CN216580945U

CN216580945U - A bionical machine fish for aquaculture

Info

Publication number: CN216580945U
Application number: CN202122262464.8U
Authority: CN
Inventors: 何贤杰; 王庆楠; 邢蓝天
Original assignee: Huaihua University
Current assignee: Huaihua University
Priority date: 2021-09-17
Filing date: 2021-09-17
Publication date: 2022-05-24
Anticipated expiration: 2031-09-17

Abstract

The utility model discloses a bionic robot fish for aquaculture, which comprises a fish head, a connecting piece, a sealing ring and a fish tail, wherein the fish head is provided with a motion control module: the turning adjusting mechanism is provided with a linear groove, a counterweight electromagnet sliding block, a steel block and a spring, when the robotic fish turns, the sliding block on one side is electrified to obtain magnetism, the compression spring of the slider is enabled to quickly deviate towards the steel positioned in the groove center, the gravity center of the robotic fish is enabled to deviate, and the robotic fish is quickly turned by matching with the swing of the fish tail; the lifting and submerging mechanism is provided with a steering engine, an output rod and a weight block, when the robotic fish lifts and submerges, the output rod is controlled by the steering engine to swing back and forth, the front and back gravity centers are changed, and the robotic fish lifts and submerges; the fishtail is provided with a three-degree-of-freedom steering engine mechanism which is formed by connecting three steering engines in series, and the steering engines are controlled to enable the fishtail to swing to be in a certain posture so as to drive the robot fish.

Description

A bionical machine fish for aquaculture

Technical Field

The utility model belongs to the technical field of fishery culture equipment, and particularly relates to a bionic robot fish for aquaculture.

Background

In recent years, research on underwater robots has made a certain breakthrough at home and abroad, and underwater robots are also used in various fields, such as: underwater exploration, water environment detection, underwater rescue, aquaculture and the like. The existing underwater robot in the aquaculture field usually adopts a special appearance structure, is very inconvenient to move in water, greatly interferes with the water environment, and adopts a traditional propeller type propulsion mode, so that the obvious problems of poor maneuverability, high noise, low working efficiency and the like generally exist, the deviation exists between the data taken back during underwater operation and the real situation, the obtained effect is low, and the requirements of the existing aquaculture are not met.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a bionic robot fish for aquaculture. The appearance knot that adopts bionical fish and the drive mode of simulation fish are provided with the motion control module, increase the robot fish and turn to in aqueous, rise latent flexibility, adopt steering wheel drive's power mode, reduce the influence to the environment under water to and the cooperation is surveyed the module and is realized surveying aquatic organism, the detection of water environment etc. in aqueous, improve work efficiency, make aquaculture science, high-efficient, thereby solve the problem that above-mentioned background provided.

The utility model provides the following technical scheme for achieving the aim.

The utility model relates to a bionic robotic fish for aquaculture, which comprises a fish head, a connecting piece, a sealing ring and a fish tail. The fish head comprises a shell, a transparent cover, a first partition plate, a first baffle block, a detection module, a control unit, a power supply and a motion control module, wherein the transparent cover is arranged at the front end of the shell, a second partition plate is arranged at the bottom of the transparent cover, the detection module is installed on the second partition plate, a group of first baffle blocks are arranged inside the shell and on the rear side of the transparent cover and symmetrically distributed along a central axis, one end of each baffle plate is fixed on the first baffle block, the control unit is arranged on the upper side of each baffle plate, and the motion control module is arranged on the lower side of each baffle plate; the connecting piece is arranged between the fish head and the fish tail, a group of second stop blocks are arranged inside the connecting piece, the second stop blocks are parallel to the first stop blocks, and the other ends of the partition plates are fixed on the second stop blocks; the fishtail comprises a three-degree-of-freedom steering engine mechanism, a tail pendulum and a sealing rubber sheet, the front side of the three-degree-of-freedom steering engine mechanism is connected with the connecting piece through a large U support, the rear side of the three-degree-of-freedom steering engine mechanism is connected with the tail pendulum through a small U support, and the outer side of the fishtail is coated with a layer of sealing rubber sheet; the fish head is connected with the connecting piece, and the terminal edge of fish head and the cooperation of connecting piece head end edge, and the terminal edge of fish head are located the outside, and the sealing ring is located the connecting piece and the fish head junction outside, and the terminal edge of connecting piece is connected with rubber seal head end in close contact with, and rubber seal is located the outside, rubber seal end and tail pendulum in close contact with are connected.

Preferably, the machine fish is integrally sealed by waterproof sealant, and the machine fish comprises the following parts: the fish head sealing structure comprises a transparent cover, a shell, a fish head, a connecting piece, a sealing ring, a connecting piece, a fish head, a sealing rubber sheet, a connecting piece and a tail pendulum, wherein the transparent cover is connected with the shell, the fish head is connected with the connecting piece, the sealing ring is connected with the connecting piece and the fish head, the sealing rubber sheet is made of flexible rubber materials, and the transparent cover is made of transparent resin materials.

Preferably, the motion control module comprises a steering adjustment mechanism and a lifting and submerging mechanism, the steering adjustment mechanism comprises a linear groove bottom plate, a counterweight electromagnet sliding block, a spring and a steel block, the linear groove bottom plate is arranged on the lower side of the partition plate, a linear groove is arranged on the linear groove bottom plate, a linear groove opening faces downwards, the steel block groove is arranged in the middle of the linear groove, the steel block is arranged in the groove, the counterweight electromagnet sliding blocks are respectively arranged at the left end and the right end of the linear groove, the counterweight electromagnet sliding blocks are clamped in the linear groove, the linear groove opening width is smaller than the counterweight electromagnet sliding block width, the springs are respectively arranged at the two ends of the linear groove, the two ends of each spring are attached to the counterweight electromagnet sliding block and the outer side of the steel block groove, the indexing circle diameter of each spring is larger than the linear groove opening width, the springs keep the springs in a stretching state under normal condition, the counterweight electromagnet sliding blocks are electrically connected with the microcomputer control module through wires, when the robot fish turns, the microcomputer control module controls one side of the counterweight electromagnet sliding blocks on the left side and the right side of the straight groove to be electrified, the counterweight electromagnet sliding blocks slide to the center of the straight groove through the magnetic attraction effect, the gravity center of the robot fish is changed, and the robot fish is fast turned by matching with the swing of the fish tail.

It includes support, steering wheel support, unipolar steering wheel, two steering wheel dishes, output pole, pouring weight to rise latent mechanism, the support passes through the bolt fastening in a word groove bottom plate downside, the steering wheel support passes through the bolt fastening on the support panel, the unipolar steering wheel is fixed in the steering wheel support, two steering wheel dishes are connected with the steering wheel output shaft, the output pole passes through circular steering wheel dish 2 and unipolar steering wheel output shaft, and the output pole keeps perpendicular downwards under the condition of not operating, the pouring weight is fixed in the output pole lower extreme, the unipolar steering wheel passes through control circuit and is connected with microcomputer control module, when the machine fish rises when diving through control module control steering wheel function, makes the position focus around the pendulum or the back pendulum change of pouring weight through the output pole, realizes that the machine fish rises latent motion.

Preferably, the three-degree-of-freedom steering engine mechanism comprises a double-shaft steering engine, a first circular steering engine, a large U support and a small U support, wherein the first circular steering engine is arranged on output shafts at two ends of the double-shaft steering engine and connected with the large U support, the tail end of the double-shaft steering engine is connected with the small U support, the large U support, the double-shaft steering engine and the small U support are sequentially connected in series to form the three-degree-of-freedom steering engine mechanism, three double-shaft steering engines are connected to a microcomputer control module through a control circuit, the three steering engines are controlled to work through the microcomputer control module, the fishtail is made to swing into a certain posture, the fishtail is made to swing back and forth repeatedly, and the robot fish is driven.

Preferably, the control unit includes microcomputer control module, communication module, microcomputer control module sets up at a baffle upside, and microcomputer control module is located the baffle upside, and is located the power rear side, communication module is located microcomputer control module one side, microcomputer control module passes through the wire and is connected with unipolar steering wheel, biax steering wheel, detection module and communication module, controls the robot fish operation, the robot fish passes through communication module and realizes wireless communication.

In summary, the present invention has the following advantageous effects.

1. The utility model provides a bionic robot fish for aquaculture, wherein a motion control module is arranged below a first partition plate and consists of a steering adjusting mechanism and a lifting and submerging mechanism, when the robot fish turns, a counterweight electromagnet sliding block on one side of a linear groove on the steering adjusting mechanism is electrified through a microcomputer control module, and slides to the center of the linear groove through the magnetic attraction effect, so that the left and right gravity centers of the robot fish are changed, the robot fish is pushed by generating propelling force by matching with a tail three-degree-of-freedom steering engine structure, the robot fish is quickly turned in water, after the turning is finished, the counterweight electromagnet sliding block is powered off and loses magnetism, the robot fish reaches a balance state again, and the robot fish normally moves; when the robotic fish ascends and submerges, the single-shaft steering engine of the submerge-ascending mechanism is controlled by the microcomputer control module to enable the output rod to swing forwards or backwards to drive the heavy blocks to swing forwards and backwards, so that the front and back gravity centers of the robotic fish are changed, and the tail part swings to provide advancing power by matching with a tail part three-degree-of-freedom steering engine structure, so that the robotic fish moves up and down. The steering motion of the robot fish in water is more flexible and agile through the motion control module, the multi-directional motion of the robot fish in water is realized by matching with the diving mechanism, and the detection of underwater aquatic organisms and the detection of a water environment by the robot fish are more convenient.

2. The utility model provides a bionic robotic fish for aquaculture, wherein a three-degree-of-freedom steering engine mechanism is arranged at the fish tail, the front side of the three-degree-of-freedom steering engine mechanism is fixed on a connecting piece through a bolt, the rear side of the three-degree-of-freedom steering engine mechanism is connected with a tail pendulum through a bolt, when the robotic fish moves in water, the robotic fish simulates the tail-swaying motion posture of the fish in the water, three steering engines are controlled to work through a microcomputer control module, and the fish tail part and the tail pendulum are controlled to swing back and forth, so that the power for the robotic fish to move freely is provided. Through the driving mode of the bionic simulation of the steering engine, the noise generated by the robotic fish during underwater motion is smaller, and meanwhile, the interference to the underwater environment is smaller, so that the robotic fish can more conveniently detect aquatic organisms in a short distance during underwater work, the detection data of the water environment is more real and effective, and the underwater working efficiency of the robotic fish is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and the structures, the proportions, the sizes, and the like shown in the present specification are only for matching and description, and have no practical technical significance, so that the modifications on the structures, the scaling on the proportions, and the like of the present invention are within the scope of the technical contents of the present invention without affecting the practical efficacy and the achievable effects of the present invention.

FIG. 1 is a schematic view of the overall structure of a biomimetic robotic fish for aquaculture according to the present invention.

FIG. 2 is a cross-sectional view of the present invention.

Fig. 3 is a schematic view of the internal structure of the fish head of the present invention.

FIG. 4 is a schematic view of the internal structure of the fish tail of the present invention.

FIG. 5 is a schematic diagram of a motion control module according to the present invention.

FIG. 6 is a schematic diagram of a portion of the components of the motion control module of the present invention.

Fig. 7 is a schematic view of a connector of the present invention.

In the figure: 1-fish head, 101-shell, 2-fish tail, 201-sealing rubber sheet, 3-tail pendulum, 4-three-degree-of-freedom steering engine mechanism, 41-round rudder disk I, 42-double-shaft steering engine, 43-big U bracket, 44-small U bracket, 5-connecting piece, 51-partition plate I, 52-partition plate, 6-motion control module, 7-steering adjusting mechanism, 71-straight-line groove bottom plate, 72-steel block, 73-steel block groove, 74-straight-line groove, 75-spring, 76-counterweight electromagnet sliding block, 8-lifting submersible mechanism, 81-single-shaft steering engine, 82-steering engine bracket, 83-round rudder disk II, 84-weight, 85-output rod, 86-bracket, 9-control unit, 91-microcomputer control module, 92-communication module, 10-power supply, 11-transparent cover, 12-detection module, 13-sealing ring, 14-baffle II, 15-block I, 16-block II and 17-detection module.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the drawings, and of course, the described embodiments are some, but not all embodiments of the present invention. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of the present invention, please refer to fig. 1 to 7.

Example 1

Referring to fig. 1-2, the bionic robotic fish for aquaculture in the utility model comprises a fish head 1, a connecting piece 5, a fish tail 2 and a sealing ring 13, wherein a detection module 17 for detecting underwater aquatic organisms and detecting water environment, an operation control module 6 for controlling steering and diving of the robotic fish in water, a control unit 9 for controlling the operation of the robotic fish and a power supply 10 for supplying electric energy are arranged in the fish head 1; three-degree-of-freedom steering engine mechanism 4 and tail pendulum 3 used for providing advancing power in water are arranged in the fish tail 2, sealing rubber 201 used for improving flexibility of the robotic fish is wrapped outside the fish tail 2, and the sealing rubber is made of rubber materials with certain flexibility.

The working process of the utility model is as follows: external information is collected through the detection module 17 and transmitted to the microcomputer control module 91 in the control unit 9, the three-degree-of-freedom steering engine mechanism 4 is controlled to repeatedly swing back and forth for a certain posture through information processing to form propelling force, meanwhile, the motion control module 6 is controlled to work when needed, the steering sensitivity of the robot fish is adjusted, the robot fish is made to ascend and submerge, electric energy is provided for the robot fish through the power supply 10, and the robot fish works underwater.

The utility model has the beneficial effects that: make the steering motion of machine fish in aqueous more nimble, agile through the steering adjustment mechanism 7 among the motion control module 6, the cooperation rises submergence mechanism 8 and realizes the multi-direction motion of machine fish in aqueous, the drive mode of the bionical simulation of cooperation steering wheel and the rubber sealant 201 of software simultaneously, the noise that makes the motion of machine fish in aqueous production is littleer, and to the interference of environment under water is littleer, the action is more natural, cooperation detection module 17 makes the machine fish when work under water closely more convenient to aquatic organism's closely survey, it is more true effective to the detection data of water environment, for fishery aquaculture, the management, scientific and effective auxiliary action is provided.

Example 2

Referring to fig. 1 to 3, the bionic robotic fish for aquaculture in the present invention comprises a motion control module 6 applied in embodiment 1, including a steering adjustment mechanism 7, a submergence-ascent mechanism 8, and a first partition plate 51 for installing the motion control module 6, wherein two sides of the first partition plate 51 are respectively fixed on a first stopper 15 and a second stopper 16 through bolts; the steering adjusting mechanism 7 comprises a straight groove bottom plate 71, a counterweight electromagnet sliding block 76, springs 75 and a steel block 72, wherein a straight groove 74 is arranged on the straight groove bottom plate 71, the straight groove is of an integrated structure, a steel block groove 73 is arranged in the center of the straight groove 74, the steel block groove 73 is used for fixing the steel block 72, counterweight electromagnet sliding blocks 76 are respectively arranged on two sides of the straight groove 74, the counterweight electromagnet sliding blocks 76 are clamped in the straight groove 74, the springs 75 are respectively arranged on two sides in the straight groove 74, and one side of each spring 75 is tightly attached to one side of the counterweight electromagnet sliding block 76 and tightly attached to the inner wall of the straight groove center; the lifting and submerging mechanism 8 comprises a support 86, a steering engine support 82, a single-shaft steering engine 81, a second linear steering wheel 83, an output rod 85 and weights 84, four support legs of the support 86 are fixed on a bottom plate of a linear groove 74, the linear groove 74 penetrates through the inner side of the support 86, a panel of the support 86 is provided with a plurality of mounting holes which are evenly distributed, the steering engine support 82 is installed on the panel of the support 86, the single-shaft steering engine 81 is fixed on the steering engine support 82, the second linear steering wheel 83 is matched with an output shaft of the single-shaft steering engine 81, the output rod 85 is fixed on the second linear steering wheel 83, the weights 84 are fixed below the output rod 85, the support 86 is higher than the linear groove 74, the balance weight electromagnet sliding block 76 is not interfered, the steering engine support 82 can be installed on the panel of the support 86 in a plurality of positions, and the linear groove bottom plate 71 can be installed on a partition plate 51 so that the whole robot fish can be balanced when the motion control module 6 operates.

The working process of the utility model is as follows: when the robot fish needs to change the movement direction, the microcomputer control module 91 controls the movement control module 6 to work, and the counterweight electromagnet slide block 76 on one side of the steering adjusting mechanism 7 is controlled to be electrified, so that the compression spring 75 is enabled to deviate towards the fast slot center, the gravity center of the robot fish in the left-right direction is changed, and the robot fish is enabled to rapidly steer left and right; through the work of the single-shaft steering engine 81 for controlling the lifting and submerging mechanism 8, the output rod 85 drives the weight block to shift forwards or backwards, so that the center of gravity of the robot fish in the front-back direction is changed, the whole robot fish is enabled to tilt forwards or backwards, and the lifting and submerging of the robot fish are realized to complete the change of the moving direction.

The utility model has the beneficial effects that: through the motion control module 6 that this embodiment set up, it is more nimble, agile to turn to about through turning to adjustment mechanism 7 messenger machine fish when moving under water, cooperates to rise submergence mechanism 8 and realizes the multi-direction motion of machine fish in aqueous, makes things convenient for the detection of machine fish to aquatic organisms under water and the detection of water environment more.

Example 3

Referring to fig. 4-7, the biomimetic robotic fish for aquaculture in the present invention includes a three-degree-of-freedom steering engine mechanism 4 used in embodiment 1 and a connecting member 5 used for installing the three-degree-of-freedom steering engine mechanism 4, a partition plate 52 is disposed inside the connecting member 5, a mounting hole matched with the large U bracket 43 for installation is disposed on the partition plate 52, and a line hole for passing a control line is disposed at the lower side; the three-degree-of-freedom steering engine mechanism 4 comprises a double-shaft steering engine 42, a first circular steering wheel 41, a large U support 43 and a small U support 44, the circular steering wheels 141 are arranged on output shafts at two ends of the double-shaft steering engine 42 and connected with the large U support 43, the tail ends of the double-shaft steering engines 42 are connected with the small U support 44, the large U support 43, the double-shaft steering engine 42 and the small U support 44 are sequentially connected in series to form the three-degree-of-freedom steering engine mechanism 4, and the three double-shaft steering engines are connected to a microcomputer control module 91 through a control circuit. The three steering engines are controlled to work through the microcomputer control module 91, so that the fishtail swings to a certain posture, and the fishtail swings back and forth repeatedly to drive the robot fish.

The working process of the utility model is as follows: through a control circuit, the microcomputer control module 91 controls the three steering engines to work, and a certain angle is formed between each steering engine of the three-degree-of-freedom steering engine mechanism 4 through the large U support 43 and the small U support 44, so that the action posture of fish in water during tail swing is simulated, the fish swings back and forth repeatedly, and forward power is provided for the robotic fish.

The utility model has the beneficial effects that: through the driving mode of the bionic simulation of the steering engine, the noise generated when the robotic fish moves in water is smaller, and meanwhile, the interference to the underwater environment is smaller, so that the robotic fish can more conveniently detect aquatic organisms closely when working underwater, the detection data of the water environment is more real and effective, and the underwater working efficiency of the robotic fish is improved.

Claims

1. A biomimetic robotic fish for aquaculture, comprising a fish head (1), a connector (5), a sealing ring (13) and a fish tail (2), the fish head comprising: the device comprises a shell (101), a transparent cover (11), a first partition plate (51), a first stop block (15), a detection module (17), a control unit (9), a power supply (10) and a motion control module (6); the detection device is characterized in that a transparent cover (11) is arranged at the front end of the shell (101), a second partition plate (14) is arranged at the bottom of the transparent cover (11), the detection module (17) is arranged on the second partition plate (14), a group of first baffle plates (15) is arranged in the shell (101), one sides of the first baffle plates (51) are fixed on the first baffle plates (15) through bolts, a certain number of mounting holes are formed in the first baffle plates (51), a control unit (9) and a power supply (10) are arranged on the upper sides of the first baffle plates (51), the control unit comprises a microcomputer control module (91) and a communication module (92), and a motion control module (6) is arranged on the lower sides of the first baffle plates (51); the fish tail includes: the three-degree-of-freedom steering engine mechanism (4), the tail pendulum (3) and the sealing rubber (201), wherein the three-degree-of-freedom steering engine mechanism (4) is formed by connecting a double-shaft steering engine (42), a first circular steering wheel (41), a large U support (43) and a small U support (44) in series, the large U support (43) at the front end is connected with the connecting piece (5) through a bolt, and the small U support (44) at the rear end is connected with the tail pendulum (3) through a bolt; the fish head (1) end edge and connecting piece (5) head end edge cooperation, and the fish head end edge is located the outside, sealing ring (13) are located the fish head and the connecting piece junction outside, and connecting piece (5) end edge is connected with rubber seal (201) head end in close contact with, and the rubber seal is located the outside, rubber seal (201) end is connected with tail pendulum (3) in close contact with.

2. The bionic robotic fish for aquaculture according to claim 1, wherein the connecting piece (5) is arranged between the fish head (1) and the three-degree-of-freedom steering engine mechanism (4), a partition plate (52) and a group of second stoppers (16) are arranged inside the connecting piece, a mounting hole matched with a large U support for mounting is formed in the partition plate, a circuit hole for a lead to pass through is formed in the lower side of the partition plate, the second stoppers (16) are parallel to the first stoppers (15), and the other side of the first partition plate (51) is fixed on the second stoppers (16) through bolts.

3. A biomimetic robotic fish for aquaculture according to claim 1, characterized in that the motion control module (6) comprises: a steering adjusting mechanism (7) and a lifting and submerging mechanism (8); the steering adjustment mechanism (7) includes: the steel plate type linear groove comprises a linear groove bottom plate (71), a counterweight electromagnet sliding block (76), a spring (75) and a steel block (72), wherein the linear groove bottom plate (71) is fixed on the lower side of a first partition plate (51) through bolts, a linear groove (74) is formed in the linear groove bottom plate, a steel block groove (73) is formed in the middle of the linear groove, the steel block (72) is arranged in the linear groove, the counterweight electromagnet sliding block (76) is arranged at each of the left end and the right end of the linear groove, the width of the linear groove is smaller than that of the counterweight electromagnet sliding block, the counterweight electromagnet sliding block is clamped in the linear groove, the spring (75) is arranged at each of the two ends of the linear groove, the two ends of the spring are attached to the outer sides of the counterweight electromagnet sliding block (76) and the steel block groove, and the reference circle diameter of the spring (75) is larger than that of the linear groove and smaller than the width of the inner wall of the groove center; the lifting and submerging mechanism (8) comprises: support (86), steering wheel support (82), unipolar steering wheel (81), two (83) on the round rudder dish, output pole (85), pouring weight (84), on support (86) are fixed in a word groove bottom plate (71) support mounting hole through the bolt, the support panel is down, steering wheel support (82) are fixed in the support panel through the bolt, the support panel is on a parallel with baffle (51), unipolar steering wheel (81) are fixed in steering wheel support (82), unipolar steering wheel (81) output shaft is on a parallel with support (86), output pole (85) are through the output shaft connection of two (83) and unipolar steering wheel (81) on the round rudder dish, and output pole (85) keep perpendicularly downwards under the non-operation condition, pouring weight (84) are fixed in output pole (85) lower extreme.

4. The biomimetic robotic fish for aquaculture according to claim 1, wherein the three-degree-of-freedom steering engine mechanism (4) comprises three double-shaft steering engines (42), six first circular steering wheels (41), three large U brackets (43) and three small U brackets (44); the first round rudder disk (41) is arranged on an output shaft of the double-shaft steering engine (42) and is connected with the large U bracket (43); the tail end of the double-shaft steering engine (42) is connected with the small U-shaped bracket (44).

5. A biomimetic robotic fish for aquaculture according to claim 1, characterized in that the control unit (9) comprises: the microcomputer control module (91) is arranged on the upper side of the first partition plate (51), and the power supply (10) is arranged on the upper side of the first partition plate (51) and positioned on the front side of the microcomputer control module (91); the communication module (92) is positioned on one side of the microcomputer control module (91), the microcomputer control module (91) is connected with the single-shaft steering engine (81), the double-shaft steering engine (42), the detection module (17) and the communication module (92) through wires, and wireless communication is achieved through the communication module (92); the power supply (10) provides electric energy for the robotic fish.

6. The biomimetic robotic fish for aquaculture according to claim 1, wherein the robotic fish is integrally sealed by a waterproof sealant, comprising: the joint of the transparent cover (11) and the shell, the joint of the fish head and the connecting piece, the joint of the sealing ring (13) and the connecting piece (5) and the fish head (1), and the joint of the sealing rubber sheet (201) and the connecting piece (5) and the tail pendulum (3).