60 results about "Fish fin" patented technology

The invention relates to the technical field of bionic robotic fishes, and discloses a bionic fish fin, a bionic robotic fish and a wave-beat multi-mode hybrid propelling method.The wave-beat integrated propelling flexible fin propelling device comprises a supporting frame and a plurality of unit pieces sequentially arranged on the supporting frame; the first ends of the unit pieces are connected to the power output end of the flexible fluctuating motion driving device, every two adjacent unit pieces are arranged in an included angle mode, the multiple unit pieces are arranged in a wave shape, the second ends of the unit pieces are controlled to swing up and down in the vertical direction through the flexible fluctuating motion driving device, and then the multiple unit pieces are controlled to conduct flexible fluctuating motion in a wave shape. The wave-beat integrated propelling flexible fin propelling device is arranged at the power output end of the flapping motion driving device, the whole wave-beat integrated propelling flexible fin propelling device is controlled by the flapping motion driving device to swing up and down in the vertical direction, and therefore flapping motion is achieved. The multi-modal propulsion integrating fluctuation and flapping can be realized, and three-dimensional high maneuverability and low disturbance are realized.

The invention relates to the technical field of image enhancement, in particular to a turbid water fish image enhancement system based on image enhancement, which comprises an attenuation feature layering module used for acquiring a turbid water fish image, extracting a color attenuation value and a local contrast value of each pixel point, and outputting the color attenuation value and the local contrast value; and calculating the pixel attenuation degree influenced by the suspended matters in the water body and the background scattered light to obtain a pixel attenuation distribution diagram, and setting a plurality of attenuation thresholds. According to the method, a turbid image is divided into a plurality of layers such as a foreground, a middle scene and a background by calculating a color attenuation value and a local contrast ratio of each pixel influenced by suspended matters in a water body and scattered light, and then differential gain coefficients are applied to extracted initial details such as fish scale and fin textures according to the layers to carry out injection; high-fidelity enhancement of a key foreground target is realized, and excessive sharpening and noise amplification of a background area are avoided.

The invention provides a flexible capacitive pressure sensor based on a bionic fin structure. The sensor comprises an upper electrode, a lower electrode and an elastic supporting piece located between the upper electrode and the lower electrode. The elastic supporting piece comprises an upper platform, a lower platform and a plurality of bionic fin structural pieces located between the upper platform and the lower platform. The bionic fin structural member comprises an upper plane part, a lower plane part, an annular part with an opening in one side and an arc-shaped part with two arcs overlapped in a 3 shape. The upper side and the lower side, without the opening, of the annular part are connected with the upper plane part and the lower plane part correspondingly. The arc-shaped part is located in the annular part, and the two ends of the arc-shaped part are connected with the two ends of the opening of the annular part correspondingly. According to the bionic microstructure, the Young modulus of the dielectric layer is effectively reduced, the pressure response sensitivity and speed are improved, meanwhile, good structural stability and array expansibility are achieved, and the application requirement of a multi-scene intelligent interaction system is met.

The underwater robot comprises a shell assembly, a supporting assembly and a sealed cabin, and a containing space is formed in the shell assembly; the supporting assembly is supported in the accommodating space; the sealed cabin body is fixedly connected into the supporting assembly, and a plurality of connecting interfaces are formed in one end of the sealed cabin body; wherein the shell assembly comprises a first shell and a second shell, the first shell is provided with a fish fin part, the second shell is provided with a fish tail part, the containing space is formed in the first shell, the second shell is detachably connected to one end of the first shell, and the second shell and the multiple connecting interfaces are oppositely arranged. By arranging the fin part on the first shell and arranging the fish tail part on the second shell, the shell assembly formed after the first shell and the second shell are connected has a bionic design, and the bionic design has the effect of reducing scare on aquatic organisms and can also provide a stabilizing effect at the same time. In addition, the shell assembly is in a streamline design, so that the motion performance of the underwater robot is improved.

The utility model discloses a water treatment filter material performance contrast experiment device which comprises a water tank and a water inlet pipe, experiment liquid is pumped into the water tank through the water inlet pipe, the water tank is arranged in an inclined mode, a notch is formed in the bottom of the water tank, and fin grooves are formed in the outer side of the lower end of the water tank. The fin groove comprises a flow guide part opposite to the notch and a storage part mounted at the side lower end of the flow guide part, the flow guide part and the storage part form a containing chamber for containing a filter material, the side, away from the flow guide part, of the storage part is rotationally connected with the lower end of the water tank, and the flow guide part is in a fin shape. According to the utility model, relevant operation in a laboratory is facilitated, and the experiment efficiency is further improved.

This invention discloses a specific DNA fragment, primers, and applications for sex identification of the longfin sclerotium. PCR amplification and agarose gel electrophoresis were performed using PCR primers. The results showed that individuals with a specific 271bp band were male, while those without a band were female. This invention discloses a molecular marker, primers, and identification method for sexing the longfin sclerotium. Sexing can be determined by taking fin rays without killing the fish; it can also identify the sex of juvenile fish whose sex cannot be determined by appearance. It has advantages such as accuracy, simplicity, speed, and minimal harm to the fish, providing important assistance for the conservation of wild longfin sclerotium resources and the development of the aquaculture industry.

The utility model belongs to the technical field of surfboard fin bases, and particularly relates to a foldable surfboard fin base which comprises a first base and a second base, a thin film hinge is fixedly connected to the joint of the lower portion of the first base and the lower portion of the second base, and a first limiting shell is fixedly connected to the top of the first base. The top of the second base is fixedly connected with a second limiting shell, and fish fins are placed in the second limiting shell and the first limiting shell. By arranging the first base, the second base and the film hinge, the first base and the second base can rotate relatively under the action of the film hinge, so that the base can be folded, the occupied space of the base is reduced, and the base is convenient to carry and store; and by arranging the first limiting shell and the second limiting shell, the fins can be replaced.

The invention relates to bait with artificial beards and a forming mold thereof, and relates to the technical field of bait design, the bait comprises a fishhook, the fishhook is installed at the end of a connecting rod, a bottom limiting column is fixed to the connecting rod, simulation sliding columns are arranged on the bottom limiting column in an array mode, and the size of the simulation sliding columns is smaller than that of the bottom limiting column; limiting mechanisms are arranged on the simulation sliding columns in a simulation sliding mode, and simulation beards are arranged on the limiting mechanisms. Through cooperation of the unique limiting mechanism and the simulation sliding column, when bait is under the action of water flow or controlled by a fishing line, the limiting mechanism can drive the simulation sliding column to slide on the sliding column in a reciprocating mode. The continuous and autonomous local movement can extremely realistically simulate the swinging posture of the fins when the small fish swims, the fish luring effect is greatly enhanced, and the problem that the fish luring action disappears when the main body of the traditional artificial bait is static is effectively solved.

The utility model discloses a junction box, which comprises a box cover, a bottom plate, a diode, a terminal assembly and a cable, the diode is arranged on the bottom plate; the box cover is buckled on the bottom plate, the windward side of the box cover is in a fin shape, and the leeward side of the box cover is provided with a wiring hole; the terminal assembly is arranged in the wiring hole; the cable is arranged in the terminal assembly in a penetrating mode and extends into the box cover, and the inner end of the cable is connected with the diode. The junction box comprises a box cover and a bottom plate, the box cover is buckled on the bottom plate, the windward side of the box cover is in a fin shape, the box cover is provided with a smoother curved surface and has a lower wind resistance coefficient, and wind resistance generated by loading and driving is reduced.

The present invention provides an active desorption gripper-type climbing robot based on nano-micro-adhesive and a grasping, desorption and climbing method. The robot comprises a trunk and two detachable active desorption grippers with a fish-fin-like structure. The two grippers are a first gripper and a second gripper, and both the first gripper and the second gripper have active desorption, adaptive grasping and adhesion functions. The trunk comprises a first drive mechanism, a second drive mechanism and a third drive mechanism. Based on this structure, the fixed connection method between the outer crossbeam and the longitudinal beam of the adaptive gripper is changed to a magnetic adsorption connection method, thereby realizing adaptive adhesion / grasping and active desorption functions. In combination with the trunk, autonomous climbing motion is realized. In addition, the climbing robot can "perch" on any object or the body of another climbing robot, complete the mobile grasping motion after "perching", expand the overall robot's range of motion and usage scenarios, and improve the robot's adaptability on different platforms.

The invention relates to a large-scale marking method for released small-specification fries based on fin ray strontium marking, which comprises the following steps of: in a fish fry breeding stage, performing strontium marking on the small-specification fries for several hours by increasing the concentration of strontium ions in seawater in a breeding pool, so that fish fin rays form a'high-strontium marking ring '; and after the marked fish is recaptured, cutting fin rays of the marked fish to detect the content of the strontium element. The method does not depend on otolith, is factory-like, is low in marking cost, and does not cause lethal injury to fishes during sampling.

The application relates to a hybrid drive control method of a cross-medium robot and the cross-medium robot. The hybrid drive control method of the cross-medium robot comprises the following steps: calculating the vibration head motor power, unfolding the fish fin component in the swimming state, and swinging the peristaltic component; obtaining the current value of the vibration head current loop, judging whether the robot head contacts sand or not, if not, the robot keeps the swimming state, if yes, controlling the driving force of the robot vibration head, switching the robot to the peristaltic state, folding the fish fin component, and peristaltic movement of the peristaltic component. The cross-medium robot comprises a vibration component, a fish fin component and a peristaltic component, has two hybrid drive modes of fish fin swing and tail spiral and vibration head vibration and tail spiral, forms the peristaltic movement and swimming movement states, ensures that the robot can pass through seawater and sand on the seabed, enhances the concealment of the robot on the seabed, the control method has low calculation amount, the cross-medium robot has low cost, and the hybrid drive switching process is fast.

The utility model discloses a fish-shaped toy boat which comprises a fish-shaped boat body and a marching driving device, the fish-shaped boat body is provided with an inner cavity, and the marching driving device is installed in the inner cavity of the fish-shaped boat body. The fish-shaped ship is characterized by further comprising a steering mechanism and two pelvic fins, and the two pelvic fins are rotationally arranged on the left side and the right side of the fish-shaped ship body respectively; the steering mechanism comprises a first steering driving device and a first linkage mechanism capable of driving at least one pelvic fin to rotate, the first steering driving device is installed in an inner cavity of the fish-shaped ship body, and the first linkage mechanism is in transmission connection with the power output end of the first steering driving device. The fish toy boat can simulate the fish to use the fins to control steering when the fish swims in water, and is simple in structure and convenient to adjust and control.

The invention discloses a large-size hard, brittle and thin wafer abrasive particle track controllable grinding method and device. The large-size hard, brittle and thin wafer abrasive particle track controllable grinding device comprises a bionic fin-shaped texture grinding tool head and a piezoelectric ceramic ultrasonic body. A large number of fin-shaped micro texture units and crossed micro channels are arranged on the periphery of the texture surface of the tool head, and the central part is a smooth plane. During ultrasonic high-frequency vibration, the fin-shaped texture structure of the outer ring drives fluid to form vortex-shaped fluid, and abrasive particle track regulation and enrichment are achieved; cavitation bubbles are generated in the center and impact to remove the material after collapse; and the crossed micro-channels can promote the circulation of the grinding fluid and discharge grinding dust. According to the method, the abrasive particle track is precisely restrained through the fin-shaped textures, the abrasive particles are driven to be enriched and impact the surface of the wafer, and the material removal efficiency and the grinding precision are remarkably improved while the machining damage and fragment risks of the large-size thin wafer are reduced.

1. Name of the designed product: swimming cap (fish fin). 2. Use of the designed product: for swimming aids. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view.

The present application relates to the technical field of underwater robots, and discloses a multi-modal underwater robot with rigidity-area cooperative regulation, wherein a foldable and expandable fish fin piece can change its expansion area to realize a high foldable and expandable ratio between full expansion and folding, and expand the regulation range of the effective area; the foldable and expandable fish fin piece can be folded and contracted, and the contracted state has a compact shape and small flow area, thereby reducing fluid resistance. Secondly, the variable-area foldable and expandable mechanism adopts a first steering engine as a driving source, and drives the rotation of the first foldable and expandable arm through a gear transmission pair; the angular displacement response time of the first steering engine output can reach milliseconds, there is no thermal coupling link in the whole transmission chain, the thermal hysteresis effect is eliminated, the time required for the expansion and contraction process is greatly shortened, and the multi-modal underwater robot can quickly adjust the expansion area of the foldable and expandable fish fin piece according to the real-time sensing of the flow field change and the motion state, thereby solving the problem of dynamic response hysteresis of the traditional bionic tail fin.

The application discloses a modular multi-stage adaptive variable stiffness bionic fish fin and a robotic fish. The bionic fish fin comprises a main driving part, a swing part, a first elastic member and a variable stiffness assembly. The swing part is hinged to the main driving part and swings with the main driving part. One end of the first elastic member is connected to the main driving part, and the other end is connected to the swing part. The variable stiffness assembly comprises a second elastic member and a second traction cable. One end of the second elastic member is connected to the main driving part, and the other end is connected to the second traction cable. The second traction cable is connected to the swing part. The length of the second traction cable is greater than the distance between the swing part and the second elastic member. The first elastic member is used to provide a first reset force to drive the swing part to reset. When the swing part swings greatly, the second elastic member provides a second reset force to the swing part to assist in driving the swing part to reset, so that the bionic fish fin can realize graded stiffness adjustment under different swing amplitudes without the need for additional power sources or control systems.

The invention provides an intelligent bionic fish based on a piezoelectric fiber material and a shape memory alloy and a driving method.The intelligent bionic fish comprises a piezoelectric fiber material driving layer, a shape memory alloy driving layer and a cooperative control module, the piezoelectric fiber material driving layer comprises a plurality of MFC pasters embedded in flexible fins of the bionic fish, and the MFC pasters are connected with the shape memory alloy driving layer; the fins are excited to resonate through high-frequency vibration to generate low-amplitude swing; the shape memory alloy driving layer comprises an SMA spring array which is embedded in the annular fish body structure, and SMA springs are driven to rapidly contract through electric heating to achieve overall large-scale bending deformation and local form change of the bionic fish; and the cooperative control module is arranged at the fish head, and adopts a layered driving strategy and time sequence cooperative control logic to dynamically combine action modes of the piezoelectric fiber material driving layer and the shape memory alloy driving layer. By complementarily utilizing the rapid deformation capacity of the SMA and the high-frequency driving characteristic of the MFC, the performance bottleneck of a single driver is broken through, and the underwater maneuverability and energy efficiency of the bionic fish are improved.

The application discloses a tail-breaking accelerating bionic fish, and relates to the technical field of bionic fish, which comprises a bionic fish head module, a bionic fish body module and a bionic fish tail module connected in sequence, wherein the bionic fish head module is provided with a control unit, an energy storage device, a pectoral fin and a dorsal fin, the control unit is electrically connected with the energy storage device, the pectoral fin assembly can swing, the tail part of the bionic fish body module is provided with a propelling mechanism, the bionic fish tail module is provided with a tail-breaking mechanism, the tail-breaking mechanism can make the tail fin separate from the bionic fish tail module and accelerate the bionic fish, the bionic fish body module is provided with a rigidity adjusting mechanism, the rigidity adjusting mechanism can shorten the axial length of the bionic fish body module, and the rigidity adjusting mechanism and the propelling mechanism are in communication connection with the control unit. The bionic fish has the fish body rigidity adjusting design, can adjust the self rigidity, can accelerate and sprint in a short distance, and can select the propeller propulsion and the pectoral fin swing propulsion to adapt to different underwater environments.

The utility model discloses a portable fish migration GPS positioning device with self-supply kinetic energy, which comprises a head elastic ring belt and a tail elastic ring belt, the head elastic ring belt and the tail elastic ring belt are sleeved on the surface of a fish body, the head elastic ring belt is close to the position of a front fish fin, and the tail elastic ring belt is close to the position of a rear fish fin. An elastic strap is arranged between the head elastic girdle and the tail elastic girdle, and a GPS positioning device, a miniature storage battery and a miniature water flow power generation device are arranged on the elastic strap; the utility model solves the problems that the GPS positioning device added on the migratory fish at present causes permanent physiological trauma to the migratory fish, and the GPS positioning label of the migratory fish cannot monitor the long-distance, large-span and long-term fish trajectory.

The present application relates to the technical field of aquatic product processing, and in particular to a conveying device for aquatic product processing with an automatic cleaning function, which includes a base plate, a waste box rotatably provided on the right end of the upper surface of the base plate through a triangular support plate, a top fixing frame fixedly provided on the top of the waste box, and a top support frame fixedly provided on the middle part of the upper surface of the top fixing frame. The present invention is provided with components such as a salt cylinder and a scrubbing roller, a clean water pipe and a warm water pipe to quickly wash away mud, blood and shed scales on the surface of the fish body, thereby reducing the subsequent processing load. By evenly spraying salt on the surface of the fish body and rubbing it with a mechanical scrubbing device, mucus is efficiently disintegrated, microbial reproduction is inhibited, and nitrogenous fishy substances in the mucus are promoted to dissolve and seep out. The scrubbing action assists the penetration of salt particles, and has a targeted cleaning effect on the stubborn mucus in the wrinkles of the fish body, such as the fins and gills, to avoid manual cleaning.

A fish-shaped robot with omnidirectional motion control for deep-sea riser current disturbance includes a vibration analysis module and a current disturbance unit. The current disturbance unit includes a fish-shaped fairing and a sensor module mounted on the fairing. One end of the fairing is a flow-splitting tip. The sensor module acquires current ocean current information. A flexible fish tail and a tail fin are connected sequentially behind the fairing. The flexible fish tail includes at least three sequentially connected servos. The servos move independently, mimicking the swaying of a fish tail. The tail fin, similar to a fish fin, sways with the servos. The vibration analysis module analyzes the ocean current information collected by the sensor module and sends control signals to control the servos of the flexible fish tail to sway. The resulting feedback cancels out vortices. This invention achieves flexible tail swaying by rotating three connected servos, simulating the swimming posture of a fish in water. This generates periodically falling vortices, which cancel out the vortices causing vortex-induced vibrations, thus suppressing vortex-induced vibrations.

1. The name of the design product: nursing pants (fish fin nursing pants). 2. The use of the design product: nursing pants for patients. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: front view. 5. The design product is a thin product, omitting the left view; the design product is a thin product, omitting the right view; the design product is a thin product, omitting the top view; the design product is a thin product, omitting the bottom view.

The application discloses a boxfish type bionic robot fish driven by a shape memory alloy, which comprises a bionic fish base body, a pectoral fin, a flexible skin, a stroke amplification mechanism and a shape memory alloy wire driving mechanism arranged in the base body, and the stroke amplification mechanism is connected with the pectoral fin and the shape memory alloy wire driving mechanism at two ends respectively; the pectoral fin comprises upper and lower swing parts in Z-shaped structure, and the vertically extended two ends are a water-encountering part and a connecting part respectively; the front surface of the water-encountering part is arc-shaped, and the back surface is planar; when electric current is applied, the shape memory alloy wire contracts, the stroke amplification mechanism drives the pectoral fin to swing backward, the back water flow pushes the back surface of the water-encountering part, and the pectoral fin is opened to provide forward power for the bionic fish; when the application of electric current is stopped, the shape memory alloy wire restores to the original length, a spring pushes the sliding block and the shape memory alloy wire to the initial position, the stroke amplification mechanism drives the pectoral fin to swing forward, the front water flow pushes the front surface of the water-encountering part of the swing structure, the pectoral fin is closed, and the resistance is reduced.

The invention provides a BPNN-based bionic takifugu fin self-adaptive movement mechanism, and belongs to the technical field of bionic fish driving, the BPNN-based bionic takifugu fin self-adaptive movement mechanism comprises a base, the base comprises a main control cabin section and an energy cabin section, the main control cabin section comprises a control system, the control system comprises a main controller, a BPNN-based pressure monitoring system and a signal conditioning circuit, and the energy cabin section comprises an energy source module; the controller is connected with the bionic flexible fluctuation propulsion system, the signal conditioning circuit is connected with the sensor cluster system, and the sensor cluster system is installed on a fin ray of a bionic fin of the bionic flexible fluctuation propulsion system. According to the invention, fish form and joint linkage is accurately simulated, and flexible and smooth bionic fish fins are molded; the pressure monitor integrated at the fin can sensitively capture real-time pressure data generated by water flow to the fin, accurately sense subtle changes of the water flow, remarkably enhance the adaptive capacity to the environment, promote the energy efficiency, and explore a more accurate and energy-saving technical path for application scenes such as underwater robots and marine scientific investigation equipment.

The utility model discloses a protective type fish-fin-imitating bulb convenient for heat dissipation, which relates to the technical field of vehicle-mounted lamps and comprises a base, the top of the base is fixedly connected with a bump, and the bump is of a fish-fin-imitating structure; an air channel is formed in the protruding block, an air inlet pipe is installed in the air channel, a first support and two second supports are fixedly connected to the interior of the air inlet pipe, a generator is fixedly connected to the interior of the first support, a worm gear is fixedly connected to the input end of the generator, and the worm gear is installed between the two second supports. According to the protective fish-fin-imitating type bulb convenient to dissipate heat, the protruding blocks are of fish-fin-imitating structures, the heat dissipation surface area is remarkably increased, the metal heat conduction materials used by the protruding blocks are combined, the conduction efficiency of heat from the LED lamp beads to air is greatly improved, an efficient heat dissipation air channel is formed by the internal conical air inlet pipe, and the heat dissipation efficiency is greatly improved. The bionic structure and the forced convection air channel are combined, so that efficient passive and active cooperative heat dissipation is achieved.

1. The name of the design product: ornament (fish fin scream series). 2. The use of the design product: for viewing, decoration and space creation. 3. The design points of the design product: the combination of shape, pattern and color. 4. The picture or photo that best shows the design points: perspective view. 5. The design for which protection is sought includes color. 6. The bottom surface of the design product is a part that is not easy to see or cannot be seen during use, and the top view is omitted.

The invention discloses a preparation method of salmon oil with high content of Omega-3 fatty acid. The method comprises the following core steps: 1) crushing: cleaning fresh salmon trash (main components comprise fish heads, fish tails, fish fins and residual minced meat parts after processing), absorbing moisture, and then fully crushing the salmon trash (the main components comprise fish heads, fish tails, fish fins and residual minced meat parts after processing); (2) baking: sealing the minced salmon, and baking at a constant temperature of 40-60 DEG C for 60-180 minutes to promote the fish oil to be fully separated out; and 3) centrifuging: filtering the obtained fish oil mixture, performing low-temperature high-speed centrifugal treatment, and separating to remove settled impurities after the centrifugal treatment is finished, thereby obtaining the high-quality salmon oil. According to the method, efficient utilization of salmon trash resources is achieved, important nutrients in the salmon oil are effectively reserved, the method has the advantages of being simple in process, low in cost, low in energy consumption and the like, and effective technical support is provided for increasing the additional value of the salmon processing industry.

The fish scale plane is provided with a handle section and a planer tool section, the left side and the right side of the planer tool section symmetrically extend downwards to form two planer tools, sawteeth are machined on the lower edges of the planer tools, and the axis of the planer tool section and the axis of the handle section form an obtuse angle. The scaler has the advantages that by means of the design of the lifting angle of the planer tool section, hands are effectively prevented from being stabbed by fish during scaling; the front end of the fish scale plane is sharp and thin and can go deep into the belly of the fish to remove fish bone blood; fish scales can be effectively prevented from splashing; the sharp end of the planer tool is thin and provided with sawteeth, so that the planer tool can extend into places which cannot be touched by other tools due to the fact that the planer tool is thick, such as fish scales around fish cheeks, fish scales around shark fins and fish scales around fish heads, and the planer tool is convenient to use.

The present invention relates to an underwater bionic integrated detection and collection robot, which is divided into two parts: a fry and a mother cabin. The fry part includes a fish body assembly, a fin assembly, a crab leg assembly, and a fry auxiliary assembly. The fish body assembly is the main body of the robot and plays a supporting role. The fin assembly includes a pectoral fin mechanism and a caudal fin mechanism. The pectoral fins swing up and down to control the robot's buoyancy. At the same time, the pectoral fins unfold to form crab claws, and the caudal fin swings left and right to control the robot's movement. The crab leg assembly unfolds and cooperates with the crab claws to realize the function of collecting underwater samples. The fry auxiliary assembly includes a camera, a searchlight, and a sonar device located at the front end of the fish body, and an infrared sensor at the rear end of the fish body. The mother cabin part includes a cabin assembly, a hatch assembly, and a mother cabin auxiliary assembly. The upper layer of the cabin assembly is a fry recovery cabin, and the lower layer is a sample recovery cabin. The hatch assembly is arranged above the cabin, and the two are connected to each other in an upward and downward manner through the mother cabin auxiliary assembly. The present invention can realize the robot's underwater charging and underwater detection and collection operations.