A submersible underwater bionic device

Abstract

The utility model discloses a kind of underwater bionic equipment of ascending submarine, including three-section cabin: front section detection cabin, middle section buoyancy control cabin and rear section propulsion cabin;Propulsion mechanism of driving equipment underwater travel;And in middle section buoyancy control cabin, the gravity center adjusting mechanism of controlling bionic equipment gravity center position, including linear guide, battery assembly and linear drive device of driving battery assembly operation are slidably installed on linear guide;Still include attitude control module;Basic buoyancy mechanism is configured to enable bionic equipment to maintain horizontal attitude in stationary floating state and back highest point is flush with water surface.When battery assembly moves forward, drive bionic equipment head to dip to realize submergence, when battery assembly moves backward, bionic equipment head floats to realize submergence.The utility model has the ability of advancing in water, ascending submarine, self-balancing;And small and exquisite, strong adaptability, mechanism integration is simplified;It also has sufficient expansion capacity simultaneously.

Description

Technical Field

[0001] This utility model relates to the field of bionic equipment technology, specifically to a bionic underwater device that can ascend and dive. Background Technology

[0002] Bionic devices, such as the commonly seen biomimetic robotic fish, are propelled machines that utilize the swimming motion mechanisms of fish. Equipped with various types of sensors and employing advanced control and communication methods, they can form a sensory system resembling a fish's body structure, capable of swimming. These robotic fish, equipped with different sensors, possess excellent maneuverability and stealth capabilities, allowing them to operate in confined spaces and achieve low-noise movement. Bionic devices can play a significant role in complex environments, fishing, marine monitoring, marine life observation, and military reconnaissance.

[0003] However, investigations have revealed that existing bionic devices often suffer from the following problems:

[0004] 1. The single drive system reduces flexibility and fails to meet the working requirements under various complex working conditions;

[0005] 2. The tail swing mechanism is made of rigid material, which on the one hand makes the overall speed of the robotic fish slow down, affecting the efficiency of underwater work, and on the other hand, it cannot buffer the impact of water flow, resulting in tail damage. It may also make the bionic device prone to yaw or even capsizing during movement.

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

[0007] 4. Using existing standard fixing frames fixes the internal structure of the fish, making it difficult to adjust the fish's density and lower its center of gravity, thus lacking the ability to dive and rise. Utility Model Content

[0008] This invention provides a submersible biomimetic underwater device, comprising a segmented sealed housing 1, the segmented sealed cavity including a front detection chamber 11, a mid-section buoyancy control chamber 12, and a rear propulsion chamber 13 connected in sequence; a propulsion mechanism 14 for driving the rear propulsion chamber 13 to swing relative to the mid-section buoyancy control chamber 12 to generate forward thrust; and a center of gravity adjustment mechanism 121 disposed within the mid-section buoyancy control chamber 12, including a linear slide rail, a battery assembly 1212 slidably mounted on the linear slide rail, and a linear drive device 1213 for driving the battery assembly 1212; and an attitude control module 122. When the battery assembly 1212 moves forward, it drives the head of the biomimetic device to tilt downward to achieve submersion; when the battery assembly 1212 moves backward, it drives the head of the biomimetic device to float upward to achieve submersion. This invention possesses the ability to move forward and turn, ascend and submerge, and self-balance in water; it is compact in size, highly adaptable, and has a simplified and integrated mechanism; it also has ample expandability.

[0009] To solve the above-mentioned technical problems, this utility model provides a biomimetic underwater device capable of ascending and diving, adopting the following technical solution, including...

[0010] The segmented sealed shell 1 includes a front section detection compartment 11, a middle section buoyancy control compartment 12 and a rear section propulsion compartment 13 connected in sequence.

[0011] The propulsion mechanism 14 is connected to the rear end of the mid-section buoyancy control cabin 12 and the front end of the rear-section propulsion cabin 13, and is configured to drive the rear-section propulsion cabin 13 to swing relative to the mid-section buoyancy control cabin 12 to generate forward thrust.

[0012] The center of gravity adjustment mechanism 121 is disposed on the inner wall of the shell of the mid-section buoyancy control cabin 12, and includes a linear slide rail 1211 extending along the axial direction of the mid-section buoyancy control cabin 12, a battery assembly 1212 slidably mounted on the linear slide rail, and a linear drive device 1213 for driving the battery assembly 1212 to move along the slide rail.

[0013] The attitude control module 122 is communicatively connected to the propulsion mechanism 14 and the center of gravity adjustment mechanism 121, and is configured to control the motion attitude of the bionic device.

[0014] A basic buoyancy mechanism is set inside the segmented sealed housing 1. The basic buoyancy mechanism and the center of gravity adjustment mechanism 121 are configured in concert such that when the battery assembly 1212 is located in the middle position of the linear slide rail 1211, the bionic device can maintain a horizontal attitude and the highest point of its back is flush with the water surface in a static floating state.

[0015] The battery assembly 1212 is configured to drive the head of the bionic device to tilt downwards to achieve diving when moving toward the front probe cabin 11, and to drive the head of the bionic device to tilt upwards to achieve surfacing when moving toward the rear propulsion cabin 13.

[0016] This utility model provides a biomimetic underwater device that can rise and submerge, and has the ability to move forward and turn, rise and submerge, and self-balance in water; it is also small in size, highly adaptable, and has a simplified and integrated structure; and it also has ample expansion capabilities.

[0017] As described above, the underwater biomimetic device capable of ascending and diving also includes a center of gravity adjustment mechanism 121 that further includes a slider 1214 detachably connected to the battery assembly 1212, wherein the battery assembly 1212 is slidably mounted on the linear slide rail 1211 via the slider 1214.

[0018] As described above, the underwater biomimetic device capable of ascending and diving includes a linear drive device 1213 comprising a lead screw 12131 and an adjustment motor 12132 for driving the lead screw 12131 to rotate. The lead screw 12131 is threadedly engaged with the slider 1214 and converts the rotational motion of the adjustment motor 12132 into the linear motion of the battery assembly 1212.

[0019] As described above, the underwater biomimetic device capable of rising and diving also includes a steering mechanism 15, which is connected to the rear end of the front detection chamber 11 and the front end of the mid-section buoyancy control chamber 12, and is configured to drive the front detection chamber 11 to rotate relative to the mid-section buoyancy control chamber 12 to change the direction of travel of the biomimetic device.

[0020] As described above, in a submersible biomimetic underwater device, the steering mechanism 15 includes a steering servo 151 disposed at the front end of the mid-section buoyancy control chamber 12. The steering arm of the steering servo 151 is connected to the rear end of the front-section detection chamber 11. The steering servo 151 is configured to drive the front-section detection chamber 11 to swing relative to the mid-section buoyancy control chamber 12.

[0021] As described above, in a submersible biomimetic underwater device, the steering servo 151 is configured to drive the front detection chamber 11 to swing horizontally by 25° relative to the mid-section buoyancy control chamber 12.

[0022] As described above, in a submersible biomimetic underwater device, the propulsion mechanism 14 includes a swing servo 141 disposed at the rear end of the mid-section buoyancy control chamber 12. The steering arm of the swing servo 141 is connected to the front end of the rear propulsion chamber 13. The rear propulsion chamber 13 includes a flexible fishtail component 131 made of flexible material disposed at the rear end of the rear propulsion chamber 13. The swing servo 141 generates propulsion force by swinging the rear propulsion chamber 13, thereby driving the flexible fishtail component 131 to swing.

[0023] As described above, in a submersible biomimetic underwater device, the oscillating servo 141 is configured to drive the rear propulsion chamber 13 to oscillate horizontally by 35° relative to the mid-section buoyancy control chamber 12.

[0024] As described above, in a submersible biomimetic device, two pectoral fin servo motors 1231 are symmetrically arranged on the outer shell of the mid-section buoyancy control chamber 12 near the front section detection chamber 11. Both pectoral fin servo motors 1231 are connected to deflectable pectoral fins 123 and are communicatively connected to the attitude control module 122. The pectoral fins 123 are configured to assist the biomimetic device in pitching or rolling.

[0025] As described above, in a submersible biomimetic underwater device, the front detection chamber 11 is equipped with a detection system 111. The detection system 111 includes a sonar detector, a camera, and a lighting lamp. The detection system 111 is configured to detect the presence of fish and / or environmental information.

[0026] As described above, in a submersible biomimetic underwater device, a wireless communication module 132 is provided on the shell of the mid-section buoyancy control chamber 12 and / or the shell of the rear-section propulsion chamber 13. The wireless communication module 132 is configured to transmit and receive wireless signals.

[0027] As described above, in a submersible biomimetic underwater device, the bottom of the mid-section buoyancy control chamber 12 is provided with a wireless charging module 124, which is electrically connected to the battery assembly 1212 and is configured to charge the battery assembly 1212.

[0028] As described above, in a submersible biomimetic underwater device, the top shell of the mid-section buoyancy control chamber 12 is provided with a dorsal fin 125 for stabilizing the forward attitude.

[0029] As described above, in a submersible biomimetic device, a radar detection system 1251 is installed on the top shell of the mid-section buoyancy control chamber 12. The radar detection system 1251 is configured to monitor obstacles on the water surface or in the water in real time, so as to enable the biomimetic device to automatically avoid obstacles.

[0030] As described above, in a submersible biomimetic underwater device, the attitude control module 122 includes an IMU sensor 1221 and an MCU control unit. The IMU sensor 1221 is mounted on the inner wall of the front detection chamber 11 via a shock-absorbing structure and is communicatively connected to the MCU control unit, configured to collect motion data of the biomimetic device. The MCU control unit is mounted on the inner wall of the mid-section buoyancy control chamber 12 and is configured to control various actuators based on the motion data.

[0031] As described above, in a submersible biomimetic underwater device, the shock-absorbing structure includes a three-point silicone support welded to the inner wall of the shell of the forward detection chamber 11.

[0032] As described above, in the underwater biomimetic device capable of rising and diving, sealing components 16 are provided at the connection between the front end of the front detection chamber 11 and the front end of the mid-section buoyancy control chamber 12, and at the connection between the rear end of the mid-section buoyancy control chamber 12 and the front end of the rear propulsion chamber 13.

[0033] As described above, in a biomimetic underwater device capable of ascending and diving, a battery box is provided on the inner wall of the bottom shell of the mid-section buoyancy control chamber 12. The battery box includes a detachably connected battery base box 1262 and a battery box cover 1263. The battery base box 1262 and the battery box cover 1263 together define the accommodating space of the center of gravity adjustment mechanism 121. The linear slide rail 1211 and the linear drive device 1213 are disposed on the battery base box 1262.

[0034] As described above, the underwater biomimetic device capable of rising and diving also includes a counterweight 127, which is disposed on the inner wall of the bottom shell of the mid-section buoyancy control chamber 12 and / or connected to the battery assembly 1212. The counterweight 127 is configured to lower the center of gravity of the biomimetic device.

[0035] As described above, the underwater biomimetic device capable of rising and diving includes a basic buoyancy mechanism comprising a buoyancy component 2 disposed within a segmented sealed housing 1. The buoyancy component 2 is made of foamed material and is distributed within at least one of the following compartments: the front detection compartment 11, the mid-section buoyancy control compartment 12, or the rear propulsion compartment 13, to provide buoyancy.

[0036] Compared with the prior art, the present invention has the following advantages:

[0037] 1. This utility model adopts a three-section structure. Through the center of gravity adjustment mechanism 121 in the middle buoyancy control chamber 12, the center of gravity of the main body of the bionic device can be adjusted in real time to achieve the pitch of the main body. With the propulsion mechanism 14 of the rear propulsion chamber, it can achieve diving and floating. It is compact in size, highly adaptable, and has a simplified and integrated mechanism; at the same time, it also has sufficient expansion capabilities.

[0038] 2. The front probe compartment 11 steering servo 151, pectoral fin servo 1231, rear propulsion compartment 13 swing servo 141 and center of gravity adjustment mechanism 121 work together to achieve pitch, turn, roll and dive / surface control, thus achieving high maneuverability.

[0039] 3. The rear propulsion compartment 13 adopts a flexible fishtail component 131, which can effectively buffer the impact of water flow while realizing biomimetic wave propulsion.

[0040] 4. Employs real-time data fusion of IMU and MCU to intelligently control the motion posture of bionic devices.

[0041] 5. The modular design and the sealed battery pack improve waterproof performance. The 1212 battery pack can be quickly disassembled, reducing maintenance costs and making maintenance more convenient and efficient.

[0042] 6. Bionic devices typically float on the water surface, which saves energy, increases battery life, reduces battery weight, and improves flexibility. Attached Figure Description

[0043] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, wherein:

[0044] Figure 1 This is a three-dimensional structural diagram of a biomimetic underwater device capable of submerging and rising from the surface according to this utility model.

[0045] Figure 2 This is a schematic diagram of the cross-sectional structure of a biomimetic underwater device capable of submerging and rising from the surface according to this utility model.

[0046] Figure 3 This is an exploded structural diagram of the mid-section buoyancy control chamber 12 of a submersible biomimetic underwater device according to the present invention.

[0047] Figure 4 This is a schematic diagram of the steering mechanism 15 of a biomimetic underwater device capable of rising and diving according to the present invention.

[0048] Figure 5 This is a schematic diagram of the propulsion structure of a biomimetic underwater device capable of submersion according to the present invention.

[0049] Figure 6 This is a schematic diagram of the submersible biomimetic underwater device of this utility model during its descent.

[0050] Figure 7 for Figure 6 A schematic diagram of the cross-sectional structure;

[0051] Figure 8 This is a schematic diagram of the structure of a submersible biomimetic underwater device of this utility model when it is floating.

[0052] Figure 9 for Figure 8 A schematic diagram of the cross-sectional structure;

[0053] Figure 10 This is a schematic diagram of the structure of a submersible biomimetic underwater device according to the present invention when it is turning.

[0054] Figure 11This is a diagram showing the quick-release battery structure of a submersible biomimetic device according to the present invention.

[0055] Figure 12 This is an exploded view of the overall structure of a submersible biomimetic device according to this utility model. Detailed Implementation

[0056] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0057] like Figure 1 As shown, a submersible biomimetic underwater device includes a segmented sealed shell 1, employing a three-section sealed shell structure, comprising a front detection chamber 11, a mid-section buoyancy control chamber 12, and a rear propulsion chamber 13 connected sequentially; a propulsion mechanism 14, connecting the rear end of the mid-section buoyancy control chamber 12 and the front end of the rear propulsion chamber 13, configured to drive the rear propulsion chamber 13 to swing relative to the mid-section buoyancy control chamber 12 to generate forward thrust; a center of gravity adjustment mechanism 121, disposed within the mid-section buoyancy control chamber 12, including a linear slide rail 1211 extending along the axis of the mid-section buoyancy control chamber 12, a battery assembly 1212 slidably mounted on the linear slide rail, and a linear drive device 1213 driving the battery assembly 1212 to move along the slide rail; and an attitude control module 12. 2. Communicatively connected to the propulsion mechanism 14 and the center of gravity adjustment mechanism 121, configured to control the motion attitude of the bionic device; the basic buoyancy mechanism is set inside the segmented sealed shell 1. The basic buoyancy mechanism and the center of gravity adjustment mechanism 121 are coordinated to ensure that when the battery assembly 1212 is located in the middle position of the linear slide rail 1211, the bionic device can maintain a horizontal attitude and the highest point of its back is flush with the water surface in a static floating state; preferably, the basic buoyancy mechanism can be a buoyancy cavity, which contains air or a material that can provide buoyancy, such as foam; the battery assembly 1212 is configured to drive the head of the bionic device to tilt down to achieve submersion when moving towards the front probe chamber 11; and drive the head of the bionic device to tilt up to achieve buoyancy when moving towards the rear propulsion chamber 13. The present invention provides a submersible underwater bionic device with the ability to move forward and turn, submerge, and self-balance in water; it is also small in size, highly adaptable, and has a simplified and integrated mechanism; and it also has sufficient expansion capabilities.

[0058] like Figure 1 and Figure 2As shown, one embodiment of the biomimetic device provided by this utility model can be a biomimetic fish, or it can be a biomimetic ray or other biomimetic structures. The front detection chamber 11 can be set to a total length of 120mm and a maximum diameter of 80mm, including a 15mm streamlined biomimetic fish mouth structure and a 105mm sealed buoyancy cavity. The streamlined design of the fish mouth reduces water resistance and avoids turbulence interfering with the sensor. The front detection chamber 11 uses an aluminum alloy shell. The buoyancy cavity of the front detection chamber 11 integrates an IMU sensor 1221, which is a BMI088 six-axis sensor, including an MS5837 pressure sensor. The sensor is installed 2mm above the center line of the chamber, 50mm from the front end, and is fixed by a three-point silicone shock-absorbing bracket to filter vibration and make the attitude data more accurate. Preferably, the buoyancy cavity of the forward detection chamber 11 is further equipped with a detection system 111, which is capable of detecting the presence of fish and the environment. The detection system 111 includes a visual detection system 111, a sonar detector, an image recognition system, and auxiliary detection lights. Preferably, the visual detection system 111 adopts a fisheye dual-axis gimbal 1111, which includes a sonar and a camera. It is positioned above the fish mouth structure of the bionic device, close to the eye of the bionic device and near the IMU sensor 1221, and can achieve ±30° pitch adjustment to expand the detection area. Auxiliary searchlights are configured on both sides of the gimbal to improve image clarity and detection accuracy.

[0059] like Figures 1-3As shown, the mid-section buoyancy control cabin 12 can be configured as a sealed buoyancy cabin with a total length of 160mm and a maximum diameter of 100mm. The mid-section buoyancy control cabin 12 uses an aluminum alloy shell, and the cabin walls are made of carbon fiber reinforced nylon material. The mid-section buoyancy control cabin 12 is equipped with a center of gravity adjustment mechanism 121. The center of gravity adjustment mechanism 121 includes two HIWIN MGN12C linear slide rails 1211 arranged parallel to each other along the axial direction at the bottom of the cabin. The slide rails are 170mm long, spaced 45mm apart, and have a load capacity ≥5kg. The dual linear slide rails 1211 can improve load capacity, enhance anti-roll capability, and increase attitude response speed. It also includes a battery assembly 1212, which is a rectangular structure of 70×50×25mm. The battery assembly 1212 integrates a tungsten alloy counterweight 127, accounting for 30% of the mass, and has a 2-hour endurance capability. Preferably, it also includes a slider 1214, and the battery assembly 1212 is fixed to the slider 1214 by four sets of M3 screws. It also includes a linear drive device 1213 for moving the battery assembly 1212 along the slide rail. Preferably, the linear drive device 1213 includes a lead screw 12131 and an adjusting motor 12132 for rotating the lead screw 12131. The lead screw 12131 is threadedly engaged with the slider 1214, converting the rotational motion of the adjusting motor 12132 into the linear motion of the battery assembly 1212. The lead screw 12131 is a trapezoidal lead screw with a diameter of Φ12mm and a lead of 5mm; the adjusting motor 12132 is a stepper motor, which is simple, practical, and reliable. Preferably, the linear drive device 1213 can also adopt common linear drive structures such as cylinders or connecting rods. A Φ50mm diameter wireless charging coil is embedded on the inner bottom of the mid-section buoyancy control cabin 12. It adopts the Qi standard, has an efficiency of 85%, and is compatible with wireless charging. If used with a solar wireless charging panel, it can be expanded to solar wireless charging, improving environmental adaptability. Preferably, a counterweight 127 can be installed at the bottom of the mid-section buoyancy control cabin 12 to lower the center of gravity and improve the stability of the bionic device. The mid-section buoyancy control cabin 12 integrates an attitude control module 122, which is configured to control the motion attitude of the bionic device. This module includes an MCU control unit located inside the mid-section buoyancy control cabin 12 and an IMU sensor 1221 electrically connected to the MCU control unit. Preferably, the MCU control unit includes an STM32H743 main controller, a battery management system, a communication module, a depth sensor MS5837, and a Hall sensor for detecting the position of the lead screw 12131. Multiple sensors work together to improve recognition accuracy. Preferably, two pectoral fin servos 1231 are symmetrically arranged on the outer shell of the mid-section buoyancy control cabin 12 near the front detection cabin 11. Both pectoral fin servos 1231 are connected to deflectable pectoral fins 123 and are communicatively connected to the attitude control module 122. The pectoral fins 123 are configured to assist the bionic device in pitching or rolling.The pectoral fins 123 provide stability during straight-line navigation, generate lift when surfacing, and generate pressure when surfacing, improving the ability to operate in complex environments and increasing energy efficiency.

[0060] like Figure 1 and Figure 2 As shown, the aft propulsion compartment 13 can be configured with a total length of 120mm and a maximum diameter of 70mm. The aft propulsion compartment 13 uses a fiberglass shell, with a tapered section transitioning to the tail section. The aft propulsion compartment 13 includes a flexible fishtail component 131 made of flexible material. By swinging the aft propulsion compartment 13, the flexible fishtail component 131 swings to generate propulsion force, and the flexible tail section more easily generates vortex propulsion. Preferably, a wireless communication module 132 is installed inside the aft propulsion compartment 13. The wireless communication module 132 is configured for transmitting and receiving wireless signals. Preferably, the wireless communication module 132 includes a flexible PCB antenna manufactured using laser direct forming technology. The flexible PCB antenna is attached to the upper edge of the flexible fishtail component 131 to enhance signal transmission. The skeleton of the flexible fishtail component 131 is made of gradient hardness silicone, with a Shore hardness gradually changing from 40A to 70A, and internally embedded with spring steel sheets, Φ1.2mm in diameter and spaced 8mm apart. Preferably, in addition to the 5G antenna deployed on the tail fin, redundant antennas operating in different frequency bands can also be deployed on the dorsal fin 125, dual-frequency diversity reception can improve the signal-to-noise ratio, and a ring-shaped slot remote control receiving antenna can be integrated in the tail peduncle, 30mm from the root of the tail fin.

[0061] The connection structure of each section is as follows Figure 4 and Figure 5 As shown, Figure 4As shown, the front probe cabin 11 and the mid-section buoyancy control cabin 12 are connected by a steering mechanism 15. The steering mechanism 15 is configured to drive the front probe cabin 11 to rotate relative to the mid-section buoyancy control cabin 12 to change the direction of travel of the bionic device. The steering mechanism 15 adopts an orthogonal axis gear transmission scheme, which is highly efficient and has a stable center of gravity. Preferably, this orthogonal axis gear transmission scheme can be implemented using a conventional servo motor's variable speed gear set. The steering mechanism 15 includes a steering servo motor 151 located at the front end of the mid-section buoyancy control cabin 12. The steering arm of the steering servo motor 151 is connected to the front probe cabin 11. The steering servo motor 151 is configured to drive the front probe cabin 11 to swing horizontally relative to the mid-section buoyancy control cabin by ±15°-25°. Preferably, the gearbox of the steering servo motor 151 adopts a laser-welded stainless steel shell with a magnetohydrodynamic rotary seal, and is internally filled with perfluoropolyether (PFPE) oil bath lubrication. A Φ3mm miniature solenoid valve is provided at the bottom of the gearbox for emergency drainage. The steering servo 151 is electrically connected to the MCU control unit, which controls its movement. Preferably, the steering servo 151 is positioned near the bottom of the mid-section buoyancy control chamber 12, at the center of gravity, which improves stability. Preferably, since the steering servo 151 is positioned near the bottom, the steering mechanism 15 also includes a steering bearing 153 positioned near the top of the front detection chamber 11. The steering bearing 153 is fitted onto the mid-section buoyancy control chamber 12, which has a steering waterproof rubber ring 152. The steering arm of the steering servo 151 includes a movable end connected to the front detection chamber 11 and a fixed end connected to the transmission gear set. The axis of the steering bearing 153 coincides with the axis of the fixed end of the steering arm of the steering servo 151. This combination of the steering servo 151 and the steering bearing 153 improves connection stability and ensures head rotation performance.

[0062] like Figure 5As shown, the mid-section buoyancy control cabin 12 and the rear-section propulsion cabin 13 are connected by a propulsion mechanism 14. The propulsion mechanism 14 is configured to drive the rear-section propulsion cabin 13 to swing relative to the mid-section buoyancy control cabin 12 to generate forward thrust. The propulsion mechanism 14 adopts an orthogonal axis gear transmission scheme, which is highly efficient and has a stable center of gravity. Preferably, this orthogonal axis gear transmission scheme can be implemented using a conventional servo motor's variable speed gear set. The propulsion mechanism 14 includes a swing servo motor 141 located at the rear end of the mid-section buoyancy control cabin 12. The steering arm of the swing servo motor 141 is connected to the rear-section propulsion cabin 13. The swing servo motor 141 is configured to drive the rear-section propulsion cabin 13 to swing horizontally relative to the mid-section buoyancy control cabin 12 by ±30°-35°. Preferably, the gearbox of the swing servo motor 141 adopts a laser-welded stainless steel shell with a magnetohydrodynamic rotary seal, and is internally filled with perfluoropolyether (PFPE) oil bath lubrication. A Φ3mm miniature solenoid valve is provided at the bottom of the gearbox for emergency drainage. The oscillating servo 141 is electrically connected to the MCU control unit, which controls its movement. Preferably, the oscillating servo 141 is located near the bottom of the rear end of the mid-section buoyancy control chamber 12, which improves stability. Preferably, since the oscillating servo 141 is located near the bottom, the propulsion mechanism 14 also includes an oscillating bearing 143 located near the top of the rear propulsion chamber 13. The oscillating bearing 143 is fitted onto the mid-section buoyancy control chamber 12, which has an oscillating waterproof rubber ring 142. The steering arm of the oscillating servo 141 includes a movable end connected to the rear propulsion chamber 13 and a fixed end connected to the transmission gear set. The axis of the oscillating bearing 143 coincides with the axis of the fixed end of the steering arm of the oscillating servo 141. This combination of the oscillating servo 141 and the oscillating bearing 143 improves connection stability and ensures tail rotation performance.

[0063] like Figures 6-9 The diagram shown is a structural diagram and an internal state diagram of the bionic device of this invention during diving and surfacing. Figures 6-9This is an embodiment of the present invention. The bionic device in this embodiment is a bionic fish. The following description uses a bionic fish as an example. The diving and surfacing of the bionic device are achieved through the coordinated control of three major modules: the center of gravity adjustment mechanism 121, the tail fin propulsion, and the pectoral fin 123. The entire process is uniformly commanded by the MCU control unit, with sensors providing real-time feedback, forming a highly efficient closed-loop system. The core principle is that the movement of the center of gravity drives the pitch attitude. The battery assembly 1212 is located at the bottom of the mid-section buoyancy control chamber 12, and is the heaviest single component inside the main body of the bionic device. The battery assembly 1212 moves linearly within the mid-section buoyancy control chamber 12 via a linear drive device 1213. When diving is required, the MCU control unit commands the stepper motor to rotate, driving the lead screw 12131 to move the battery assembly 1212 forward along the linear slide rail 1211, i.e., towards the head of the bionic device. When the battery assembly 1212 moves forward, the center of gravity of the entire bionic device moves forward. Based on the lever principle, this causes the fish's head to sink and its tail to rise, creating a diving posture. When ascent is needed, the MCU control unit commands the stepper motor to rotate in the opposite direction, driving the lead screw 12131 to move the battery assembly 1212 backward along the linear guide rail 1211, i.e., in the tail direction of the bionic device. When the battery assembly 1212 moves backward, the center of gravity of the entire bionic device shifts backward. Based on the lever principle, this causes the fish's head to rise and its tail to sink, creating a head-tilting posture. The posture angle generated by the shift in the center of gravity alone is not enough to efficiently achieve surfacing and diving; the coordination of propulsion and fluid lift / depressurization is also required. Propulsion is achieved by the oscillation of the tail fin, while fluid lift / depressurization is achieved by the pectoral fins 123. When the tail fin oscillates regularly from side to side, it pushes the water flow backward, generating forward thrust according to Newton's third law, which is the main driving force for the bionic device's forward movement. When diving, the bionic device is already in a diving posture, and the tail fin maintains a normal propulsive oscillation frequency, providing forward propulsion. This forward momentum, combined with the downward angle of the fish's head, decomposes into a downward force, driving the bionic device downwards. The same principle applies to upward buoyancy. Furthermore, the cooperation of pectoral fins 123 is required. These fins, symmetrically positioned on both sides of the mid-section buoyancy control cabin 12, have an airfoil structure and are driven by pectoral fin servos 1231. During divergence, after the center of gravity shifts forward to form a diving posture, the MCU control unit commands both pectoral fins 123 to simultaneously deflect downwards, for example, by -30°. At this time, the airfoil section of the pectoral fins 123 behaves like the downward deflection of an airplane wing. According to Bernoulli's principle, a low-pressure area is generated on the upper surface of the pectoral fins 123, and a high-pressure area is generated on the lower surface, thus generating a downward force. This force significantly enhances the tendency of the bionic device's head to sink, making the dive faster and more stable. When it rises, the center of gravity shifts backward to form a head-up posture. The MCU control unit commands the two pectoral fins 123 to deflect upward simultaneously, for example, by +30°. At this time, according to Bernoulli's principle, an upward lift is generated. This force greatly enhances the tendency of the bionic device to lift its head, making the ascent speed faster and more stable.By combining a solution involving center of gravity shift, tail fin propulsion, pectoral fin hydrodynamics, and precise control, the biomimetic device can perform surfacing and diving maneuvers in water as flexibly, efficiently, and stably as a real fish.

[0064] like Figure 10 The diagram shows the structure of the bionic device of this invention during steering. The core steering mechanism of the bionic device lies in the relative rotation of the front detection chamber 11 and the mid-section buoyancy control chamber 12. The front detection chamber 11 is connected to the mid-section buoyancy control chamber 12 via a steering mechanism 15, which includes a steering servo 151 that controls the deflection of the front detection chamber 11. When steering is required, such as turning left, the MCU control unit controls the steering servo 151 to rotate the front detection chamber 11 counterclockwise by an angle, for example, 15°, viewed from above the bionic device. At this time, the streamlined head, i.e., the mouth part of the bionic device, is no longer parallel to the forward direction of the main body, but forms an angle. When the bionic device moves forward under the propulsion of the tail fin, the water flow impacts the front detection chamber 11 and generates a lateral force. This lateral force generates a deflection torque that causes the head of the bionic device to continue to turn to the left, achieving a leftward turn while the tail fin continues to provide thrust. Similarly, when a right turn is needed, the MCU control unit controls the steering servo 151 to rotate the front probe chamber 11 clockwise by an angle, for example, 15°, viewed from above the bionic device. At this point, the streamlined head, i.e., the mouth part of the bionic device, is no longer parallel to the forward direction of the main body, but forms an angle. When the bionic device moves forward under the propulsion of the tail fin, the water flow impacts the front probe chamber 11, generating a lateral force. This lateral force produces a deflection torque that causes the head of the bionic device to continue turning to the right. With the tail fin continuously providing thrust, a right turn is achieved. This turning direction, different from the tail rudder of traditional underwater robots, is one of the key bionic designs, enabling it to achieve flexible turning movements similar to those of a real fish.

[0065] like Figure 11The diagram shows a quick-release battery structure for a submersible biomimetic device according to this invention. The mid-section buoyancy control chamber 12 houses a battery box, the interior of which serves as a space for accommodating the center-of-gravity adjustment mechanism 121. The battery box includes a battery base box 1262 and a battery box cover 1263. A linear slide rail 1211 and a linear drive device 1213 are mounted on the battery base box 1262. The battery base box 1262 and the battery box cover 1263 are detachably connected by screws. The battery assembly 1212 is located within an independently sealed chamber, improving waterproof performance. A waterproof door 1261 is opened at the bottom of the mid-section buoyancy control chamber 12, sealed with a silicone sealing ring and an electromagnetic lock. The battery box is mounted on the waterproof door 1261. The battery assembly 1212 is designed as a drawer-type structure, meaning it snaps onto a slider 1214. The bottom of the battery assembly 1212 has magnetic quick-release contacts with an IPX7 waterproof rating. When replacing battery assembly 1212, simply open the electromagnetic lock of the waterproof compartment door 1261 to expose the battery base box 1262. Loosen the mounting screws connecting the battery base box 1262 and the battery cover 1263 to reveal the battery assembly 1212. Then, simply pull the battery assembly 1212 out of the slot in the slider 1214. Align the fully charged battery assembly 1212 with the slot on the slider 1214 and push it in completely. When the fully charged battery assembly 1212 is in place, the magnetic contacts automatically close. Then, assemble the battery base box 1262 and the waterproof compartment door 1261 one by one, and lock the electromagnetic lock to complete the battery assembly 1212 replacement. Magnetic guidance enables precise blind-operation docking, multiple seals ensure the battery assembly 1212 is waterproof, and the simple quick-release structure allows for a rapid 30-second battery swap, making it simple and practical.

[0066] like Figure 1 and Figure 2 As shown, the top of the mid-section buoyancy control cabin 12 is equipped with a dorsal fin 125. The dorsal fin 125 adopts an airfoil cross-section, featuring low drag and high stability. The dorsal fin 125 uses a carbon fiber main frame, and the outer surface is covered with a flexible skin, which is integrally molded from silicone with a Shore A hardness of 60A. The dorsal fin 125 can generate a downwash flow during the movement of the biomimetic device to suppress tail vortices and reduce deviation from the straight course. Preferably, the dorsal fin 125 can carry an equipment platform, such as a radar detection system 1251. The radar detection system 1251 can adopt a lidar solution, a sonar solution, or a dual-mode collaborative architecture. With the help of cloud algorithms, it can achieve obstacle avoidance and autonomously plan detour paths.

[0067] like Figure 12The diagram shown is an exploded view of the overall submersible biomimetic device of this invention. Sealing assemblies 16 are provided at the connections between the forward detection chamber 11 and the mid-section buoyancy control chamber 12, as well as at the connections between the mid-section buoyancy control chamber 12 and the aft propulsion chamber 13. The sealing assemblies 16 include inter-section flange seals, rotary shaft seals, and dynamic gap seals. The flange seals of each section use fluororubber O-rings and anaerobic sealant. The head steering shaft connecting the forward detection chamber 11 and the mid-section buoyancy control chamber 12 uses a Trelleborg HS-type rotary seal, reinforced with fluororubber and aramid fibers. The tail swing shaft connecting the mid-section buoyancy control chamber 12 and the aft propulsion chamber 13 uses a magnetohydrodynamic seal, employing a perfluoropolyether carrier fluid and nano-iron powder. The dynamic gap between the forward detection chamber 11 and the mid-section buoyancy control chamber 12 is sealed with a U-shaped silicone seal ring. The seal ring has a cross-section of Φ12mm, a lip thickness of 2mm, a Shore hardness of 50A, and a compression set of <10%. It is installed using double-sided adhesive with 3M 4905 glue and a mechanical clip, which uses a stainless steel spring. The mid-section buoyancy control chamber 12 and the aft propulsion chamber 13 are sealed with an X-shaped four-lip fluororubber seal. The seal has a Shore hardness of 70A, and the coefficient of friction after silicone grease lubrication is 0.3. It is installed using a molded integrated sealing groove. Preferably, to further enhance the waterproof effect, a skin 161 is provided on the main body of the bionic device. Preferably, the gap between the forward and mid-sections uses a corrugated silicone sleeve with a thickness of 1.5mm and a Shore hardness of 40A; the main body of the mid-section is coated with polyurethane elastomer with a thickness of 2mm and a surface Ra of 0.8μm; the gap between the aft and mid-sections uses a segmented fluororubber skin with a thickness of 2mm and a Shore hardness of 70A. Preferably, the pectoral fin 123 is made of gradient hardness silicone, with a Shore A hardness of 60A at the base and 40A at the tip. The flexible fishtail part 131 is covered with a thermoplastic polyurethane (TPU) film with a thickness of 0.8mm. Through the synergistic solution of elastomer sealing and composite skin, an IP68 protection rating is achieved while ensuring the freedom of movement. The fluid-optimized guide skin 161 system reduces the overall drag coefficient to 0.071, a 14% reduction compared to the initial design, fully meeting the agile maneuverability requirements within a 5-meter water depth.

[0068] like Figure 12 As shown, the basic buoyancy mechanism includes a buoyancy component 2 disposed within a segmented sealed shell 1. The buoyancy component 2 is made of foamed material and is distributed within at least one of the following chambers: the front detection chamber 11, the mid-section buoyancy control chamber 12, or the rear propulsion chamber 13, to provide buoyancy. The buoyancy component 2 is configured such that the spine of the biomimetic device is flush with the water surface when it is normally floating. Preferably, as shown... Figure 12As shown, the front detection chamber 11 is equipped with a front buoyancy component 21, and the middle buoyancy control chamber 12 is equipped with a middle buoyancy component 22. The buoyancy component 22 can be made of polyethylene foam material to provide buoyancy. The foam has strong shaping ability and can provide buoyancy while also protecting the equipment inside the chamber. Preferably, the buoyancy component 22 is designed to be detachable and can be quickly pulled out. In practical applications, for example, the total required buoyancy compensation = total displacement - total weight - detection equipment load = 2322g - 1420g - 200g = 702g. After obtaining the total required buoyancy compensation, the front, middle and rear sections can be balanced according to the specific proportions to determine the required corresponding buoyancy body, such as the volume of polyethylene foam. By adopting the buoyancy component 2 balancing system, buoyancy is precisely controlled while maintaining maintainability. The device floats on the water surface under normal conditions, improving energy efficiency and enabling the bionic device to maintain stable performance during long-term underwater operation. Maintenance time is reduced by 70% compared to traditional solutions, meeting industrial-grade reliability requirements.

Claims

1. A biomimetic underwater device capable of submersion, characterized in that... include: The segmented sealed shell (1) includes a front section exploration compartment (11), a middle section buoyancy control compartment (12) and a rear section propulsion compartment (13) connected in sequence. The propulsion mechanism (14), which connects the rear end of the mid-section buoyancy control cabin (12) and the front end of the rear-section propulsion cabin (13), is configured to drive the rear-section propulsion cabin (13) to swing relative to the mid-section buoyancy control cabin (12) to generate forward thrust; The center of gravity adjustment mechanism (121) is disposed on the inner wall of the shell of the mid-section buoyancy control cabin (12), and includes a linear slide rail (1211) extending along the axial direction of the mid-section buoyancy control cabin (12), a battery assembly (1212) slidably mounted on the linear slide rail, and a linear drive device (1213) for driving the battery assembly (1212) to move along the slide rail. The attitude control module (122) is communicatively connected to the propulsion mechanism (14) and the center of gravity adjustment mechanism (121) and is configured to control the motion attitude of the bionic device; The basic buoyancy mechanism is set inside the segmented sealed housing (1). The basic buoyancy mechanism and the center of gravity adjustment mechanism (121) are configured to work together so that when the battery assembly (1212) is located in the middle position of the linear slide rail (1211), the bionic device can maintain a horizontal attitude and the highest point of its back is flush with the water surface in a static floating state. The battery assembly (1212) is configured to drive the head of the bionic device to tilt downwards to achieve diving when moving toward the front probe cabin (11); and to drive the head of the bionic device to tilt upwards to achieve buoyancy when moving toward the rear propulsion cabin (13).

2. The underwater biomimetic device capable of submersion as described in claim 1, characterized in that... The center of gravity adjustment mechanism (121) also includes a slider (1214) detachably connected to the battery assembly (1212), the battery assembly (1212) being slidably mounted on the linear slide rail (1211) via the slider (1214).

3. The underwater biomimetic device capable of submersion as described in claim 2, characterized in that... The linear drive device (1213) includes a lead screw (12131) and an adjusting motor (12132) that drives the lead screw (12131) to rotate. The lead screw (12131) is threadedly engaged with the slider (1214) and converts the rotational motion of the adjusting motor (12132) into the linear motion of the battery assembly (1212).

4. The underwater biomimetic device capable of submersion as described in claim 1, characterized in that... It also includes a steering mechanism (15) that connects the rear end of the front probe cabin (11) and the front end of the mid-section buoyancy control cabin (12) and is configured to drive the front probe cabin (11) to rotate relative to the mid-section buoyancy control cabin (12) to change the direction of travel of the bionic device.

5. The submersible biomimetic device as described in claim 4, characterized in that... The steering mechanism (15) includes a steering servo (151) disposed at the front end of the mid-section buoyancy control cabin (12). The steering arm of the steering servo (151) is connected to the rear end of the front section detection cabin (11). The steering servo (151) is configured to drive the front section detection cabin (11) to swing relative to the mid-section buoyancy control cabin (12).

6. The submersible biomimetic underwater device as described in claim 5, characterized in that... The steering servo (151) is configured to drive the front probe compartment (11) to swing horizontally by ±25° relative to the mid-section buoyancy control compartment (12).

7. The underwater biomimetic device capable of submersion as described in claim 1, characterized in that... The propulsion mechanism (14) includes a swing servo (141) located at the rear end of the mid-section buoyancy control cabin (12). The steering arm of the swing servo (141) is connected to the front end of the rear propulsion cabin (13). The rear propulsion cabin (13) includes a flexible fishtail component (131) made of flexible material located at the rear end of the rear propulsion cabin (13). The swing servo (141) generates propulsion force by swinging the rear propulsion cabin (13) and causing the flexible fishtail component (131) to swing.

8. The submersible biomimetic device as described in claim 7, characterized in that... The oscillating servo (141) is configured to drive the rear propulsion compartment (13) to oscillate horizontally by ±35° relative to the mid-section buoyancy control compartment (12).

9. The submersible biomimetic device as described in claim 1, characterized in that... Two pectoral fin servos (1231) are symmetrically arranged on the outer shell of the mid-section buoyancy control cabin (12) near the front section detection cabin (11). Both pectoral fin servos (1231) are connected to deflectable pectoral fins (123) and are communicatively connected to the attitude control module (122). The pectoral fins (123) are configured to assist the bionic device in pitching or rolling.

10. The submersible biomimetic underwater device as described in claim 1, characterized in that... The front detection cabin (11) is equipped with a detection system (111), which includes a sonar detector, a camera and a lighting lamp. The detection system (111) is configured to detect the presence of fish and / or environmental information.

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

12. The submersible biomimetic underwater device as described in claim 1, characterized in that... The bottom of the mid-section buoyancy control cabin (12) is provided with a wireless charging module (124), which is electrically connected to the battery assembly (1212) and is configured to charge the battery assembly (1212).

13. The submersible biomimetic underwater device as described in claim 1, characterized in that... The top shell of the mid-section buoyancy control cabin (12) is provided with a dorsal fin (125) for stabilizing the forward attitude.

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

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

16. The submersible biomimetic device as described in claim 15, characterized in that... The shock-absorbing structure includes a three-point silicone support welded to the inner wall of the shell of the front probe compartment (11).

17. The submersible biomimetic underwater device as described in claim 1, characterized in that... Sealing components (16) are provided at the connection between the rear end of the front section exploration cabin (11) and the front end of the middle section buoyancy control cabin (12), as well as at the connection between the rear end of the middle section buoyancy control cabin (12) and the front end of the rear section propulsion cabin (13).

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

19. A biomimetic underwater device capable of submersion as described in claim 1, characterized in that... It also includes a counterweight (127) disposed on the inner wall of the bottom shell of the mid-section buoyancy control chamber (12) and / or connected to the battery assembly, the counterweight (127) being configured to lower the center of gravity of the bionic device.

20. The submersible biomimetic device as described in claim 1, characterized in that... The basic buoyancy mechanism includes a buoyancy component (2) disposed within the segmented sealed shell (1); the buoyancy component (2) is made of foamed material and is distributed in at least one of the front detection chamber (11), the mid-section buoyancy control chamber (12) or the rear propulsion chamber (13) to provide buoyancy.

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