CN110861761A - Hydraulic drive bionic mechanical dolphin - Google Patents

Abstract

The invention provides a hydraulic drive bionic dolphin robot which comprises a shell supporting frame assembly, a waist joint propelling and steering mechanism, a pectoral fin motion mechanism, a tail joint propelling mechanism, a balance adjusting mechanism, a sinking and floating control mechanism, an amplitude modulation mechanism and a hydraulic control system. The modularized mechanical dolphin robot has modular design, functional mechanisms in independent parts, AC hydraulic principle as theoretical basis and AC hydraulic pulse pump as power source. The robotic dolphin of the invention can cruise in a complex water area for a long time, and makes full use of the characteristics of the bionic robotic fish, such as maneuverability, low disturbance and the like, and the bionic structure can confuse a sonar system to effectively protect the robotic dolphin.

Description

Hydraulically driven bionic robotic dolphin

technical field

The invention relates to the field of bionics, and more particularly to a hydraulically driven bionic machine dolphin.

Background technique

Fish are the oldest vertebrates, inhabiting almost all aquatic environments on earth. After millions of years of evolution and natural selection, they have excellent underwater mobility. Now there are many underwater bionic robotic fishes. Some performance indicators will surpass the fish, but it is far behind the fish and cetaceans in terms of handling performance, structure and reliability.

Since the beginning of the 20th century, researchers have begun to pay attention to the swimming mechanism of fish, and hope that the swimming ability of fish can be introduced into the research center of artificial underwater devices. By the 1990s, with the rapid development of bionics, material science, intelligent control and other disciplines, many underwater bionic machines and equipment have been successfully developed. Researchers have entered a new era in the exploration and research of bionic underwater machines.

From 2005 to 2008, Wang Long and others of Peking University successively produced two generations of bionic dolphins. The first generation of bionic dolphins used multiple joints connected in series to achieve dolphin dorsal and belly movements. The second generation of bionic dolphins used an adjustable crank to connect Bar mechanism to achieve the effect of dorsal-abdominal movement. From 2009 to 2010, Wang Ming and others from the Institute of Automation, Chinese Academy of Sciences made a demonstration bionic dolphin for the science and technology museum, which has four joints, three of which are pitch joints and one steering joint.

However, at present, the movements of various parts of the domestic bionic machine dolphin are often driven by multiple motors, which cannot be integrated into one motor, while the hydraulically driven bionic machine dolphin uses the hydraulic system, and a single motor can complete all actions.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a large bionic robot dolphin made by using the AC hydraulic principle through a relatively simple mechanical structure. The present invention adopts the following technical solutions to realize:

A hydraulically driven bionic robot dolphin, comprising: a shell supporting frame assembly, a waist joint propulsion and steering mechanism, two pectoral fin motion mechanisms, a tail joint propulsion mechanism, a balance adjustment mechanism, a ups and downs control mechanism, and an amplitude modulation mechanism;

The housing support frame assembly includes a mounting frame, a first T-section support frame, a second T-section support frame, a head, a trunk, a tail and a tail fin, and the head and the trunk are respectively fixed to the mounting frame, The first spring passes through the hole of the first T-section support frame, so that the first T-section support frame realizes the flexible connection between the trunk and the tail; Swing; the second spring passes through the hole of the second T-section support frame, so that the second T-section support frame realizes the flexible connection between the tail and the tail fin; the tail fin is connected to the tail fin connector of the tail joint propulsion mechanism, and the tail joint propulsion mechanism It is also fixedly connected with the lumbar joint swing rod of the lumbar joint propulsion and steering mechanism;

The waist joint propulsion and steering mechanism includes steering hydraulic cylinder, steering hydraulic cylinder bracket, waist joint steering ring, waist joint support, thrust cylindrical roller bearing, waist joint transition support, waist joint hydraulic cylinder fixing frame, waist joint double output rod Hydraulic cylinder, waist joint swing rod and waist joint swing rod driver; the waist joint propulsion and steering mechanism are fixed on the installation frame, and are used to make the tail swing up and down relative to the trunk and rotate at an angle relative to the trunk to realize the dolphin back The first part of the abdominal movement and the turn;

The pectoral fin movement mechanism includes the pectoral fin swing hydraulic cylinder bracket, the pectoral fin swing hydraulic cylinder, the pectoral fin rotation ring, the pectoral fin sleeve, the pectoral fin mounting support, the rocker with groove, the pectoral fin rotation drive frame, the pectoral fin rotation shaft, the pectoral fin connecting piece, the pectoral fin connecting piece, Pectoral fin connecting rod, pectoral fin, pectoral fin rotating hydraulic cylinder bracket and pectoral fin rotating hydraulic cylinder; two pectoral fin motion mechanisms are symmetrically fixed on both sides of the installation frame to change the inclination of the pectoral fin relative to the trunk;

The tail joint propulsion mechanism includes a tail fin connecting piece, a tail fin swing rod, a tail joint support, a tail joint swing drive frame, a tail joint double-rod hydraulic cylinder and a tail joint hydraulic cylinder bracket; the tail joint propulsion mechanism is fixed on the waist joint propulsion and steering mechanism. On the waist joint pendulum of the dolphin, the tail joint propulsion mechanism is used to realize the up and down reciprocating swing of the tail fin, and realize the second part of the dolphin dorsal-ventral movement;

The balance adjustment mechanism includes the balance table hydraulic cylinder bracket, the balance table hydraulic cylinder, the balance table, the balance table slide rail and the battery; the balance adjustment mechanism is fixed on the installation frame and is used to change the position of the center of gravity, so that the entire body of the dolphin does not swim. sideways tilt;

The ups and downs control mechanism includes a water storage chamber, a water storage chamber hoop, a water storage chamber installation platform, a water storage chamber suction and drainage hydraulic cylinder and a suction and drainage hydraulic cylinder bracket; The water changes the weight of the dolphin, allowing the dolphin to ascend, descend, and levitate; and

The AM mechanism includes the pulse pump mounting bracket, the AM platform, the AM platform slide rail, the AM hydraulic cylinder, the AM hydraulic cylinder bracket, and the AM mechanism is fixed on the mounting frame. The AM mechanism is used to change the camshaft of the pulse pump and the plunger of the pulse pump. The contact position of the boots can change the movement range of the plunger, further change the stroke of the double-rod hydraulic cylinder of the waist joint and the double-rod hydraulic cylinder of the tail joint, and realize the change of the swing range of the robot dolphin.

Preferably, it also includes a hydraulic control system, which includes a three-dimensional angle sensor, a control center, a control platform, a servo valve, a check valve, a servo motor, a reducer, a coupling, and a pulse pump; the pulse pump is installed on the amplitude modulation mechanism In the installation bracket of the pulse pump, the pulse pump has N plungers, and the first plunger and the second plunger of the pulse pump are connected by pipelines through the pressure-transforming cylinder and the waist joint double-rod hydraulic cylinder respectively; The third plunger and the fourth plunger of the pulse pump are also connected by pipelines through the transformer cylinder and the double-rod hydraulic cylinder of the tail joint respectively; the fourth plunger of the pulse pump is connected with the accumulator and multiple parallel servos through the check valve. Valve connection, each servo valve is respectively connected with an oil port in the steering hydraulic cylinder, the pectoral fin rotating hydraulic cylinder, the pectoral fin swing hydraulic cylinder, the balance table hydraulic cylinder, the amplitude modulation hydraulic cylinder, and the water storage cavity suction and drainage hydraulic cylinder; the control platform is connected to The installation frame is fixedly connected, the three-dimensional angle sensor and the control center are installed on the control platform, the output end of the servo motor and the input end of the reducer are connected by a key, and the output end of the reducer and the input end of the coupling are connected by a key. The output end of the machine is connected with the camshaft of the pulse pump by a key; the three-dimensional angle sensor feeds back the motion posture of the machine dolphin to the control center in real time, and the control center sends a signal to the servo valve to turn on the left or right position of the servo valve. Different hydraulic cylinders can be operated according to needs, so as to realize the control of the hydraulically driven bionic robot dolphin.

Preferably, the specific structure of the waist joint propulsion and steering mechanism is as follows: the steering hydraulic cylinder is mounted on the steering hydraulic cylinder bracket, the steering hydraulic cylinder bracket is fixed on the mounting frame with screws, and the waist joint steering ring is clamped on the steering wheel with nuts and washers On the piston rod of the hydraulic cylinder, the other end of the waist joint steering ring is sleeved on the cylinder of the waist joint transition support, the waist joint support is fixed on the installation frame with screws, and there is a thrust between the waist joint transition support and the waist joint support. The cylindrical roller bearing is connected by double-headed studs, the waist joint hydraulic cylinder fixing frame and the waist joint transition support are fixed by bolts, and the piston rod of the waist joint double-rod hydraulic cylinder is fixed on the waist joint hydraulic cylinder fixing frame with a nut. The waist joint swing rod driver is fixedly connected with the cylinder body of the waist joint double-rod hydraulic cylinder, the circular shaft of the waist joint swing rod driver is placed in the slot hole of the waist joint swing rod, and the round hole at one end of the waist joint swing rod is sleeved on the waist joint swing rod. On the circular shaft of the waist joint hydraulic cylinder fixing frame, the tail is fixedly connected with the waist joint swing rod.

Preferably, the specific structure of the pectoral fin movement mechanism is as follows: the pectoral fin swinging hydraulic cylinder bracket is fixed on the mounting frame with screws, the pectoral fin swinging hydraulic cylinder and the pectoral fin swinging hydraulic cylinder bracket are hinged through a pin shaft, and the pectoral fin swinging ring and the pectoral fin swinging hydraulic cylinder piston The rod end is fixed by thread, the pectoral fin rotating ring is installed in the pectoral fin sleeve ring groove, the pectoral fin sleeve is sleeved on one end of the pectoral fin rotating shaft, the grooved rocker is fixed with the pectoral fin rotating shaft, and the pectoral fin rotating shaft is installed on the pectoral fin mounting support In the seat hole, the pectoral fin mounting support is fixed on the mounting frame with screws, the first pectoral fin connecting piece is hinged with the pectoral fin rotation axis through a pin shaft, the first pectoral fin connecting piece is fixed on the pectoral fin with screws, and the two ends of the pectoral fin connecting rod are respectively connected with the pectoral fin. The sleeve and the second pectoral fin connecting piece are hinged through pins, the second pectoral fin connecting piece is fixed on the pectoral fin with screws, the pectoral fin rotating hydraulic cylinder is installed on the pectoral fin rotating hydraulic cylinder bracket, and the pectoral fin rotating hydraulic cylinder bracket is fixed on the mounting frame with screws The pectoral fin rotating drive frame is fixedly connected with the piston rod end of the pectoral fin rotating hydraulic cylinder through threads, and the pin shaft on the pectoral fin rotating drive frame passes through the slotted hole of the slotted rocker.

Preferably, the specific structure of the tail joint propulsion mechanism is as follows: the tail joint hydraulic cylinder bracket is fixed on the waist joint swing rod with bolts, the tail joint double-rod hydraulic cylinder is fixedly connected with the tail joint hydraulic cylinder bracket, and the tail joint swing drive frame is connected to The end of the piston rod of the double-rod hydraulic cylinder of the tail joint is fixed by thread, the pin shaft on the swing drive frame of the tail joint passes through the slot hole of the swing rod of the tail fin, the support of the tail joint is fixed on the swing rod of the waist joint with bolts, and the swing of the tail fin The rod is installed in the hole of the tail joint support through a pin shaft, the tail fin connecting piece of the tail fin swing rod is fixedly connected by bolts, and the tail fin is connected to the tail fin connecting piece through screws.

Preferably, the specific structure of the balance adjustment mechanism includes: a balance table hydraulic cylinder bracket, a balance table hydraulic cylinder, a balance table, a balance table slide rail, and a battery; the balance table hydraulic cylinder bracket is fixed on the installation frame with screws, and the balance table hydraulic cylinder is connected with The balance table hydraulic cylinder bracket is fixedly connected, the piston rod of the balance table hydraulic cylinder is fixedly connected with the balance table through threaded connection, the battery is placed on the balance table, the balance table is matched with the balance table slide rail through the slider, and the balance table slide rail is fixed with screws on the mounting skeleton.

Preferably, the specific structure of the floating control mechanism is as follows: the water storage chamber is fixed on the water storage chamber installation platform with a water storage chamber hoop, the water storage chamber installation platform is connected with the water storage chamber fixing frame by bolts, and the suction and drainage hydraulic cylinder support is The screw is fixed on the installation frame, the water storage chamber suction and drainage hydraulic cylinder is fixedly connected with the suction and drainage hydraulic cylinder bracket, and the piston rod of the water storage chamber suction and drainage hydraulic cylinder is connected with the water storage chamber piston rod through a pin.

Preferably, the specific structure of the amplitude modulation mechanism is as follows: the amplitude modulation platform realizes relative sliding through the cooperation of the sliding block and the sliding rail of the amplitude modulation platform, the sliding rail of the amplitude modulation platform is fixed on the installation frame with screws, and the non-hole pump casing is fixed with the mounting bracket of the pulse pump with bolts. The amplitude modulation hydraulic cylinder is fixedly connected with the installation bracket of the pulse pump, the amplitude modulation hydraulic cylinder is installed on the amplitude modulation hydraulic cylinder bracket, and the amplitude modulation hydraulic cylinder bracket is fixed on the installation frame with screws.

Compared with the prior art, the present invention has the following beneficial effects:

1. The mechanical structure of the present invention is simple, and the advantages of the AC hydraulic principle can be used to make a large-scale bionic robot dolphin.

2. Modular design is conducive to subsequent improvement and optimization of each structure.

3. The appearance of the robot dolphin of the present invention is similar to that of a real dolphin, and in the process of performing the task, it can confuse the enemy sonar system to effectively protect itself.

4. Use the necessary power supply as the balance weight, which can carry more testing equipment.

Description of drawings

Figure 1 is a perspective view of a hydraulically driven bionic robot dolphin;

Fig. 2 is a partial cross-sectional view of the hydraulically driven bionic robot dolphin shown in Fig. 1;

Fig. 3 is another perspective partial sectional view of the hydraulically driven bionic robot dolphin shown in Fig. 1;

Fig. 4 is the sectional view of the pulse pump in the hydraulically driven bionic robot dolphin;

Fig. 5 is the sectional view of the pressure-transformer cylinder in the hydraulically driven bionic robot dolphin;

Figure 6 is a perspective view of a hydraulically driven bionic robot dolphin pectoral fin movement mechanism;

Figure 7 is a perspective view of a hydraulically driven bionic robot dolphin waist-waist joint propulsion and steering mechanism;

Figure 8 is a perspective view of a hydraulically driven bionic robot dolphin amplitude modulation mechanism;

9 is a cross-sectional view of a water storage cavity in the hydraulically driven bionic machine dolphin controlling the ups and downs;

Figure 10 is a perspective view of a hydraulically driven bionic machine dolphin balance adjustment mechanism;

Figure 11 is a perspective view of a hydraulically driven bionic robot dolphin tail joint propulsion mechanism;

Figure 12 is a schematic diagram of the hydraulic control system of the hydraulically driven bionic robot dolphin.

Reference number:

1—head, 2—trunk, 3—tail, 4—caudal fin, 5—first spring, 6—first T-section support frame, 7-second spring, 8-second T-section support frame, 9—gasket, 21—control platform, 22—three-dimensional angle sensor, 23—control center, 41—channel steel, 42—valve block, 43—servo valve, 44—check valve, 45—first accumulator bracket, 46—first accumulator, 47—second accumulator bracket, 48—second accumulator, 49—servo motor, 50—reducer, 51—coupling, 52—installation frame, 53—reducer Mounting bracket, 110—pulse pump, 111—no hole pump casing, 112—camshaft, 113—bearing, 114—pulse pump cavity, 115—plunger, 116—guide ring, 117—seal ring, 118—slipper , 119—a spring retaining ring for shaft, 120—the first O-ring seal, 121—a pump casing with holes, 131—small end cover, 132—cylinder, 133—the first hexagonal flange face nut, 134—small Piston, 135—first retaining ring, 136—second O-ring, 137—third O-ring, 138—transformer cylinder piston rod, 139—big end cap, 140—fourth O-ring, 141—Transformer Cylinder Mounting Bracket, 151—Pectoral Fin Swing Hydraulic Cylinder Bracket, 152—Pectoral Fin Swing Hydraulic Cylinder, 153—Pectoral Fin Swivel Ring, 154—Pectoral Fin Sleeve, 155—Pectoral Fin Mounting Bracket, 156—Slotted Rocker, 157 - pectoral fin rotation drive frame, 158 - pectoral fin rotation axis, 159 - first pectoral fin connecting piece, 160 - second pectoral fin connecting piece, 161 - pectoral fin connecting rod, 162 - pectoral fin, 163 - pectoral fin rotation hydraulic cylinder bracket, 164 - pectoral fin rotation Hydraulic cylinder, 171—steering hydraulic cylinder, 172—steering hydraulic cylinder bracket, 173—waist joint steering ring, 174—waist joint support, 175—thrust cylindrical roller bearing, 176—double-ended stud, 177—waist joint transition Support, 178 - waist joint hydraulic cylinder fixing frame, 179 - waist joint double rod hydraulic cylinder, 180 - waist joint swing rod, 181 - waist joint swing rod driving part, 191 - pulse pump mounting bracket, 192 - amplitude modulation platform, 193—AM platform slide rail, 194—AM hydraulic cylinder, 195—AM hydraulic cylinder bracket, 211—Cavity bottom, 212—Second hexagonal flange face nut, 213—Fifth O-ring, 214—Water storage chamber Piston, 215—sixth O-ring seal, 216—second retaining ring, 217—water storage chamber body, 218—water storage chamber piston rod, 219—chamber cover, 220—seventh O-ring seal, 221— Ventilation holes, 222—Hoop for water storage chamber, 223—Water storage chamber fixing frame, 224—Water storage chamber mounting platform, 225—Suction and drainage hydraulic cylinder bracket, 226—Water storage chamber suction and drainage hydraulic cylinder, 231—Balance table hydraulic Cylinder bracket, 232—balance table hydraulic cylinder, 233—balance table, 234—balance table slide rail, 235—battery, 251—tail fin connector, 252—tail fin swing rod, 253—tail joint support Seat, 254 - tail joint swing drive frame, 255 - tail joint double-rod hydraulic cylinder, 256 - tail joint hydraulic cylinder bracket.

Detailed ways

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The hydraulically driven bionic robot dolphin 100 in the present invention mainly includes: a shell support frame assembly, a waist joint propulsion and steering mechanism 170, a pectoral fin motion mechanism 150, a tail joint propulsion mechanism 250, a balance adjustment mechanism 230, a heave control mechanism, an amplitude modulation mechanism 190, and Hydraulic control system.

1 to 12 , the housing support frame assembly includes a mounting frame 52 , a first T-section support frame 6 , a second T-section support frame 8 , a head 1 , a trunk 2 , a tail 3 and a tail fin 4 . The head 1 and the trunk 2 are respectively fixed with the mounting frame 52, and the washer 9 is placed between the head 1 and the trunk 2; the two ends of the first spring 5 are respectively fixed with the trunk 2 and the tail 3, and the first spring 5 Passing through the hole of the first T-section support frame 6, the first spring 5 and the first T-section support frame 6 realize the flexible connection between the trunk part 2 and the tail part 3; The joint swing rod 180 is fixedly connected to realize synchronous swing; the two ends of the second spring 7 are respectively fixed to the tail part 3 and the tail fin 4; The two T-shaped cross-section support frames 8 realize the flexible connection between the tail 3 and the tail fin 4; The joint swing rod 180 is fixed.

7 and FIG. 1 to FIG. 3, the waist joint propulsion and steering mechanism 170 mainly includes a steering hydraulic cylinder 171, a steering hydraulic cylinder bracket 172, a waist joint steering ring 173, a waist joint support 174, a thrust cylindrical roller bearing 175, Double-ended stud 176 , waist joint transition support 177 , waist joint hydraulic cylinder fixing frame 178 , waist joint double-rod hydraulic cylinder 179 , waist joint swing rod 180 , waist joint swing rod driver 181 . The steering hydraulic cylinder 171 is installed on the steering hydraulic cylinder bracket 172, the steering hydraulic cylinder bracket 172 is fixed on the mounting frame 52 with screws, and the waist joint steering ring 173 is clamped on the piston rod of the steering hydraulic cylinder 171 with nuts and washers. The other end of the steering ring 173 is sleeved on the cylinder of the waist joint transition support 177, the waist joint support 174 is fixed on the mounting frame 52 with screws, and a thrust cylindrical roller is spaced between the waist joint transition support 177 and the waist joint support 174. The bearing 175 is connected by a double-headed stud 176, the waist joint hydraulic cylinder fixing frame 178 and the waist joint transition support 177 are fixedly connected by bolts, and the piston rod of the waist joint double-rod hydraulic cylinder 179 is fixed with a nut on the waist joint hydraulic cylinder fixing frame 178, the waist joint swing rod driver 181 is fixedly connected with the cylinder of the waist joint double-rod hydraulic cylinder 179, the circular shaft of the waist joint swing rod driver 181 is placed in the slot hole of the waist joint swing rod 180, and the waist joint swings. The circular hole at one end of the rod 180 is sleeved on the circular shaft of the waist joint hydraulic cylinder fixing frame 178 , and the tail 3 is fixedly connected with the waist joint swing rod 180 . From the above structure, it can be seen that the waist joint propulsion and steering mechanism 170 is fixed on the mounting frame 52 with screws through the waist joint support 174 and the steering hydraulic cylinder bracket 172; when the cylinder of the waist joint double-rod hydraulic cylinder 179 reciprocates up and down, it will The waist joint swing rod 180 is driven to swing up and down around the circular axis of the waist joint hydraulic cylinder fixing frame 178. Because the tail part 3 is fixedly connected with the waist joint swing rod 180, the tail part 3 will swing up and down relative to the machine dolphin trunk 2 to realize the dolphin back Part of the abdominal movement; when the piston rod of the steering hydraulic cylinder 171 moves back and forth, it will drive the waist joint transition support 177 to rotate around the double-ended stud 176. From the connection, it is easy to know that the tail 3 will be relative to the machine dolphin trunk 2 Turn an angle, and finally realize the mechanical dolphin steering.

Please refer to FIG. 6 and FIG. 1 to FIG. 3 , two pectoral fin movement mechanisms 150 are symmetrically arranged on both sides of the body of the dolphin. The pectoral fin movement mechanism 150 mainly includes a pectoral fin swinging hydraulic cylinder bracket 151 , a pectoral fin swinging hydraulic cylinder 152 , a pectoral fin rotating ring 153 , and a pectoral fin swinging hydraulic cylinder 153 . Sleeve 154, pectoral fin mounting support 155, rocker with slot 156, pectoral fin rotation drive frame 157, pectoral fin rotation shaft 158, first pectoral fin connecting piece 159, second pectoral fin connecting piece 160, pectoral fin connecting rod 161, pectoral fin 162, pectoral fin The hydraulic cylinder bracket 163 is rotated, and the pectoral fin rotates the hydraulic cylinder 164. The pectoral fin swinging hydraulic cylinder bracket 151 is fixed on the mounting frame 52 with screws, the pectoral fin swinging hydraulic cylinder 152 and the pectoral fin swinging hydraulic cylinder bracket 151 are hinged through pins, and the pectoral fin rotating ring 153 and the piston rod end of the pectoral fin swinging hydraulic cylinder 152 are fixedly connected by threads , the pectoral fin rotating ring 153 is installed in the circular groove of the pectoral fin sleeve 154, so that the pectoral fin rotating ring 153 can remain stationary when the pectoral fin sleeve 154 rotates, the pectoral fin sleeve 154 is set on one end of the pectoral fin rotating shaft 158, and the grooved rocker 156 The pectoral fin rotating shaft 158 is fixedly connected, so that the grooved rocker 156 and the pectoral fin rotating shaft 158 can rotate synchronously, the pectoral fin rotating shaft 158 is installed in the hole of the pectoral fin mounting support 155, and the pectoral fin mounting support 155 is fixed on the mounting frame 52 with screws The first pectoral fin connecting member 159 is hinged with the pectoral fin rotating shaft 158 through a pin shaft, the first pectoral fin connecting member 159 is fixed on the pectoral fin 162 with screws, and the two ends of the pectoral fin connecting member 161 are respectively connected with the pectoral fin sleeve 154 and the second pectoral fin connecting member 160 The second pectoral fin connecting piece 160 is fixed on the pectoral fin 162 by means of the pin shaft, the pectoral fin rotating hydraulic cylinder 164 is mounted on the pectoral fin rotating hydraulic cylinder bracket 163, and the pectoral fin rotating hydraulic cylinder bracket 163 is fixed on the mounting frame 52 with screws. The rotating drive frame 157 is fixedly connected with the piston rod end of the pectoral fin rotating hydraulic cylinder 164 through threads, and the pin on the pectoral fin rotating drive frame 157 passes through the slotted hole of the rocker rod 156 with grooves. According to the above structure, the pectoral fin movement mechanism 150 is fixed on the mounting frame 52 with screws through the pectoral fin mounting support 155, the pectoral fin rotating hydraulic cylinder bracket 163 and the pectoral fin swinging hydraulic cylinder bracket 151; when the pectoral fin rotating hydraulic cylinder 164 moves the piston rod, the pectoral fin is rotated and driven. The frame 157 will also move correspondingly. The pin shaft on the pectoral fin rotation drive frame 157 drives the grooved rocker 156, so that the grooved rocker 156 and the pectoral fin rotating shaft 158 can rotate synchronously. The rotating shaft 158 is hinged, and the first pectoral fin connector 159 is fixed on the pectoral fin 162 with screws, so the pectoral fin 162 will also rotate accordingly, changing the inclination of the pectoral fin relative to the body 2 of the robotic dolphin, which can assist the robotic dolphin to rise and fall; because the pectoral fin swings hydraulically The cylinder 152 is hinged with the pectoral fin swing hydraulic cylinder bracket 151 through a pin, so the pectoral fin swing hydraulic cylinder 152 has a degree of freedom that can rotate around the pin, because the pectoral fin rotation ring 153 and the pectoral fin swing hydraulic cylinder 152 The piston rod end is fixedly connected by a thread , the pectoral fin rotating ring 153 is installed in the annular groove of the pectoral fin sleeve 154, and the pectoral fin sleeve 154 is sleeved on one end of the pectoral fin rotating shaft 158, so when the pectoral fin swing hydraulic cylinder 152 piston rod extends, the pectoral fin sleeve 154 will also correspond accordingly Because both ends of the pectoral fin link 161 are hinged with the pectoral fin sleeve 154 and the second pectoral fin connector 160 through pins, and the second pectoral fin connector 160 is fixed on the pectoral fin 162 with screws, the pectoral fin 162 will surround the first pectoral fin 162. The pectoral fin connector 159 is hinged with the pin shaft of the pectoral fin rotation shaft 158 to swing, and the pectoral fins 162 will be close to the trunk 2 of the robot dolphin, so that the robot dolphin moves at high speed to reduce resistance, thereby achieving the effect of energy saving.

11 and FIG. 1 to FIG. 3 , the tail joint propulsion mechanism 250 mainly includes a tail fin connecting piece 251, a tail fin swing rod 252, a tail joint support 253, a tail joint swing drive frame 254, and a tail joint double-rod hydraulic cylinder 255. Tail joint hydraulic cylinder bracket 256. The tail joint hydraulic cylinder bracket 256 is fixed on the waist joint swing rod 180 with bolts, the tail joint double-out rod hydraulic cylinder 255 is fixedly connected with the tail joint hydraulic cylinder bracket 256, the tail joint swing drive frame 254 and the tail joint double-out rod hydraulic cylinder 255 The end of the piston rod is fixedly connected by threads, the pin shaft on the tail joint swing drive frame 254 passes through the slot hole of the tail fin swing rod 252, the tail joint support 253 is fixed on the waist joint swing rod 180 with bolts, and the tail fin swing rod 252 passes through the The pin shaft is installed in the hole of the tail joint support 253 , the tail fin swing rod 252 is connected to the tail fin connecting member 251 by bolts, and the tail fin 4 is connected to the tail fin connecting member 251 by screws. With the above structure, the tail joint propulsion mechanism 250 is fixed on the waist joint swing rod 180 of the waist joint propulsion and steering mechanism 170 with bolts through the tail joint hydraulic cylinder bracket 256 and the tail joint support 253; When the piston rod reciprocates, the tail joint swing drive frame 254 will also move accordingly, because the pin shaft on the tail joint swing drive frame 254 passes through the slot of the tail fin swing rod 252, so the tail fin swing rod 252 will swing up and down to and fro, Do the other part of the dolphin back-to-belly exercise.

10 and FIG. 1 to FIG. 3 , the balance adjustment mechanism 230 mainly includes a balance table hydraulic cylinder support 231 , a balance table hydraulic cylinder 232 , a balance table 233 , a balance table slide rail 234 , and a battery 235 . The balance table hydraulic cylinder bracket 231 is fixed on the mounting frame 52 with screws, the balance table hydraulic cylinder 232 is fixedly connected with the balance table hydraulic cylinder support 231, the piston rod of the balance table hydraulic cylinder 232 is fixed with the balance table 233 through a screw connection, and the battery 235 Placed on the balance table 233, the balance table 233 is fixedly connected with the slider (not shown), the slider cooperates with the balance table slide rail 234 to achieve relative sliding, and the balance table slide rail 234 is fixed on the mounting frame 52 with screws. With the above structure, the balance adjustment mechanism 230 is fixed on the mounting frame 52 with screws through the balance table slide rail 234 and the balance table hydraulic cylinder bracket 231. When the piston of the balance table hydraulic cylinder 232 moves, the balance table 233 will carry the battery 235. Move left and right to change the position of the center of gravity to adjust because the center of gravity of the robot dolphin is not on the center line after the installation .

Please refer to Fig. 9, Fig. 12 and Fig. 1 to Fig. 3, the ups and down control mechanism mainly includes a water storage chamber 210, a water storage chamber hoop 222, a water storage chamber mounting platform 224, a water storage chamber suction and drainage hydraulic cylinder 226 and a suction and drainage hydraulic pressure Cylinder bracket 225; water storage chamber 210 includes chamber bottom 211, second hexagonal flange face nut 212, fifth O-ring 213, water storage chamber piston 214, sixth O-ring 215, second retaining ring 216 , the water storage chamber cavity 217 , the water storage chamber piston rod 218 , the chamber cover 219 , the seventh O-ring 220 , and the ventilation hole 221 . The cavity bottom 211 and the water storage cavity cavity 217 are connected by welding; the sixth O-ring 215 and the second retaining ring 216 are installed in the sealing groove outside the water storage cavity piston 214 to play a sealing role; the fifth O-ring seal The ring 213 is installed in the inner sealing groove of the water storage chamber piston 214; the water storage chamber piston 214 is fixed on the water storage chamber piston rod 218 by the second hexagonal flange face nut 212; the seventh O-ring 220 is installed on the water storage chamber piston rod 218. The end face of the water cavity body 217 is sealed in the groove; the cavity cover 219 is fixed to the water storage cavity cavity 217 by screw connection; the ventilation hole 221 is on the cavity cover 219 for balancing the internal and external air pressure when the water storage cavity piston 214 moves. The water storage chamber 210 is fixed on the water storage chamber installation platform 224 by the water storage chamber hoop 222, the water storage chamber installation platform 224 is connected with the water storage chamber fixing frame 223 by bolts, and the suction and drainage hydraulic cylinder bracket 225 is fixed on the installation frame 52 by screws. Above, the water storage chamber suction and drainage hydraulic cylinder 226 is fixedly connected with the suction and drainage hydraulic cylinder bracket 225, and the piston rod of the water storage chamber suction and drainage hydraulic cylinder 226 is connected with the water storage chamber piston rod 218 by pins. According to the above structure, the control ups and downs mechanism is fixed on the mounting frame 52 with screws through the suction and drainage hydraulic cylinder bracket 225. When the piston rod of the water chamber suction and drainage hydraulic cylinder 226 moves, the water storage chamber piston rod 218 drives the water storage chamber piston 214. When moving, the water storage chamber will inhale or discharge water, and the weight of the entire robotic dolphin will change, thereby realizing the robotic dolphin's ascending, descending and suspending.

8 and FIG. 1 to FIG. 3 , the AM mechanism 190 mainly includes a pulse pump mounting bracket 191 , an AM platform 192 , an AM platform slide rail 193 , an AM hydraulic cylinder 194 , and an AM hydraulic cylinder support 195 . The pulse pump mounting bracket 191 is fixed on the AM platform 192 with bolts, the AM platform 192 is fixedly connected with the slider (not shown in the figure), and the slider cooperates with the AM platform slide rail 193 to achieve relative sliding, and the AM platform slide rail 193 is fixed with screws. On the mounting frame 52, the non-porous pump casing 111 is fixedly connected with the pulse pump mounting bracket 191 by bolts, the amplitude modulation hydraulic cylinder 194 is fixedly connected with the pulse pump mounting bracket 191, and the amplitude modulation hydraulic cylinder 194 is installed on the amplitude modulation hydraulic cylinder bracket 195. The amplitude modulation hydraulic cylinder The bracket 195 is fixed to the mounting frame 52 with screws. With the above structure, the AM mechanism 190 is fixed on the mounting frame 52 with screws through the AM platform slide rail 193 and the AM hydraulic cylinder bracket 195. When the piston rod of the AM hydraulic cylinder 194 moves back and forth, the pulse pump mounting bracket 191 will move back and forth accordingly. . Because the pulse pump mounting bracket 191 is bolted to the non-porous pump casing 111, and the camshaft 112 of the pulse pump is indirectly connected to the servo motor 49; 110 other components, so as to move relative to the camshaft 112. Finally, the entire mechanism can change the contact position between the camshaft of the pulse pump and the plunger shoe of the pulse pump, that is, change the effective eccentricity, thereby changing the range of movement of the plunger, and further changing the double-rod hydraulic cylinder of the waist joint and the double-rod of the tail joint. The stroke of the hydraulic cylinder realizes the change of the swing amplitude of the machine dolphin.

The hydraulic control system includes a three-dimensional angle sensor 22, a control center 23, a control platform 21, a servo valve 43, a one-way valve 44, a first accumulator 46, a second accumulator 48, a servo motor 49, a reducer 50, a coupling device 51 , pulse pump 110 .

4 and 12, the pulse pump 110 mainly includes a non-porous pump casing 111, a camshaft 112, a bearing 113, a pulse pump cavity 114, a plunger 115, a guide ring 116, a sealing ring 117, a sliding shoe 118, a shaft for Retaining ring 119, first O-ring 120, pump casing 121 with holes. The sealing ring 117 is installed in the sealing ring groove of the plunger 115 to play a sealing role; the guide ring 116 is installed in the guiding ring groove of the plunger 115 to play a guiding role, thereby reducing the wear of the sealing ring; the plunger 115 ball The head end is spherically articulated with the sliding shoe 118, and the flat end of the sliding shoe 118 is always in close contact with the camshaft 112 during operation; the plunger 115 is installed in the plunger cavity of the pulse pump cavity 114; The inner ring has an interference fit, and the shaft elastic retaining ring 119 is installed in the groove of the camshaft 112 to limit the axial position of the bearing 113; the outer ring of the bearing 113 has a clearance fit with the non-porous pump casing 111, which is conducive to relative sliding; the first O type The sealing ring 120 is installed in the groove of the perforated pump casing 121 and plays a role of dustproof sealing; There is an elastic sealing gasket (not shown in the figure) in the middle with the perforated pump casing 121 . For the specific description of the shape of the surface of the camshaft 112 that fits with the shoe 118 : the cross-section of the camshaft 112 is an eccentric circle that changes continuously with respect to the rotation axis. When the cavity moves back and forth, because the cavity is closed, the working fluid that exists only on the plane end of the plunger 115 will also flow back and forth; when the camshaft 112 moves in the axial direction, the eccentricity of the cross-section where the camshaft 112 and the sliding shoe 118 fit Correspondingly, the range of the reciprocating movement of the plunger 115 in the plunger cavity of the pulse pump cavity 114 will also change accordingly. In this embodiment, the pulse pump 110 has at least five plungers 115 .

5, 12 and 1 to 3, the transformer cylinder 130 mainly includes a small end cover 131, a cylinder barrel 132, a first hexagonal flange nut 133, a small piston 134, a first retaining ring 135, The second O-ring 136 , the third O-ring 137 , the piston rod of the transformer cylinder 138 , the large end cap 139 , and the fourth O-ring 140 . The small end cover 131 and the cylinder 132 are connected by welding; the second O-ring 136 and the first retaining ring 135 are installed in the outer sealing groove of the small piston 134 to play a sealing role; the third O-ring 137 is installed in in the inner sealing groove of the small piston 134; the small piston 134 is fixed on the piston rod 138 of the transformer cylinder with the first hexagonal flange face nut 133; the fourth O-ring 140 is installed in the end face sealing groove of the cylinder barrel 132; The large end cover 139 is fixed to the cylinder barrel 132 by screw connection. With the above structure, when the piston moves, the flow rates flowing through the oil ports of the large end cover 139 and the small end cover 131 are different and proportional to the piston area. The transformer cylinder 130 is mounted on the transformer cylinder mounting bracket 141 .

In this embodiment, the pulse pump 110 is installed in the pulse pump mounting bracket of the amplitude modulation mechanism. The pulse pump 110 has five plungers 115 in total. Therefore, the first plunger and the second plunger of the pulse pump 110 pass through the pressure-transforming cylinder 130 . It is connected with the waist joint double-rod hydraulic cylinder 179 through the pipeline; the third plunger and the fourth plunger of the pulse pump 110 are also connected through the pipeline through the transformer cylinder 130 and the tail joint double-rod hydraulic cylinder 255; The fifth plunger of the pulse pump 110 is connected to the accumulator 46 , the accumulator 46 and the servo valve 43 through the pipeline through the check valve 44 , and the A and B ports of the servo valve are respectively connected to the corresponding hydraulic cylinder oil ports. When the camshaft 112 of the pulse pump 110 rotates, the plunger 115 will reciprocate in the plunger cavity of the pulse pump cavity 114. When the plunger 115 moves inward, the one-way valve 44 close to the first accumulator 46 is opened , and the one-way valve 44 close to the second accumulator 48 remains closed, and the working fluid in the first accumulator 46 will flow into the plunger cavity of the pulse pump cavity 114; when the plunger 115 moves outward, The one-way valve 44 near the second accumulator 48 is opened, while the one-way valve 44 near the first accumulator 46 remains closed, and the working fluid in the first accumulator 46 passes through the plunger of the pulse pump cavity 114 The cavity indirectly flows to the second accumulator 48 as a transition volume, so that the low-pressure working fluid in the first accumulator 46 is transferred to the second accumulator 48, which ensures that when the servo valve 43 is working, the hydraulic cylinder has sufficient High pressure power source. Since the system is a closed hydraulic system, the initial working fluid is injected into the working fluid through a quick-change joint (not shown).

The control platform 21 is fixedly connected with the mounting frame 52 , and the three-dimensional angle sensor 22 and the control center 23 are both mounted on the control platform 21 . The channel steel 41 is fixed on the mounting frame 52 with screws, the valve block 42 is fixed on the channel steel 41 with screws, the servo valve 43 and the one-way valve 44 are fixed on the corresponding position of the valve block 42 with screws, the first accumulator bracket 45 is fixed on the mounting frame 52 with screws, the first accumulator 46 is mounted on the first accumulator bracket 45 with a hoop, the second accumulator bracket 47 is fixed on the mounting frame 52 with screws, and the second energy storage The accumulator 48 is mounted on the second accumulator bracket 47 with a hoop. The output end of the servo motor 49 is connected with the input end of the reducer 50 through a key, the reducer 50 is installed on the reducer mounting bracket 53, the output end of the reducer 50 is connected with the input end of the coupling 51 through a key, and the coupling 51 The output end is connected with the camshaft 112 of the pulse pump 110 by a key. The three-dimensional angle sensor 22 feeds back the motion posture of the machine dolphin to the control center 23 in real time; after detecting that the machine dolphin is tilted laterally, the control center 23 sends a control signal to the servo valve corresponding to the balance table hydraulic cylinder 232, so that the balance table hydraulic cylinder 232 The piston moves correspondingly, so that the balance table 233 will move left and right with the battery 235 to change the position of the center of gravity, so as to adjust the center of gravity because the center of gravity of the robot dolphin is not on the center line after installation, and finally the entire trunk of the robot dolphin swims. It will not tilt sideways and has a better posture; when it is detected that the robot dolphin is up or down, the control center 23 sends a control signal to the servo valve corresponding to the pectoral fin rotation hydraulic cylinder, the pectoral fin will rotate accordingly, and the robot dolphin will You can maintain the required posture. When the swimming speed of the robot dolphin needs to be changed, the control center 23 can send a signal to the servo motor 49 to change the speed.

The above-mentioned embodiments are only to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, those of ordinary skill in the art can make various modifications to the technical solutions of the present invention. Such deformations and improvements shall fall within the protection scope determined by the claims of the present invention.

Claims (8)

1. A hydraulically driven biomimetic robotic dolphin, comprising: the device comprises a shell supporting frame assembly, a waist joint propelling and steering mechanism, two pectoral fin motion mechanisms, a tail joint propelling mechanism, a balance adjusting mechanism, a sinking and floating control mechanism and an amplitude modulation mechanism;

the shell supporting frame assembly comprises a mounting framework, a first T-shaped section supporting frame, a second T-shaped section supporting frame, a head part, a body part, a tail part and tail fins, wherein the head part and the body part are fixedly connected with the mounting framework respectively; the tail part is fixedly connected with a waist joint swing rod of the waist joint propelling and steering mechanism to realize synchronous swing; the second spring penetrates through a hole of the second T-shaped section supporting frame, so that the tail part of the second T-shaped section supporting frame is flexibly connected with the tail fin; the tail fin is connected to a tail fin connecting piece of the tail joint propelling mechanism, and the tail joint propelling mechanism is also fixedly connected with a waist joint swing rod of the waist joint propelling and steering mechanism;

the waist joint propelling and steering mechanism comprises a steering hydraulic cylinder, a steering hydraulic cylinder bracket, a waist joint steering ring, a waist joint support, a thrust cylindrical roller bearing, a waist joint transition support, a waist joint hydraulic cylinder fixing frame, a waist joint double-rod hydraulic cylinder, a waist joint swing rod and a waist joint swing rod driving piece; the waist joint propelling and steering mechanism is fixed on the mounting framework and is used for enabling the tail part to swing up and down in a reciprocating way relative to the trunk part and rotate an angle relative to the trunk part, so that the first part and steering in the dolphin back-and-forth belly type movement are realized;

the pectoral fin movement mechanism comprises a pectoral fin swing hydraulic cylinder support, a pectoral fin swing hydraulic cylinder, a pectoral fin rotating ring, a pectoral fin sleeve, a pectoral fin mounting support, a belt-groove rocker, a pectoral fin rotation driving frame, a pectoral fin rotating shaft, a pectoral fin connecting piece, a pectoral fin connecting rod, a pectoral fin rotation hydraulic cylinder support and a pectoral fin rotation hydraulic cylinder; the two pectoral fin motion mechanisms are symmetrically fixed on two sides of the mounting framework and are used for changing the inclination angle of the pectoral fins relative to the trunk;

the tail joint propelling mechanism comprises a tail fin connecting piece, a tail fin swing rod, a tail joint support, a tail joint swing driving frame, a tail joint double-out-rod hydraulic cylinder and a tail joint hydraulic cylinder support; the tail joint propelling mechanism is fixed on a waist joint swing rod of the waist joint propelling and steering mechanism and is used for realizing the up-and-down reciprocating swing of tail fins and realizing the second part in the dolphin dorsoventral motion;

the balance adjusting mechanism comprises a balance table hydraulic cylinder bracket, a balance table hydraulic cylinder, a balance table slide rail and a storage battery; the balance adjusting mechanism is fixed on the mounting framework and used for changing the position of the gravity center, so that the whole trunk part does not incline laterally when the dolphin swims;

the sinking and floating control mechanism comprises a water storage cavity, a water storage cavity hoop, a water storage cavity mounting table, a water storage cavity water suction and drainage hydraulic cylinder and a water suction and drainage hydraulic cylinder support; the control sinking and floating mechanism is fixed on the mounting framework, and the weight of the dolphin is changed by sucking or discharging water through the water storage cavity, so that the dolphin can float, submerge and suspend; and

the amplitude modulation mechanism comprises a pulse pump mounting bracket, an amplitude modulation platform sliding rail, an amplitude modulation hydraulic cylinder and an amplitude modulation hydraulic cylinder bracket, the amplitude modulation mechanism is fixed on the mounting framework, and is used for changing the contact position of a cam shaft of the pulse pump and a plunger piston shoe of the pulse pump, so that the motion amplitude of the plunger is changed, the strokes of the waist joint double-rod hydraulic cylinder and the tail joint double-rod hydraulic cylinder are further changed, and the change of the swing amplitude of the robotic dolphin is realized.

2. The hydraulically driven biomimetic robotic dolphin of claim 1, further comprising a hydraulic control system comprising a three-dimensional angle sensor, a control center, a control platform, a servo valve, a one-way valve, a servo motor, a reducer, a coupling and a pulse pump; the pulse pump is arranged in a pulse pump mounting bracket of the amplitude modulation mechanism, the pulse pump is provided with N plungers, and a first plunger and a second plunger of the pulse pump are respectively connected with a variable pressure cylinder and a waist joint double-rod hydraulic cylinder through pipelines; a third plunger and a fourth plunger of the pulse pump are respectively connected with a tail joint double-rod hydraulic cylinder through a variable pressure cylinder and a pipeline; the fourth plunger of the pulse pump is connected with the energy accumulator and the plurality of parallel servo valves through the one-way valve, and each servo valve is respectively connected with one oil port of the steering hydraulic cylinder, the pectoral fin rotating hydraulic cylinder, the pectoral fin swinging hydraulic cylinder, the balance table hydraulic cylinder, the amplitude modulation hydraulic cylinder and the water storage cavity water suction and drainage hydraulic cylinder; the control platform is fixedly connected with the mounting framework, the three-dimensional angle sensor and the control center are both mounted on the control platform, the output end of the servo motor is connected with the input end of the speed reducer through a key, the output end of the speed reducer is connected with the input end of the coupling through a key, and the output end of the coupling is connected with the camshaft of the pulse pump through a key; the three-dimensional angle sensor feeds back the motion attitude of the robotic dolphin to the control center in real time, the control center sends a signal to the servo valve to enable the left position or the right position of the servo valve to be connected, and different hydraulic cylinders can be operated according to requirements through circuit control to realize the control of the hydraulic drive bionic robotic dolphin.

3. The hydraulically driven biomimetic robotic dolphin of claim 1 or 2, wherein the waist joint propulsion and steering mechanism is specifically configured as:

the steering hydraulic cylinder is arranged on a steering hydraulic cylinder support, the steering hydraulic cylinder support is fixed on an installation framework by screws, a waist joint steering ring is clamped on a piston rod of the steering hydraulic cylinder by a nut and a gasket, the other end of the waist joint steering ring is sleeved on a cylinder of a waist joint transition support, the waist joint support is fixed on the installation framework by screws, the waist joint transition support is connected with the waist joint support through a stud through a thrust cylindrical roller bearing, a waist joint hydraulic cylinder fixing frame is fixedly connected with the waist joint transition support through a bolt, a piston rod of the waist joint double-rod hydraulic cylinder is fixed on a waist joint hydraulic cylinder fixing frame by a nut, a waist joint swing rod driving piece is fixedly connected with a cylinder body of the waist joint double-rod hydraulic cylinder, a round shaft of the waist joint swing rod driving piece is arranged in a slot hole of a waist joint swing rod, and a round hole at one end of, the tail part is fixedly connected with the waist joint swing rod.

4. The hydraulically driven biomimetic robotic dolphin of claim 1, wherein the pectoral fin motion mechanism has a specific structure:

the pectoral fin swing hydraulic cylinder support is fixed on the mounting framework by screws, the pectoral fin swing hydraulic cylinder is hinged with the pectoral fin swing hydraulic cylinder support by a pin shaft, a pectoral fin rotating ring is fixedly connected with the piston rod end of the pectoral fin swing hydraulic cylinder by threads, the pectoral fin rotating ring is arranged in a pectoral fin sleeve circular groove, the pectoral fin sleeve is sleeved at one end of the pectoral fin rotating shaft, a groove rocker is fixedly connected with the pectoral fin rotating shaft, the pectoral fin rotating shaft is arranged in a pectoral fin mounting support hole, the pectoral fin mounting support is fixed on the mounting framework by screws, a first pectoral fin connecting piece is hinged with the pectoral fin rotating shaft by a pin shaft, a first pectoral fin connecting piece is fixed on the pectoral fin by screws, two ends of a pectoral fin connecting rod are respectively hinged with the pectoral fin sleeve and a second pectoral fin connecting piece by pin shafts, a second pectoral fin connecting piece is fixed, the pectoral fin rotation driving frame is fixedly connected with the piston rod end of the pectoral fin rotation hydraulic cylinder through threads, and a pin shaft on the pectoral fin rotation driving frame penetrates through a slotted hole of a slotted rocker.

5. The hydraulically driven biomimetic robotic dolphin of claim 1 or 2, wherein the tail joint propulsion mechanism is specifically structured as:

the tail joint hydraulic cylinder support is fixed on the waist joint swing rod through a bolt, the tail joint double-rod hydraulic cylinder is fixedly connected with the tail joint hydraulic cylinder support, the tail joint swing driving frame is fixedly connected with the piston rod end of the tail joint double-rod hydraulic cylinder through a thread, a pin shaft on the tail joint swing driving frame penetrates through a groove hole of the tail fin swing rod, the tail joint support is fixed on the waist joint swing rod through a bolt, the tail fin swing rod is installed in a hole of the tail joint support through a pin shaft, a tail fin connecting piece of the tail fin swing rod is fixedly connected through a bolt, and the tail fin is connected on the tail fin connecting piece through a screw.

6. The hydraulically driven biomimetic robotic dolphin of claim 1 or 2, wherein the balance adjustment mechanism is specifically configured as:

the balance platform comprises a balance platform hydraulic cylinder bracket, a balance platform hydraulic cylinder, a balance platform slide rail and a storage battery; the balance table hydraulic cylinder support is fixed on the mounting framework through screws, the balance table hydraulic cylinder is fixedly connected with the balance table hydraulic cylinder support, a piston rod of the balance table hydraulic cylinder is fixedly connected with the balance table through threaded connection, the storage battery is placed on the balance table, the balance table is matched with a balance table slide rail through a sliding block, and the balance table slide rail is fixed on the mounting framework through screws.

7. The hydraulically driven biomimetic robotic dolphin of claim 1 or 2, wherein the specific structure of the sinking and floating control mechanism is:

the water storage cavity is fixed on the water storage cavity mounting table through the water storage cavity hoop, the water storage cavity mounting table is connected with the water storage cavity fixing frame through bolts, the water suction and drainage hydraulic cylinder support is fixed on the mounting framework through screws, the water storage cavity water suction and drainage hydraulic cylinder is fixedly connected with the water suction and drainage hydraulic cylinder support, and a piston rod of the water storage cavity water suction and drainage hydraulic cylinder is connected with a piston rod of the water storage cavity through a pin.

8. The hydraulically driven biomimetic robotic dolphin of claim 1 or 2, wherein the amplitude modulation mechanism is specifically structured as:

the amplitude-modulated platform is matched with the amplitude-modulated platform slide rail through the slide block to realize relative sliding, the amplitude-modulated platform slide rail is fixed on the mounting framework through screws, the imperforate pump shell is fixedly connected with the pulse pump mounting bracket through bolts, the amplitude-modulated hydraulic cylinder is fixedly connected with the pulse pump mounting bracket, the amplitude-modulated hydraulic cylinder is mounted on the amplitude-modulated hydraulic cylinder bracket, and the amplitude-modulated hydraulic cylinder bracket is fixed on the mounting framework through screws.

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