes high-speed jetting by converting the elastic potential energy of a spring. The water jetting speed and pressure can be precisely controlled by adjusting the servo motor angle to meet the needs of different operating forces. Moreover, the structure has undergone mechanical analysis and strength verification, and its operation is stable and reliable.

[0018] 3. Flexible and convenient operation with a good interactive experience. The gesture interaction system is built on the Mediapipe framework. It captures gesture commands in real time through the PC's camera and sends them to the STM32F103C8T6 main control chip via serial communication, enabling rapid response to actions such as linear swimming, turning, and water jetting. The gesture recognition accuracy exceeds 95%, and no complicated operating equipment is required.

[0019] 4. Modular mechanical structure design ensures reliable sealing performance. It adopts a modular architecture consisting of the head, body, tail, water jet, and waterproofing components. The outer shell is made of PLA material, combined with silicone fish skin, a V-shaped dynamic sealing ring, and waterproof adhesive to achieve a comprehensive seal. Underwater testing has verified no leakage, making it suitable for complex underwater environments such as marine ranches.

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating the structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of an embodiment of the present invention; Figure 3This is a schematic diagram of the structure of the water jet assembly in an embodiment of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the structure of the water jet assembly in an embodiment of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the structure of the tail fin assembly in an embodiment of the present invention; Figure 6 This is a schematic diagram of the linkage of the flat pectoral fin in an embodiment of the present invention; Figure 7 This is a schematic diagram of the water jetting operation scenario in an embodiment of the present invention.

[0022] In the diagram: 1-Main body of the robotic fish, 2-Water-shooting assembly, 3-Water-shooting chamber, 4-Pressure rod, 5-Water-shooting pipe, 6-Water inlet pipe, 7-Spring, 8-Rack and pinion, 9-Incomplete gear, 10-First servo motor, 11-One-way valve, 12-Water-shooting frame, 13-Top cylinder, 14-Guide rod, 15-Flat pectoral fin, 16-Coupling shaft, 17-Driven gear, 18-Driven gear, 19-Second servo motor, 20-Tail fin assembly, 21-Baffle plate, 22-Servo motor bracket, 23-Third servo motor, 24-Tail fin mounting bracket, 25-Connecting plate, 26-Tail fin skeleton, 27-Silicone tail fin, 28-Controller, 29-Lithium battery pack, 30-STM32 microcontroller, 31-Rubber ring, 32-Outer shell, 33-Head shell, 34-Upper shell, 35-Lower shell, 36-Tail cover, 37-Drive bracket. Detailed Implementation

[0023] To make the above features and advantages of the present invention more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings for detailed explanation.

[0024] like Figures 1-7 As shown, a biomimetic water-shooting robotic fish with a micro-pressurized jetting device includes a robotic fish body 1, with an embedded water-shooting component 2. The water-shooting component includes a water-shooting chamber 3 located at the head of the robotic fish body. A pressure rod 4 is coaxially slidably connected within the water-shooting chamber to facilitate squeezing the chamber. A water-shooting pipe 5 extends from the head of the fish and shoots water, while a water inlet pipe 6 extends from the top of the head to draw water. The rear end of the pressure rod is supported by a spring 7. A rack 8 is fixed at the lower end of the pressure rod and meshes with an incomplete gear 9 to drive the pressure rod to move backward and compress the spring. The incomplete gear is driven by a first servo motor 10. The conversion from rotary motion to linear motion is achieved through rack and pinion transmission, and the transmission ratio is determined based on the servo motor angle and the pressure rod stroke.

[0025] In this embodiment of the invention, the water jet pipe is provided with a one-way valve 11 that supplies water only; L-shaped drive brackets 37 are symmetrically fixed on both sides of the incomplete gear, and the drive brackets are driven by a first servo motor at the coaxial position with the incomplete gear. The first servo motor is a PM35D water jet servo motor.

[0026] In this embodiment of the invention, the water-shooting assembly includes a water-shooting frame 12 embedded in the main body of the robotic fish, the water-shooting chamber is opened on the water-shooting frame, the rear end of the pressure rod is fixedly connected to a top cylinder 13, the two ends of the spring are respectively abutted between the rear end of the top cylinder and the rear end of the water-shooting frame, and a guide rod 14 protruding horizontally forward on the water-shooting frame to guide the spring, and the spring is coaxially sleeved outside the guide rod.

[0027] In this embodiment of the invention, flat pectoral fins 15 are symmetrically arranged on both sides of the head of the robotic fish body. The flat pectoral fins are fixedly connected by a connecting shaft 16. A drive gear 18 meshes with a driven gear 17 on the connecting shaft. The drive gear is driven by a second servo motor 19, which is embedded in the robotic fish body. The second servo motor is an SG90 pectoral fin servo motor, and the transmission ratio between the drive gear and the driven gear is 1:1. The two ends of the connecting shaft pass through the head shell and are sealed with VA-type dynamic sealing rings. The flat pectoral fins are made of wedge-shaped plastic sheets and are fixed to the outer sides of the two ends of the connecting shaft by bolts or adhesive.

[0028] In this embodiment of the invention, the tail end of the main body of the robotic fish is provided with a tail fin assembly 20. The tail fin assembly includes a partition 21 that blocks the tail fin assembly and the water-shooting assembly. One side of the partition is fixedly connected to the water-shooting frame, and the other side is fixedly connected to a servo bracket 22. A third servo 23 is fixedly mounted on the servo bracket. A tail fin mounting bracket 24 is provided on the rear side of the servo bracket. Two connecting plates 25 protrude from the front end of the tail fin mounting bracket. The two connecting plates are located on the upper and lower sides of the servo bracket, respectively. One connecting plate is connected to the drive end of the third servo, and the other connecting plate is rotatably connected to the servo bracket. The third servo is a PM15S tail fin servo.

[0029] In this embodiment of the invention, a fish-tail-shaped tail fin skeleton 26 is fixedly connected to the rear side of the tail fin mounting bracket, and a silicone tail fin 27 is wrapped around the tail fin skeleton; the tail fin skeleton is fixed to the tail fin mounting bracket by bolts; the silicone tail fin is molded and then wrapped around the surface of the tail fin skeleton, the silicone tail fin adopts a crescent-shaped design, the central symmetry plane adopts the NACA0015 airfoil, the two ends adopt the NACA0009 airfoil, and the transition middle section adopts the NACA0012 airfoil.

[0030] In this embodiment of the invention, a controller 28 electrically connected to the water-shooting component is installed inside the main body of the robotic fish, and a lithium battery pack 29 for power supply is also installed inside the main body of the robotic fish. An STM32 microcontroller 30 is installed on the controller; that is, the control system of this device includes an STM32F103C8T6 microcontroller, a controller, and a 7.4V lithium battery pack. The STM32 microcontroller is fixed to an internal support frame inside the fish body. The microcontroller directly controls the SG90 pectoral fin servo via PWM signals and controls the controller via serial port commands. The controller drives the PM35D water-shooting servo and the PM15S tail fin servo. The 7.4V lithium battery pack 22 is fixed to the bottom of the fish body and supplies power to the servos and the microcontroller via wires.

[0031] The control system adopts a gesture interaction control method. The host PC captures user gesture images through a camera, detects key points of the hand and identifies the gesture type based on the Mediapipe framework, converts the gesture into control commands and sends them to the STM32 microcontroller through the serial port. After parsing the commands, the microcontroller controls the corresponding servo motor to perform actions such as linear swimming, turning, surfacing, diving, and water shooting.

[0032] In this embodiment of the invention, a rubber ring 31 is fitted and fixed to the front end of the pressure rod to pressurize and spray water into the water jet chamber in a similar syringe-like manner.

[0033] In this embodiment of the invention, the main body of the robotic fish is covered by an outer shell 32, which consists of a head shell 33, an upper shell 34, a lower shell 35, and a tail cover 36 covering the tail fin assembly. The upper shell and the lower shell are fastened together by multiple pairs of bolts; the head shell and the upper and lower shells are connected by threads for easy assembly and disassembly. To achieve static sealing and waterproofing, sealing gaskets are provided at the connection points of the outer shells and supplemented with waterproof adhesive; to achieve sealing of moving parts, a VA-type dynamic sealing structure is provided at the shaft and other locations, with the main body of the dynamic sealing ring rotating close to the shaft, and the conical sealing lip forming a radial seal under external water pressure; the entire machine can be covered with fish skin for further waterproofing and biomimetic design, and the tail cover is connected and fixed to the upper and lower shells by nylon cable ties and sealant.

[0034] In this embodiment of the invention, the pitch assembly, tail fin assembly, and water-shooting assembly of the flat pectoral fin respectively form the attitude adjustment section, propulsion section, and water-shooting section of the robotic fish. The pectoral fin pitch assembly includes a gear transmission mechanism driven by a servo motor, which converts the rotational motion of the servo motor into the pitching and swaying motion of the pectoral fin. The tail fin assembly is driven directly by the servo motor to perform reciprocating swaying motion of the tail fin. The water-shooting assembly includes a gear and rack transmission mechanism driven by a servo motor and a spring energy storage mechanism, which converts the rotational motion of the servo motor into the linear motion of the pressure rod and compresses the spring to store energy. When the spring is released, it drives the pressure rod to propel the water jet at high speed. The control system adjusts the propulsion force by setting the swaying frequency and amplitude of the tail fin to execute the linear forward motion of the robotic fish, achieves steering by swaying the tail fin on one side, achieves buoyancy and descent by adjusting the pitch angle of the pectoral fin in conjunction with the swaying of the tail fin, and adjusts the water-shooting speed and range by controlling the rotation speed and angle of the water-shooting servo motor.

[0035] A method for operating a biomimetic water-shooting robotic fish with a micro-pressurized jet device, comprising the following steps: (a) Energy storage stage Once the host PC recognizes the user-preset "shooting" gesture (such as a shooting gesture with the thumb, index finger, and middle finger extended) through the Mediapipe framework, it immediately sends the "@shoot" control command to the STM32F103C8T6 microcontroller via serial port (115200 baud rate). After parsing the command, the microcontroller sends a control signal to the servo controller via serial port, driving the PM35D water-shooting servo to rotate clockwise. The water-shooting servo drives the drive bracket to rotate synchronously through the water-shooting servo disc, and the incomplete gear follows the drive. The moving bracket rotates and precisely meshes with the rack at the bottom of the pressure rod, converting the rotational motion into the linear motion of the pressure rod, pushing the pressure rod to move backward along the linear guide rail of the water jet frame. During the backward movement of the pressure rod, the spring is compressed, causing the spring to gradually compress from the initial compression of 10mm to the maximum stroke of 31.21mm, completing the storage of elastic potential energy. During this process, the volume inside the water jet chamber increases and the pressure decreases. External water is injected into the cavity through the water inlet pipe under the action of the pressure difference until it is completely filled. The one-way valve built into the water jet pipe remains closed to prevent water backflow.

[0036] (II) High-speed water jetting stage When the spring reaches its maximum compression, the microcontroller sends a reverse rotation command via the servo controller. The PM35D water jet servo rapidly reverses its rotation, releasing the meshing constraint between the incomplete gear and the pressure rod rack. The spring instantly releases its stored elastic potential energy, pushing the pressure rod forward at high speed, compressing the water in the nozzle cavity. Under pressure, the water flow in the cavity opens the one-way valve and is ejected at high speed from the nozzle, forming a columnar jet. By adjusting the rotation angle of the water jet servo (25°-45°), the water jet speed can be controlled in stages from 2-11.89 m / s, with a maximum single-shot water jet volume of 2.01 × 10⁻⁻⁶. 6m³, to meet different range requirements.

[0037] (III) Reset Standby Phase After the water-spraying action is completed, the microcontroller controls the PM35D water-spraying servo to rotate clockwise again. Through the transmission of the incomplete gear and the pressure rod rack, the pressure rod is driven to move backward, the spring is recompressed and stored energy, the water-spraying chamber is filled with water again, and it returns to the standby state, waiting for the next water-spraying command.

[0038] This device can be widely used in intelligent operation and management scenarios for marine ranches, specifically including: 1. Environmental dynamic monitoring: With its flexible underwater mobility, it can carry monitoring equipment to conduct mobile monitoring of environmental parameters such as water quality and water temperature in marine ranch waters, making up for the coverage limitations of fixed monitoring stations.

[0039] 2. Biological resource management: The water jetting function enables the regulation of fish behavior and the driving away of predators, and assists in the precise positioning of food propagation areas, reducing the cost of manual management.

[0040] 3. Underwater equipment maintenance: Controllable jet cleaning is used to clean the surface of underwater aquaculture cages and monitor equipment, eliminating the need for manual diving operations and improving maintenance safety and efficiency.

[0041] 4. Scientific research and teaching demonstration: It can be used as an experimental platform for research on biomimetic robot technology, to verify technologies such as underwater propulsion and gesture interaction control, and can also be used as teaching demonstration equipment for majors such as mechanical design and automation in universities.

[0042] This invention is not limited to the preferred embodiment described above. Anyone inspired by this invention can derive various other forms of biomimetic water-shooting robotic fish with micro-pressurized jet devices and their operating methods. All equivalent variations and modifications made within the scope of the claims of this invention should be considered within the scope of this invention.

Claims

1. A biomimetic water jet machine fish with micro turbojet, comprising a machine fish body, characterized in that: The robotic fish body is embedded with a built-in water-shooting component. The water-shooting component includes a water-shooting chamber opened at the head of the robotic fish body. A pressure rod is slidably connected coaxially inside the water-shooting chamber to facilitate squeezing the chamber. The front end of the water-shooting chamber is connected to a water-shooting pipe that extends out of the fish head for shooting water. The top end of the water-shooting chamber is connected to a water inlet pipe. The rear end of the pressure rod is supported by a spring. A rack is fixed at the lower end of the pressure rod and meshes with an incomplete gear to drive the pressure rod to move backward and compress the spring. The incomplete gear is driven by a first servo motor.

2. The bionic water-jet fish with micro pressurized jet device according to claim 1, characterized in that: The water jet pipe is equipped with a one-way valve that supplies water only; L-shaped drive brackets are symmetrically fixed on both sides of the incomplete gear, and the drive brackets are driven by a first servo motor at the coaxial position with the incomplete gear.

3. The biomimetic water-shooting robotic fish with a micro-pressurized jet device according to claim 2, characterized in that: The water-shooting assembly includes a water-shooting frame embedded in the main body of the robotic fish, a water-shooting chamber opened on the water-shooting frame, a top cylinder fixed to the rear end of the pressure rod, and two ends of the spring respectively abutting between the rear end of the top cylinder and the rear end of the water-shooting frame. A guide rod protruding horizontally forward on the water-shooting frame is used to guide the spring.

4. The biomimetic water-shooting robotic fish with a micro-pressurized jet device according to claim 1, characterized in that: The robotic fish has symmetrically arranged flat pectoral fins on both sides of its head. The flat pectoral fins are fixedly connected by a connecting shaft. A drive gear meshes with a driven gear on the connecting shaft. The drive gear is driven by a second servo motor, which is embedded in the robotic fish body.

5. A biomimetic water-shooting robotic fish with a micro-pressurized jet device according to claim 3, characterized in that: The main body of the robotic fish is provided with a tail fin assembly at its tail end. The tail fin assembly includes a partition that separates the tail fin assembly from the water-shooting assembly. One side of the partition is fixedly connected to the water-shooting frame, and the other side is fixedly connected to a servo bracket. A third servo is fixedly mounted on the servo bracket. A tail fin mounting bracket is provided at the rear of the servo bracket. Two connecting plates protrude from the front end of the tail fin mounting bracket. The two connecting plates are located on the upper and lower sides of the servo bracket, respectively. One connecting plate is connected to the drive end of the third servo, and the other connecting plate is rotatably connected to the servo bracket.

6. A biomimetic water-shooting robotic fish with a micro-pressurized jet device according to claim 5, characterized in that: The tail fin mounting bracket is fixedly connected to the rear side of the tail fin skeleton, and the tail fin skeleton is covered with a silicone tail fin.

7. A biomimetic water-shooting robotic fish with a micro-pressurized jet device according to claim 1, characterized in that: The robotic fish body is equipped with a controller electrically connected to the water-shooting component, and a lithium battery pack for power supply is also installed inside the robotic fish body.

8. A biomimetic water-shooting robotic fish with a micro-pressurized jet device according to claim 1, characterized in that: A rubber ring is fitted and fixed to the front end of the pressure rod.

9. A biomimetic water-shooting robotic fish with a micro-pressurized jet device according to claim 1, characterized in that: The main body of the robotic fish is covered by an outer shell, which consists of a head shell, an upper shell, a lower shell, and a tail cover.

10. A method for operating a biomimetic water-shooting robotic fish with a micro-pressurized jet device, characterized in that, A biomimetic water-shooting robotic fish with a micro-pressurized jetting device as described in any one of claims 1-9 is employed, and the following steps are performed: the device is placed in a water environment, and the upward and downward movements are achieved by the forward and reverse rotation of the second servo motor driving the pectoral fin of the flat plate to pitch and swing, and the forward movement is achieved by the swinging of the silicone tail fin driven by the third servo motor; when the controller receives the water-shooting command, the first servo motor is activated, driving the incomplete gear to rotate, the linkage rack moves backward, and the top cylinder compresses the spring to complete the storage of elastic potential energy. During this process, the pressure rod moves backward, allowing external water to enter the water-shooting chamber from the water inlet pipe. When the spring compression reaches the maximum compression, the first servo motor quickly reverses its rotation, and in conjunction with the spring tension, the pressure rod moves forward quickly, squeezing the water in the water-shooting chamber and ejecting it at high speed from the water-shooting nozzle to form a columnar jet, thus completing the water-shooting action.

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