CN110861761B

CN110861761B - Hydraulic drive bionic mechanical dolphin

Info

Publication number: CN110861761B
Application number: CN201911090154.3A
Authority: CN
Inventors: 赵静一; 黄立成; 何一非; 陈家恒; 徐逸飞
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2019-11-08
Filing date: 2019-11-08
Publication date: 2020-08-21
Anticipated expiration: 2039-11-08
Also published as: CN110861761A

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

Hydraulic drive bionic mechanical dolphin

Technical Field

The invention relates to the field of bionics, in particular to a hydraulic drive bionic dolphin robot.

Background

The fish is the oldest vertebrate, inhabits almost all aquatic environments on the earth, has excellent underwater swimming capability after millions of years of evolution and natural selection, has some performance indexes of a plurality of existing underwater bionic robot fishes surpass the fish, but is far inferior to the fish and whale dolphins in the aspects of control performance, structure and reliability.

Since the beginning of the 20 th century, researchers have begun to focus on the swimming mechanism of fish, and it is expected that the swimming ability of fish could be introduced into the research center for artificial underwater devices. In the 90 s of the 20 th century, with the rapid development of the disciplines of bionics, material science, intelligent control and the like, a plurality of underwater bionic machine devices are developed successively. Researchers have entered a new period for exploring and researching bionic underwater machine devices.

In 2005 to 2008, two generations of bionic dolphins were manufactured by king dragon, etc. of the university of beijing in sequence, the first generation of bionic dolphins used multi-joint series connection to achieve dolphin dorsoventral type sports, and the second generation of bionic dolphins used amplitude-adjustable crank-link mechanisms to achieve dorsoventral type sports effects. In 2009-2010, waning et al, the institute of automation in the chinese academy, made a science and technology museum-oriented demonstration type bionic dolphin with four joints, 3 of which were pitch joints and one steering joint.

However, the motion of each part of the bionic dolphin robot in China is usually driven by a plurality of motors and cannot be integrated into one motor, and the hydraulic drive bionic dolphin robot can complete all the motions by a single motor through a hydraulic system.

Disclosure of Invention

The invention aims to provide a large bionic dolphin machine which is manufactured by a simple mechanical structure and an alternating-current hydraulic principle, and can realize steering, advancing, floating up, submerging and hovering by utilizing hydraulic driving. The invention is realized by adopting the following technical scheme:

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.

Preferably, the hydraulic control system comprises a three-dimensional angle sensor, a control center, a control platform, a servo valve, a one-way valve, a servo motor, a speed 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.

Preferably, the waist joint propulsion and steering mechanism has the specific structure that: 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.

Preferably, the pectoral fin motion mechanism has the specific structure that: 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.

Preferably, the tail joint propulsion mechanism has the specific structure that: 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.

Preferably, the balance adjusting mechanism has the following specific structure: the balance table hydraulic cylinder bracket, the balance table hydraulic cylinder, the balance table slide rail and the storage battery are included; 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.

Preferably, the specific structure of the sinking and floating control mechanism is as follows: 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.

Preferably, the amplitude modulation mechanism has the specific structure that: 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.

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

1. the invention has simple mechanical structure, and can manufacture large-scale bionic dolphin by using the advantages of the alternating-current hydraulic principle.

2. And the modular design is beneficial to the subsequent improvement and optimization of each structure.

3. The shape of the robotic dolphin is similar to that of a real dolphin, and the robotic dolphin can confuse an enemy sonar system to effectively protect the robotic dolphin during task execution.

4. More detection devices can be carried by using the necessary power supply as a balance weight.

Drawings

FIG. 1 is a perspective view of a hydraulic-driven biomimetic robotic dolphin;

FIG. 2 is a partial cross-sectional view of the hydraulic-driven biomimetic robotic dolphin shown in FIG. 1;

FIG. 3 is another perspective partial cross-sectional view of the hydraulic-driven biomimetic robotic dolphin shown in FIG. 1;

FIG. 4 is a cross-sectional view of a pulse pump in a hydraulically driven biomimetic robotic dolphin;

FIG. 5 is a cross-sectional view of a pressure cylinder in a hydraulic-driven biomimetic robotic dolphin;

FIG. 6 is a perspective view of a pectoral fin motion mechanism of a hydraulic drive bionic dolphin robot;

FIG. 7 is a perspective view of a hydraulic drive bionic robotic dolphin waist-waist joint propulsion and steering mechanism;

FIG. 8 is a perspective view of a hydraulic drive biomimetic robotic dolphin amplitude modulation mechanism;

FIG. 9 is a sectional view of a water storage cavity in a dolphin controlled sinking and floating mechanism of a hydraulic drive bionic machine;

FIG. 10 is a perspective view of a hydraulic-driven biomimetic robotic dolphin balance adjustment mechanism;

FIG. 11 is a perspective view of a hydraulic drive biomimetic robotic dolphin tail joint propulsion mechanism;

FIG. 12 is a schematic diagram of a hydraulic control system of a hydraulic-driven biomimetic robotic dolphin.

Reference numerals:

1-head, 2-trunk, 3-tail, 4-tail fin, 5-first spring, 6-first T-section support frame, 7-second spring, 8-second T-section support frame, 9-washer, 21-control platform, 22-three-dimensional angle sensor, 23-control center, 41-channel steel, 42-valve block, 43-servo valve, 44-one-way valve, 45-first accumulator support, 46-first accumulator, 47-second accumulator support, 48-second accumulator, 49-servo motor, 50-reducer, 51-coupler, 52-mounting skeleton, 53-reducer mounting skeleton, 110-pulse pump, 111-aporate pump shell, 112-camshaft, 113-bearing, 114-pulse pump cavity, 115-plunger, 116-guide ring, 117-seal ring, 118-sliding shoe, 119-shaft circlip, 120-first O-type seal ring, 121-perforated pump housing, 131-small end cap, 132-cylinder, 133-first hexagonal flange nut, 134-small piston, 135-first retainer ring, 136-second O-ring, 137-third O-ring, 138-transformer cylinder piston rod, 139-large 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 rotary ring, 154-pectoral fin sleeve, 155-pectoral fin mounting bracket, 156-grooved rocker, 157-pectoral fin rotary drive bracket, 158-pectoral fin rotary shaft, 159-first pectoral fin link, 160-second pectoral fin link, 161-pectoral fin link, 162-pectoral fin, 163-pectoral fin rotary hydraulic cylinder bracket, 164-pectoral fin rotary hydraulic cylinder, 171-steering hydraulic cylinder, 172-steering hydraulic cylinder bracket, 173-lumbar knuckle steering ring, 174-lumbar knuckle bracket, 175-thrust cylindrical roller bearing, 176-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 piece, 191-pulse pump mounting frame, 192-amplitude modulation platform, 193-amplitude modulation platform sliding rail, 194-amplitude modulation hydraulic cylinder, 195-amplitude modulation hydraulic cylinder support, 211-cavity bottom, 212-second hexagonal flange nut, 213-fifth O-shaped sealing ring, 214-water storage cavity piston, 215-sixth O-shaped sealing ring, 216-second check ring, 217-water storage cavity, 218-water storage cavity piston rod, 219-cavity cover, 220-seventh O-shaped sealing ring, 221-air vent, 222-water storage cavity hoop, 223-water storage cavity fixing frame, 224-water storage cavity mounting table, 225-water suction and drainage hydraulic cylinder support, 226-cavity water suction and drainage hydraulic cylinder, 231-balance table hydraulic cylinder support, 232-balance table hydraulic cylinder, 233-balance table, 234-balance table slide rail, 235-storage battery, 251-tail fin connecting piece, 252-tail fin swing rod, 253-tail joint support, 254-tail joint swing driving frame, 255-tail joint double-out-rod hydraulic cylinder and 256-tail joint hydraulic cylinder support.

Detailed Description

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

The hydraulic drive bionic dolphin 100 mainly comprises: a housing support frame assembly, a lumbar joint propulsion and steering mechanism 170, a pectoral fin motion mechanism 150, a tail joint propulsion mechanism 250, a balance adjustment mechanism 230, a control ups and downs mechanism, an amplitude modulation mechanism 190, and a hydraulic control system.

Referring to fig. 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 portion 1, a trunk portion 2, a tail portion 3, and a tail fin 4. The head part 1 and the body part 2 are fixedly connected with the mounting framework 52 respectively, and the gasket 9 is placed between the head part 1 and the body part 2; two ends of a first spring 5 are fixedly connected with the trunk part 2 and the tail part 3 respectively, the first spring 5 penetrates through a hole of a first T-shaped section supporting frame 6, and the first spring 5 and the first T-shaped section supporting frame 6 realize flexible connection of the trunk part 2 and the tail part 3; the tail part 3 is also fixedly connected with a waist joint swing rod 180 of the waist joint propelling and steering mechanism 170 to realize synchronous swing; two ends of a second spring 7 are fixedly connected with the tail part 3 and the tail fin 4 respectively, the second spring 7 penetrates through a hole of a second T-shaped cross section supporting frame 8, and the second spring 7 and the second T-shaped cross section supporting frame 8 realize flexible connection of the tail part 3 and the tail fin 4; the tail fin 4 is also connected to a tail fin connecting piece 251 of a tail joint propulsion mechanism 250, and the tail joint propulsion mechanism 250 is also fixedly connected with a waist joint swing rod 180 of the waist joint propulsion and steering mechanism 170.

Referring to fig. 7 and fig. 1 to 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, a stud 176, a waist joint transition support 177, a waist joint hydraulic cylinder fixing frame 178, a waist joint double-out-rod hydraulic cylinder 179, a waist joint swing rod 180, and a waist joint swing rod driving member 181. The steering hydraulic cylinder 171 is arranged on a steering hydraulic cylinder bracket 172, the steering hydraulic cylinder bracket 172 is fixed on the mounting framework 52 by screws, the waist joint steering ring 173 is clamped on a piston rod of the steering hydraulic cylinder 171 by nuts and washers, the other end of the waist joint steering ring 173 is sleeved on a cylinder of a waist joint transition support 177, the waist joint support 174 is fixed on the mounting framework 52 by screws, a thrust cylindrical roller bearing 175 is arranged between the waist joint transition support 177 and the waist joint support 174 and connected by a stud 176, a waist joint hydraulic cylinder fixing frame 178 is fixedly connected with the waist joint transition support 177 by bolts, a piston rod of a waist joint double-output rod hydraulic cylinder 179 is fixed on the waist joint hydraulic cylinder fixing frame 178 by nuts, a waist joint swing rod driving piece 181 is fixedly connected with a cylinder body of a waist joint double-output rod hydraulic cylinder 179, a round shaft of the waist joint swing rod driving piece 181 is arranged in a slotted hole, a round hole at one end of the waist joint swing rod 180 is sleeved on a round shaft of the waist joint hydraulic cylinder fixing frame 178, and the tail part 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 to the mounting frame 52 by screws through the waist joint support 174 and the steering cylinder bracket 172; when the cylinder barrel of the waist joint double-out-rod hydraulic cylinder 179 reciprocates up and down, the waist joint swing rod 180 is driven to swing up and down around 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, so that the tail 3 can swing up and down in a reciprocating way relative to the body 2 of the dolphin robot, and part of the dolphin back-and-belly type motion is realized; when the piston rod of the steering hydraulic cylinder 171 moves forwards and backwards, the waist joint transition support 177 is driven to rotate around the stud 176, and the tail 3 can rotate for an angle relative to the body 2 of the mechanical dolphin easily according to the connection relation, so that the mechanical dolphin steering is finally realized.

Referring to fig. 6 and fig. 1 to 3, two pectoral fin motion mechanisms 150 are symmetrically disposed on two sides of the dolphin body, and each pectoral fin motion mechanism 150 mainly includes a pectoral fin swing hydraulic cylinder bracket 151, a pectoral fin swing hydraulic cylinder 152, a pectoral fin rotation ring 153, a pectoral fin sleeve 154, a pectoral fin mounting support 155, a slotted rocker 156, a pectoral fin rotation driving frame 157, a pectoral fin rotation shaft 158, a first pectoral fin connector 159, a second pectoral fin connector 160, a pectoral fin link 161, a pectoral fin 162, a pectoral fin rotation hydraulic cylinder bracket 163, and a pectoral fin rotation hydraulic cylinder 164. Pectoral fin swing hydraulic cylinder bracket 151 is fixed on mounting framework 52 by screws, pectoral fin swing hydraulic cylinder 152 is hinged with pectoral fin swing hydraulic cylinder bracket 151 by a pin, pectoral fin rotary ring 153 is fixedly connected with the piston rod end of pectoral fin swing hydraulic cylinder 152 by screw thread, pectoral fin rotary ring 153 is arranged in the circular groove of pectoral fin sleeve 154, so that pectoral fin rotary ring 153 can be kept still when pectoral fin sleeve 154 rotates, pectoral fin sleeve 154 is sleeved on one end of pectoral fin rotary shaft 158, grooved rocker 156 is fixedly connected with pectoral fin rotary shaft 158, so that grooved rocker 156 and pectoral fin rotary shaft 158 can synchronously rotate, pectoral fin rotary shaft 158 is arranged in the hole of pectoral fin mounting support 155, pectoral fin mounting support 155 is fixed on mounting framework 52 by screws, first pectoral fin connector 159 is hinged with pectoral fin rotary shaft 158 by a pin, first pectoral fin connector 159 is fixed on pectoral fin 162 by screws, two ends of pectoral fin connecting rod 161 are respectively hinged with pectoral fin sleeve, the second pectoral fin connecting piece 160 is fixed on the pectoral fin 162 by screws, the pectoral fin rotating hydraulic cylinder 164 is installed on a pectoral fin rotating hydraulic cylinder bracket 163, the pectoral fin rotating hydraulic cylinder bracket 163 is fixed on the installation framework 52 by screws, the pectoral fin rotating driving frame 157 is fixedly connected with the piston rod end of the pectoral fin rotating hydraulic cylinder 164 by threads, and a pin shaft on the pectoral fin rotating driving frame 157 passes through a slotted hole of the slotted rocker 156. With the above structure, pectoral fin motion mechanism 150 is fixed on mounting framework 52 by screws through pectoral fin mounting support 155, pectoral fin rotating hydraulic cylinder bracket 163 and pectoral fin swinging hydraulic cylinder bracket 151; when the piston rod of the pectoral fin rotating hydraulic cylinder 164 moves, the pectoral fin rotating driving frame 157 correspondingly moves, the pin shaft on the pectoral fin rotating driving frame 157 drives the grooved rocker 156, so that the grooved rocker 156 and the pectoral fin rotating shaft 158 can synchronously rotate, and as the first pectoral fin connecting piece 159 is hinged with the pectoral fin rotating shaft 158 through the pin shaft and the first pectoral fin connecting piece 159 is fixed on the pectoral fin 162 by a screw, the pectoral fin 162 correspondingly rotates, the inclination angle of the pectoral fin relative to the trunk part 2 of the robotic dolphin is changed, and the robotic dolphin can be assisted to sink and float; because the pectoral fin swing hydraulic cylinder 152 is hinged with the pectoral fin swing hydraulic cylinder bracket 151 through a pin, the pectoral fin swing hydraulic cylinder 152 has a degree of freedom which can rotate around the pin, because the pectoral fin rotary ring 153 is fixedly connected with the piston rod end of the pectoral fin swing hydraulic cylinder 152 through a thread, the pectoral fin rotary ring 153 is arranged in the circular groove of the pectoral fin sleeve 154, the pectoral fin sleeve 154 is sleeved at one end of the pectoral fin rotary shaft 158, and therefore when the piston rod of the pectoral fin swing hydraulic cylinder 152 extends out, the pectoral fin sleeve 154 can also correspondingly move; and because both ends of the pectoral fin connecting rod 161 are hinged with the pectoral fin sleeve 154 and the second pectoral fin connecting piece 160 through pin shafts respectively, and the second pectoral fin connecting piece 160 is fixed on the pectoral fin 162 by screws, the pectoral fin 162 can swing around the pin shaft hinged with the first pectoral fin connecting piece 159 and the pectoral fin rotating shaft 158, and at the moment, the pectoral fin 162 can be close to the dolphin trunk 2 of the machine, so that the resistance of the dolphin of the machine is reduced when the dolphin moves at high speed, and the effect of saving energy is.

Referring to fig. 11 and fig. 1 to 3, the tail joint propulsion mechanism 250 mainly includes a tail fin connector 251, a tail fin swing rod 252, a tail joint support 253, a tail joint swing driving frame 254, a tail joint double-out-rod hydraulic cylinder 255, and a tail joint hydraulic cylinder support 256. The tail joint hydraulic cylinder support 256 is fixed on the waist joint swing rod 180 through a bolt, the tail joint double-rod hydraulic cylinder 255 is fixedly connected with the tail joint hydraulic cylinder support 256, the tail joint swing driving frame 254 is fixedly connected with the piston rod end of the tail joint double-rod hydraulic cylinder 255 through a thread, a pin shaft on the tail joint swing driving frame 254 penetrates through a slot hole of the tail fin swing rod 252, the tail joint support 253 is fixed on the waist joint swing rod 180 through a bolt, the tail fin swing rod 252 is installed in a hole of the tail joint support 253 through a pin shaft, the tail fin connecting piece 251 of the tail fin swing rod 252 is fixedly connected through a bolt, and the tail fin 4 is connected on the tail fin connecting piece 251 through. 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 through the tail joint hydraulic cylinder support 256 and the tail joint support 253 by bolts; when the piston rod of the tail joint double-out-rod hydraulic cylinder 255 reciprocates, the tail joint swing driving frame 254 also moves correspondingly, and the pin shaft on the tail joint swing driving frame 254 passes through the slot hole of the tail fin swing rod 252, so the tail fin swing rod 252 swings up and down in a reciprocating manner, and the other part of dolphin dorsoventral motion is realized.

Referring to fig. 10 and fig. 1 to 3, the balance adjusting mechanism 230 mainly includes a balance table hydraulic cylinder bracket 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 support 231 is fixed on the mounting framework 52 through screws, the balance table hydraulic cylinder 232 is fixedly connected with the balance table hydraulic cylinder support 231, a piston rod of the balance table hydraulic cylinder 232 is fixedly connected with the balance table 233 through threaded connection, the storage battery 235 is placed on the balance table 233, the balance table 233 is fixedly connected with a sliding block (not shown), the sliding block is matched with the balance table sliding rail 234 to realize relative sliding, and the balance table sliding rail 234 is fixed on the mounting framework 52 through screws. By the structure, the balance adjusting mechanism 230 is fixed on the installation framework 52 through the balance table slide rail 234 and the balance table hydraulic cylinder bracket 231 by screws, and when the piston of the balance table hydraulic cylinder 232 moves, the balance table 233 can drive the storage battery 235 to move left and right to change the position of the gravity center, so that the gravity center is not on the central line after the installation of all parts of the dolphin robot, the whole trunk part cannot incline laterally when the dolphin robot moves, and meanwhile, some motions of the dolphin robot can be assisted to complete.

Referring to fig. 9, 12 and 1 to 3, the sinking and floating controlling mechanism mainly includes a water storage cavity 210, a water storage cavity hoop 222, a water storage cavity mounting platform 224, a water storage cavity water suction and drainage hydraulic cylinder 226 and a water suction and drainage hydraulic cylinder support 225; the water storage cavity 210 comprises a cavity bottom 211, a second hexagonal flange nut 212, a fifth O-shaped sealing ring 213, a water storage cavity piston 214, a sixth O-shaped sealing ring 215, a second retaining ring 216, a water storage cavity body 217, a water storage cavity piston rod 218, a cavity cover 219, a seventh O-shaped sealing ring 220 and an air hole 221. The cavity bottom 211 is connected with the water storage cavity body 217 through welding; the sixth O-shaped sealing ring 215 and the second retaining ring 216 are arranged in the sealing groove outside the water storage cavity piston 214 to play a role in sealing; a fifth O-shaped sealing ring 213 is arranged in an inner sealing groove of the water storage cavity piston 214; the reservoir piston 214 is secured to the reservoir piston rod 218 by a second hex flange nut 212; the seventh O-shaped sealing ring 220 is arranged in an end face sealing groove of the water storage cavity 217; the cavity cover 219 is fixed with the water storage cavity body 217 through screw connection; the air hole 221 is arranged on the cavity cover 219 and is used for balancing the internal air pressure and the external air pressure when the water storage cavity piston 214 moves. The water storage cavity 210 is fixed on a water storage cavity mounting platform 224 by a water storage cavity hoop 222, the water storage cavity mounting platform 224 is connected with a water storage cavity fixing frame 223 by bolts, a water suction and drainage hydraulic cylinder support 225 is fixed on the mounting framework 52 by screws, a water storage cavity water suction and drainage hydraulic cylinder 226 is fixedly connected with the water suction and drainage hydraulic cylinder support 225, and a piston rod of the water storage cavity water suction and drainage hydraulic cylinder 226 is connected with a water storage cavity piston rod 218 by a pin. By the structure, the sinking and floating control mechanism is fixed on the mounting framework 52 through the water suction and drainage hydraulic cylinder bracket 225 by screws, when the piston rod of the water cavity water suction and drainage hydraulic cylinder 226 moves, the water storage cavity piston rod 218 drives the water storage cavity piston 214 to move, the water storage cavity can suck or discharge water, the weight of the whole machine dolphin can be changed, and the floating, submerging and suspending of the machine dolphin are further realized.

Referring to fig. 8 and fig. 1 to 3, the amplitude modulation mechanism 190 mainly includes a pulse pump mounting bracket 191, an amplitude modulation platform 192, an amplitude modulation platform slide rail 193, an amplitude modulation hydraulic cylinder 194, and an amplitude modulation hydraulic cylinder bracket 195. The pulse pump mounting bracket 191 is fixed on the amplitude modulation platform 192 by bolts, the amplitude modulation platform 192 is fixedly connected with a sliding block (not shown), the sliding block is matched with an amplitude modulation platform sliding rail 193 to realize relative sliding, the amplitude modulation platform sliding rail 193 is fixed on the mounting framework 52 by bolts, the imperforate pump shell 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, the amplitude modulation hydraulic cylinder 194 is mounted on the amplitude modulation hydraulic cylinder bracket 195, and the amplitude modulation hydraulic cylinder bracket 195 is fixed on the mounting framework 52 by bolts. With the structure, the amplitude modulation mechanism 190 is fixed on the mounting framework 52 through the amplitude modulation platform slide rail 193 and the amplitude modulation hydraulic cylinder bracket 195 by screws, and when the piston rod of the amplitude modulation hydraulic cylinder 194 moves forwards and backwards, the pulse pump mounting bracket 191 moves forwards and backwards correspondingly. Because the pulse pump mounting bracket 191 is fixedly connected with the non-porous pump shell 111 by bolts, and the camshaft 112 of the pulse pump is connected with the servo motor 49 indirectly; the pulse pump mounting bracket 191 moves back and forth correspondingly to drive the rest parts of the pulse pump 110 except the cam shaft 112, so that the parts move relative to the cam shaft 112. Finally, the contact position of a cam shaft of the pulse pump and a plunger piston shoe of the pulse pump is changed by the whole mechanism, namely, the effective eccentricity is changed, 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.

The hydraulic control system comprises 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 energy accumulator 46, a second energy accumulator 48, a servo motor 49, a speed reducer 50, a coupler 51 and a pulse pump 110.

Referring to fig. 4 and 12, the pulse pump 110 mainly includes a non-porous pump housing 111, a camshaft 112, a bearing 113, a pulse pump cavity 114, a plunger 115, a guide ring 116, a seal ring 117, a shoe 118, a shaft circlip 119, a first O-ring 120, and a porous pump housing 121. The sealing ring 117 is arranged in the sealing ring groove of the plunger 115 to play a role of sealing; the guide ring 116 is arranged in a guide ring groove of the plunger 115 to play a role in guiding, so that the abrasion of the seal ring is reduced; the ball end of the plunger 115 is in ball joint with the sliding shoe 118, and the plane end of the sliding shoe 118 is always attached to the camshaft 112 in operation; the plunger 115 is arranged in a plunger cavity of the pulse pump cavity 114; the shaft shoulder of the camshaft 112 is in interference fit with the inner ring of the bearing 113, and the elastic retainer ring 119 for the shaft is arranged in the groove of the camshaft 112 to limit the axial position of the bearing 113; the outer ring of the bearing 113 is in clearance fit with the pump shell 111 without holes, so that relative sliding is facilitated; the first O-shaped sealing ring 120 is arranged in a groove of the pump shell 121 with a hole and plays a role in dust sealing; the nonporous pump casing 111 and the perforated pump casing 121 are bolted to clamp the pulse pump chamber 114, and an elastic seal (not shown) is arranged between the nonporous pump casing 111 and the perforated pump casing 121. The shape of the abutting surface of the cam shaft 112 with the shoe 118 is specifically described as follows: the cross section of the cam shaft 112 is an eccentric circle which is continuously changed relative to the rotation axis, when the cam shaft 112 rotates, the plunger 115 can reciprocate in a plunger cavity of the pulse pump cavity 114, and due to the fact that the cavity is closed, the working fluid only existing at the plane end of the plunger 115 can also reciprocate; when the camshaft 112 moves along the axial direction, the eccentricity of the section of the camshaft 112, which is in contact with the shoe 118, changes accordingly, and the amplitude of the reciprocating movement of the plunger 115 in the plunger cavity of the pulse pump cavity 114 also changes accordingly. The pulse pump 110 in this embodiment has at least 5 plungers 115.

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

In this embodiment, the pulse pump 110 is installed in a pulse pump installation bracket of the amplitude modulation mechanism, and the pulse pump 110 has 5 plungers 115 in total, so that the first plunger and the second plunger of the pulse pump 110 are connected through a pipeline via the variable pressure cylinder 130 and the waist joint double-out-rod hydraulic cylinder 179; similarly, the third plunger and the fourth plunger of the pulse pump 110 are also connected with the tail joint double-out-rod hydraulic cylinder 255 through the variable pressure cylinder 130 and a pipeline; the fifth plunger of the pulse pump 110 is connected with the energy accumulator 46, the energy accumulator 46 and the servo valve 43 through the one-way valve 44 by pipelines, and A, B ports of the servo valve are respectively connected with corresponding hydraulic cylinder oil ports. When the cam shaft 112 of the pulse pump 110 rotates, the plunger 115 reciprocates in the plunger cavity of the pulse pump cavity 114, and when the plunger 115 moves inward, the check valve 44 adjacent to the first accumulator 46 is opened, and the check valve 44 adjacent to the second accumulator 48 is kept closed, so that the working fluid in the first accumulator 46 flows into the plunger cavity of the pulse pump cavity 114; when the plunger 115 moves outward, the check valve 44 adjacent to the second accumulator 48 opens, while the check valve 44 adjacent to the first accumulator 46 remains closed, and the working fluid in the first accumulator 46 flows indirectly to the second accumulator 48 as a transition volume through the plunger cavity of the pulse pump chamber 114, thus transferring the low-pressure working fluid in the first accumulator 46 to the second accumulator 48, ensuring that the hydraulic cylinder has a sufficient high-pressure power source when the servo valve 43 is operated. Since the system is of a closed hydraulic system, the initial working fluid is injected into the working fluid through a quick-change coupling (not shown).

The control platform 21 is fixedly connected with the mounting framework 52, and the three-dimensional angle sensor 22 and the control center 23 are both mounted on the control platform 21. Channel-section steel 41 is fixed on installation framework 52 with the screw, and valve block 42 is fixed on channel-section steel 41 with the screw, and servo valve 43 and check valve 44 are all fixed at the relevant position of valve block 42 with the screw, and first energy storage ware support 45 is fixed on installation framework 52 with the screw, and first energy storage ware 46 is installed on first energy storage ware support 45 with the staple bolt, and second energy storage ware support 47 is fixed on installation framework 52 with the screw, and second energy storage ware 48 is installed on second energy storage ware support 47 with the staple bolt. The output end of the servo motor 49 is connected with the input end of the speed reducer 50 through a key, the speed reducer 50 is installed on the speed reducer installing support 53, the output end of the speed reducer 50 is connected with the input end of the coupler 51 through a key, and the output end of the coupler 51 is connected with the cam shaft 112 of the pulse pump 110 through a key. The three-dimensional angle sensor 22 feeds the motion attitude of the robotic dolphin back to the control center 23 in real time; when the lateral inclination of the dolphin robot is detected, the control center 23 sends a control signal to a servo valve corresponding to the balance table hydraulic cylinder 232, so that the piston of the balance table hydraulic cylinder 232 moves correspondingly, the balance table 233 can drive the storage battery 235 to move left and right, and the position of the center of gravity is changed, so that the center of gravity is not on the central line after all parts of the dolphin robot are installed, and finally the whole trunk part of the dolphin robot cannot laterally incline when the dolphin robot moves, and the dolphin robot has a better posture; when the dolphin robot is detected to pitch up or to lower the abdomen, the control center 23 sends a control signal to the servo valve corresponding to the pectoral fin rotating hydraulic cylinder, the pectoral fin rotates correspondingly, and the dolphin robot can keep the required posture. When the swimming speed of the dolphin robot needs to be changed, the control center 23 sends a signal to the servo motor 49 to change the rotating speed.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

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 pectoral fin movement mechanism comprises a pectoral fin swing hydraulic cylinder support, a pectoral fin swing hydraulic cylinder, a pectoral fin rotary ring, a pectoral fin sleeve, a pectoral fin mounting support, a belt-groove rocker, a pectoral fin rotation driving frame, a pectoral fin rotary 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 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;

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 a waist joint swing rod;

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, the second pectoral fin connecting piece is, 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;

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.

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 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.

4. 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.

5. 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.