CN220291741U - Wireless charging device for robot fish - Google Patents

Abstract

The utility model relates to a robot fish wireless charging device which comprises a mechanical arm wireless charging device, a robot fish, a preliminary fixing device and a clamping device, wherein the robot fish is fixedly connected with the mechanical arm wireless charging device; the primary fixing device comprises a base fixed on the charging pile, a waterproof direct current motor is fixed on the upper surface wall of the base, and the axis of a rotating shaft of the waterproof direct current motor is horizontally arranged; a centrifugal impeller is arranged on a rotating shaft of the waterproof direct current motor, a Bernoulli sucker is fixed on the upper surface wall of the base, the Bernoulli sucker comprises a sucker body and a sleeve, the sleeve is positioned at one end close to the centrifugal impeller, a channel is arranged on the sleeve along the axis, two ends of the channel respectively penetrate through the sucker body and the sleeve, the centrifugal impeller is positioned in the channel, and the centrifugal impeller is not contacted with the surface wall of the channel; the sucker body is provided with a positioning component for positioning the robot fish. The device utilizes the primary fixing device and the clamping device to limit the position of the robot fish together, so that the robot fish is prevented from generating displacement relative to the charging pile, and the charging efficiency is improved.

Description

Wireless charging device for robot fish

Technical Field

The utility model relates to the field of robot fish charging devices, in particular to a robot fish wireless charging device.

Background

In recent years, underwater robots are a popular field of research, and robotics are a major topic in underwater robots. At present, a plurality of robotic fishes appear in the market, but most of the equipment is small in battery capacity, the cruising time of work is short, when the electric quantity reaches a set minimum threshold value, the robot can return to a nearby manual salvage point, and then the battery is replaced by manual salvage. The operation not only reduces the working efficiency of the robot fish, but also brings related potential safety hazards to salvagers.

The most common charging method for the robot fish is contact charging. The contact type charging adopts an interface docking technology, and is widely applied to daily robot equipment. However, under water, the charging mode is extremely easy to cause instantaneous short circuit burning out of the water entering device due to poor contact, and the charging efficiency and the normal operation of equipment are greatly influenced. There is another non-contact inductive charging based on a wireless connection charging system.

For the current common underwater wireless charging mode of the robot fish, the strong coupling inductance type wireless power transmission is mostly adopted, and the charging distance of the mode is short. The robot fish can return to the charging pile independently when the electric quantity is lower and charge, but the gesture when not charging the robot fish is limited, and the robot fish is not in the static position state relative to the charging pile completely during charging, can produce and rock, influences charging efficiency.

Disclosure of Invention

In order to overcome the defects in the prior art, the utility model provides a robot fish wireless charging device, which aims to solve the technical problem of how to avoid the condition that the robot fish shakes relative to a charging pile when the robot fish is charged.

In order to achieve the above purpose, the robot fish wireless charging device comprises a robot arm wireless charging device, a robot fish, a primary fixing device and a clamping device; the primary fixing device comprises a base fixed on the charging pile, a waterproof direct current motor is fixed on the upper surface wall of the base, and the axis of a rotating shaft of the waterproof direct current motor is horizontally arranged; a centrifugal impeller is arranged on a rotating shaft of the waterproof direct current motor, a Bernoulli sucker is fixed on the upper surface wall of the base, the Bernoulli sucker comprises a sucker body and a sleeve, the sleeve is positioned at one end close to the centrifugal impeller, a channel is arranged on the sleeve along the axis, two ends of the channel respectively penetrate through the sucker body and the sleeve, the centrifugal impeller is positioned in the channel, and the centrifugal impeller is not contacted with the surface wall of the channel; the sucker body is provided with a positioning component for positioning the robot fish.

Further, the positioning component comprises two far-distance infrared emission diodes which are respectively positioned at the left side and the right side of the center line of the sucker body; a bracket is fixed on the inner wall of the sleeve, a close-range infrared emission diode is fixed on the bracket, and the close-range infrared emission diode is positioned on the axle center of the sucker body; the robot fish comprises a robot fish body, and two second infrared receivers for receiving signals of two far-distance infrared emission diodes and two near-distance infrared emission diodes are fixed on the robot fish body.

And the two far-distance infrared emitting diodes and the near-distance infrared emitting diodes are utilized to respectively send signals to the two second infrared receivers on the robot fish, so that the robot fish can accurately find the primary fixing device, and the primary fixing device can fix the primary position of the machine.

Further, the clamping device comprises a hydraulic oil cylinder fixed on the charging pile, and the axis of a piston rod of the hydraulic oil cylinder is vertically arranged; a connecting block is fixed on a piston rod of the hydraulic oil cylinder, two groups of connecting rod assemblies are arranged on the connecting block, and the two groups of connecting rod assemblies are symmetrically arranged along the axis of the movable rod; the connecting rod assembly comprises a first connecting rod, one end of the first connecting rod is rotatably connected to the connecting block through a shaft, the axis of the first shaft is parallel to the axis of the rotating shaft of the waterproof direct current motor, and the first connecting rod can rotate around the axis of the first shaft relative to the connecting block; the other end of the first connecting rod is provided with a second connecting rod, one end of the second connecting rod is rotationally connected to the first connecting rod through a second shaft, the axis of the second shaft is parallel to the axis of the first shaft, and the second connecting rod can rotate around the axis of the second shaft relative to the first connecting rod; the other end of the second connecting rod is fixed with a clamping claw for clamping the robot fish; a fixing rod is arranged between the two groups of connecting rod assemblies, the fixing rod is fixed on the charging pile, two ends of the fixing rod are respectively connected to the middle position of the second connecting rod through a shaft III in a rotating mode, the axis of the shaft III is parallel to the axis of the shaft I, and the fixing rod can rotate around the axis of the shaft III relative to the fixing rod.

The clamping assembly is used for grabbing the robot fish, so that the robot fish is prevented from generating relative displacement relative to the charging pile, and the charging efficiency is improved.

Further, a GPS device is fixed on the robot fish body; the infrared transmitters for transmitting signals to the wireless charging device of the mechanical arm are fixed on the machine and the body.

The robot fish can be far away from the charging pile by using the GPS device.

Further, the mechanical arm wireless charging device comprises a mechanical arm, a charging tray, a receiving coil and a first infrared receiver for receiving signals of an infrared transmitter;

the mechanical arm comprises a waterproof charging seat and a first hydraulic motor, a plurality of joint rods are arranged on the first hydraulic motor, each joint rod comprises a first joint rod, a second joint rod, a third joint rod and a fourth joint rod which are sequentially connected, and the first joint rod, the second joint rod and the third joint rod are respectively fixed with a second hydraulic motor, a third hydraulic motor and a fourth hydraulic motor which are respectively used for driving the second joint rod, the third joint rod and the fourth joint rod; the fourth joint rod is fixedly connected with the charging tray.

And the first infrared receiver is used for receiving signals sent by the infrared transmitter, so that the mechanical arm can find a wireless charging module of the robot fish, and the purpose of charging is realized.

The beneficial effects are that:

the clamping device is used for clamping the robot fish, and the robot fish is prevented from shaking relative to the charging pile, so that the condition that the charging efficiency is affected due to shaking is avoided.

The preliminary fixing device is arranged, the Bernoulli sucker is utilized for preliminary fixing of the robot fish, and the robot fish is clamped by the rear clamping device.

Drawings

FIG. 1 is a schematic diagram of the structure of the device when charged;

FIG. 2 is a schematic view of the structure of a robot fish;

FIG. 3 is a schematic view of the structure of the preliminary fixing device;

FIG. 4 is a schematic view of the structure of the Bernoulli chuck;

FIG. 5 is a schematic view of the structure of the clamping device;

fig. 6 is a schematic structural diagram of a wireless charging device for a mechanical arm.

100. A robot fish; 101. a robot fish body; 102. a second infrared receiver; 104. a GPS device; 105. a control box; 106. a receiving coil; 107. an infrared emitter;

200. a preliminary fixing device; 201. a base; 202. waterproof direct current motor; 203. a coupling; 204. a suction cup body; 205. a sleeve; 206. a remote infrared emitting diode; 207. a near infrared emitting diode; 208. a channel; 209. a bracket;

300. a clamping device; 301. a hydraulic cylinder; 302. a piston rod; 303. clamping claws; 304. a first link; 305. a first shaft; 306. a second link; 307. a second shaft; 308. a fixed rod; 309. an axle III;

400. the mechanical arm wireless charging device; 401. a waterproof charging seat; 402. a first hydraulic motor; 403. a first articulation rod; 404. a second hydraulic motor; 405. a second articulation rod; 406. a third hydraulic motor; 407. a third articulation rod; 408. a fourth hydraulic motor; 409. a fourth articulation rod; 410. a transmitting coil; 411. a first infrared receiver.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1, a robot fish wireless charging device includes a preliminary fixing device 200, a clamping device 300, and a robot arm wireless charging device 400.

Referring to fig. 3, the preliminary fixing device 200 includes a base 201, and the base 201 is fixed on an underwater charging pile; a waterproof direct current motor 202 is fixed on the upper surface wall of the base 201, and the axis of a rotating shaft of the waterproof direct current motor 202 is horizontally arranged; a centrifugal impeller (see fig. 4) is arranged on a rotating shaft of the waterproof direct current motor 202, specifically, the rotating shaft of the waterproof direct current motor 202 is fixedly connected with a rotating shaft in the center of the centrifugal impeller through a coupler 203, the rotating shaft of the waterproof direct current motor 202 is coincident with the axis of the centrifugal impeller, and the waterproof direct current motor 202 drives the centrifugal impeller to rotate.

Referring to fig. 3 and 4, a bernoulli chuck is fixed on the upper surface wall of the base 201, the bernoulli chuck includes an integrally formed chuck body 204 and a sleeve 205, the sleeve 205 is located at one end close to the centrifugal impeller, the axis of the sleeve 205 coincides with the axis of the centrifugal impeller, a channel 208 is arranged on the sleeve 205 along the axis, the chuck body 204 has a cavity, and the channel 208 is communicated with the cavity. The centrifugal impeller is in the channel 208 and the centrifugal impeller is not in contact with the surface wall of the channel 208 leaving a gap between the two.

After the centrifugal impeller rotates, the water at the sucker body 204 is pumped into the sleeve 205 by the centrifugal impeller, the sleeve 205 is discharged, negative pressure is rapidly generated by water flow at the sucker body 204, and when the end part of the robot fish 100 moves and is positioned at the sucker body 204, the outer wall of the end part of the robot fish 100 is attached to the inner wall of the sucker body 204 due to the existence of the negative pressure, so that the purpose of preliminary fixing the robot fish 100 is achieved.

Referring to fig. 4, two far infrared emitting diodes 206 are fixed on the inner wall of the chuck body 204, and the two far infrared emitting diodes 206 are respectively located at left and right sides of the center line of the chuck body 204 when viewed from the axis of the rotating shaft of the waterproof dc motor 202. A bracket 209 is fixed on the inner wall of the sleeve 205, a near infrared emitting diode 207 is fixed on the bracket 209, and the near infrared emitting diode 207 is positioned on the axis of the sucker body 204.

Referring to fig. 5, the clamping device 300 includes a hydraulic cylinder 301, wherein the top of the housing of the hydraulic cylinder 301 is fixed on a mounting frame (not shown in the figure) on the water surface, the axis of a piston rod 302 of the hydraulic cylinder 301 is vertically arranged, a connecting block is fixed on the piston rod 302 of the hydraulic cylinder 301, a clamping jaw assembly is arranged on the connecting block, the clamping jaw assembly is composed of two groups of connecting rod assemblies, and the two groups of connecting rod assemblies are symmetrically arranged along the axis of the movable rod.

Referring to fig. 5, as seen in the single-set link assembly, the link assembly includes a first link 304, one end of the first link 304 is rotatably connected to the connection block through a first shaft 305, the axis of the first shaft 305 is parallel to the axis of the rotation shaft of the waterproof dc motor 202, and the first link 304 can rotate around the axis of the first shaft 305 relative to the connection block; the other end of the first connecting rod 304 is provided with a second connecting rod 306, one end of the second connecting rod 306 is rotatably connected to the first connecting rod 304 through a second shaft 307, the axis of the second shaft 307 is parallel to the axis of the first shaft 305, and the second connecting rod 306 can rotate relative to the first connecting rod 304 around the axis of the second shaft 307.

The other end of the second connecting rod 306 is fixed with a clamping claw 303, the clamping claw 303 is used for clamping the robot fish, a fixing rod 308 is arranged between the two groups of connecting rod assemblies, the fixing rod 308 is fixed on the underwater charging pile, two ends of the fixing rod 308 are respectively connected to the middle position of the second connecting rod 306 in a rotating mode through a shaft III 309, the axis of the shaft III 309 is parallel to the axis of the shaft I305, the height of the fixing rod 308 is higher than that of the Bernoulli sucker, and the fixing rod 308 can rotate around the axis of the shaft III 309 relative to the fixing rod 308.

Referring to fig. 6, the wireless charging device 400 for the mechanical arm includes a waterproof charging stand 401, and the waterproof charging stand 401 is fixed on an underwater charging pile. A first hydraulic motor 402 is fixed on the waterproof charging stand 401, the axis of an output shaft of the first hydraulic motor 402 is arranged vertically, a first joint rod 403 is arranged on the output shaft of the first hydraulic motor 402, and one end part of the first joint rod 403 is fixedly connected with the output shaft of the first hydraulic motor 402; the first hydraulic motor 402 rotates the first articulation rod 403 about the output shaft axis of the first hydraulic motor 402.

A second hydraulic motor 404 is fixed to the end of the first articulation rod 403 remote from the first hydraulic motor 402, the output shaft axis of the second hydraulic motor 404 being parallel to the horizontal plane. The output shaft of the second hydraulic motor 404 is provided with a second joint rod 405, one end of the second joint rod 405 is fixedly connected with the output shaft of the second hydraulic motor 404, and the second hydraulic motor 404 drives the second joint rod 405 to rotate around the axis of the output shaft of the second hydraulic motor 404.

A third hydraulic motor 406 is fixed to the end of the second articulation rod 405 remote from the second hydraulic motor 404, the output shaft axis of the third hydraulic motor 406 being parallel to the axis of the second hydraulic motor 404. The output shaft of the third hydraulic motor 406 is provided with a third joint rod 407, one end of the third joint rod 407 is fixedly connected with the output shaft of the third hydraulic motor 406, and the third hydraulic motor 406 drives the third joint rod 407 to rotate around the axis of the output shaft of the third hydraulic motor 406.

A fourth hydraulic motor 408 is fixed to the end of the third articulation rod 407 remote from the third hydraulic motor 406, the output shaft axis of the fourth hydraulic motor 408 being parallel to the axis of the second hydraulic motor 404. The output shaft of the fourth hydraulic motor 408 is provided with a fourth joint lever 409, one end of the fourth joint lever 409 is fixedly connected with the output shaft of the fourth hydraulic motor 408, and the fourth hydraulic motor 408 drives the fourth joint lever 409 to rotate around the axis of the output shaft of the third hydraulic motor 406.

One end of the fourth joint lever 409 far away from the fourth hydraulic motor 408 is provided with a charging tray, a side surface wall of the charging tray is fixedly connected with the fourth joint lever 409, and a transmitting coil 410 is arranged on a side surface wall of the charging tray, which is back to the fourth joint lever 409. A first infrared receiver 411 is fixed to a side surface of the charging tray facing away from the fourth articulation lever 409.

Each of the above-mentioned articulated levers is provided with an angle sensor for monitoring the angle between each articulated lever and thereby controlling the output of each hydraulic motor (i.e. controlling the position of the hydraulic motor).

The mechanical arm wireless charging device 400 adopts a closed pressure self-adaptive hydraulic system, a variable frequency motor drives a constant pump to output oil pressure, and the oil pressure is input into a hydraulic motor through a control valve. The hydraulic system has pressure self-adaptability, can automatically adjust the working pressure of the system according to the working water depth, and solves the problems of sealing and pressure resistance under deep water working conditions. The transmitting coil 410 and the first infrared receiver 411 are connected to an external power source, respectively.

Referring to fig. 2, the robot fish includes a robot fish body 101, two second infrared receivers 102, a GPS device 104, a control box 105, a receiving coil 106, and an infrared transmitter 107. The two second infrared receivers 102, the GPS device 104, the control box 105, the receiving coil 106 and the infrared transmitter 107 are all fixed on the robot fish body. The charge detection module, wireless charging module and battery are all integrated in the control box 105.

Two second infrared receivers 102 are respectively positioned at the left side and the right side of the center line of the robot fish body 101, and an infrared transmitter 107 is positioned at the position of the wireless charging module.

The course of returning the robot fish 100 is divided into a preliminary positioning and a precise positioning. The preliminary positioning is realized by using the existing GPS module, and the accurate positioning is realized by adopting the combination of two infrared emitting diodes of far distance and near distance.

The preliminary positioning process is as follows:

when the power detection module of the robot fish 100 detects that the power is less than 10%, the robot fish 100 interrupts and saves the task currently being executed. The main control board sends a floating instruction to enable the robot fish 100 to float to the water surface, and a GPS device built in the robot fish 100 receives satellite signals after the robot fish reaches the water surface to determine the three-dimensional coordinates of the position of the robot fish. Meanwhile, the three-dimensional coordinates of the target position are requested to the charging pile, and the charging pile sends the position coordinates of the charging pile to the robot fish 100 through radio frequency. The main control board of the robot fish 100 determines the swimming direction according to the three-dimensional coordinates of the main control board and the three-dimensional coordinates of the charging pile, and approaches the target position until reaching the target position.

The accurate positioning process is as follows:

the robot fish 100 enters the accurate positioning stage after completing the preliminary positioning by GPS navigation. In the precise positioning stage, the robot fish 100 finds the charging stake using infrared navigation. Specifically, at the 2 far infrared emitting diodes 206 of the chuck body 204, the emitting distance in the air is 3.5m, and the experimental measurement shows that the infrared emitting distance in the water has partial loss, so that the actual emitting distance in the water is 2.8m. The emission wide angle in air is 40 °, and the emission wide angle in water is also 40 ° in agreement with the emission wide angle in air. The 2 far infrared emitting diodes 206 have partially overlapped signal areas when installed and each infrared emitting diode adopts different coding modes, so that the robot fish 100 can judge the position of the robot fish relative to the charging pile when receiving infrared signals through the two second infrared receivers 102.

In addition, a short-distance infrared emitting diode 207 is provided on the stand 209, which has an emission distance in air of 1m, an emission distance in water of 0.8m, and an emission wide angle in water of 17 ° as well as an emission wide angle in air. In order to enable the bionic robot fish 100 to be in accurate butt joint with the charging pile, the wide angle of the close-range infrared emitting diode 207 is not too large, and in theory, the smaller the emitting angle is, the more accurate the positioning is, but the more difficult the bionic robot fish 100 receives signals, the more difficult the positioning is. One second infrared receiver 102 is installed on each side of the center line of the robot fish 100, and each second infrared receiver 102 has a receiving angle range of 90 °, so that the robot fish 100 can detect an infrared signal within a range of 180 ° in front thereof.

When the robot fish 100 enters the precise positioning area, first, a dimension-reducing motion is performed. The position coordinates of the charging pile are known, the depth of the charging pile relative to the water surface is also known, and the robotic fish 100 determines the submerging depth according to the position depth of the charging pile; and then submerged to the plane of the location where the charging stake is located, thereby converting the three-dimensional positioning problem into planar positioning by which the location is specified in the movement to the underwater charging station.

The principle of infrared emission and infrared reception positioning mentioned in this example can be referred to as website https:// wenku.baidu.com/view/ee95f 5532396839 c30c225901 f.html.

The specific principle is as follows:

the long-distance infrared emitting diode and the short-distance infrared emitting diode emit signals once at intervals, the two second infrared receivers 102 are used for receiving signals, the head of the robot fish is continuously close to the Bernoulli sucker, the waterproof direct-current motor 202 drives the centrifugal impeller to rotate anticlockwise through the coupler 203, at the moment, the robot fish 100 can be rapidly close to the Bernoulli sucker due to the suction effect of the Bernoulli sucker, the head of the robot fish 100 is adsorbed inside the Bernoulli sucker, and preliminary fixing is achieved on the robot fish. The adsorption force is related to the rotation speed of the centrifugal impeller, and the higher the rotation speed is, the higher the water flow speed in the nearby area is, and the generated adsorption force is higher.

After the bernoulli chuck completes the preliminary fixation of the robotic fish 100, the clamping device 300 begins to operate. High-pressure oil enters the hydraulic oil cylinder 301 to push the piston rod 302 to extend, so that the clamping component 303 is driven to clamp the robot fish 100, and accurate fixing is completed. When released, the opposite is true.

After the robot fish 100 is precisely fixed by the clamping device 300, the infrared emitter 107 of the robot fish 100 emits signals once at intervals, the infrared receiver 411 of the wireless charging device 400 of the mechanical arm receives the signals, and the positions of the joints are controlled to be continuously adjusted, so that the cooperation of the wireless charging emitting end and the robot fish charging receiving end is finally realized, and the underwater wireless charging function of the robot fish is realized.

Each hydraulic motor is provided with an angle sensor, and the controller detects the angle of each joint to control the position of the hydraulic motor. The initial position and the final position of the tail end of the mechanical arm are known at present, and the angle of each hydraulic motor which should be rotated is calculated by adopting inverse motion solution. Inverse motion solution sometimes calculates multiple motion schemes, the first of which is performed by default. The motion priority levels of the four hydraulic motors are as follows: a first hydraulic motor 402, a second hydraulic motor 404, a third hydraulic motor 406, a fourth hydraulic motor 408.

When the charging is completed, the mechanical arm wireless charging device 400 returns to the initial position, the clamping device 300 releases the robot fish 100, high-pressure oil in the hydraulic oil cylinder 301 flows back, the piston rod is retracted, and the clamping claw 303 is driven to release the robot fish 100, and the robot fish automatically returns to the working fluid.

With the above-described preferred embodiments according to the present utility model as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present utility model. The technical scope of the present utility model is not limited to the description, but must be determined according to the scope of claims.

Claims (5)

1. The robot fish wireless charging device comprises a robot arm wireless charging device and a robot fish, and is characterized by further comprising a primary fixing device and a clamping device;

the primary fixing device comprises a base fixed on the charging pile, a waterproof direct current motor is fixed on the upper surface wall of the base, and the axis of a rotating shaft of the waterproof direct current motor is horizontally arranged; a centrifugal impeller is arranged on a rotating shaft of the waterproof direct current motor, a Bernoulli sucker is fixed on the upper surface wall of the base, the Bernoulli sucker comprises a sucker body and a sleeve, the sleeve is positioned at one end close to the centrifugal impeller, a channel is arranged on the sleeve along the axis, two ends of the channel respectively penetrate through the sucker body and the sleeve, the centrifugal impeller is positioned in the channel, and the centrifugal impeller is not contacted with the surface wall of the channel;

the sucker body is provided with a positioning component for positioning the robot fish.

2. The wireless charging device for robot fish according to claim 1, wherein the positioning assembly comprises two remote infrared emitting diodes, and the two remote infrared emitting diodes are respectively positioned at the left side and the right side of the center line of the sucker body; a bracket is fixed on the inner wall of the sleeve, a close-range infrared emission diode is fixed on the bracket, and the close-range infrared emission diode is positioned on the axle center of the sucker body; the robot fish comprises a robot fish body, and two second infrared receivers for receiving signals of two far-distance infrared emission diodes and two near-distance infrared emission diodes are fixed on the robot fish body.

3. The wireless charging device for the robot fish according to claim 1, wherein the clamping device comprises a hydraulic cylinder fixed on the charging pile, and a piston rod axis of the hydraulic cylinder is vertically arranged; a connecting block is fixed on a piston rod of the hydraulic oil cylinder, two groups of connecting rod assemblies are arranged on the connecting block, and the two groups of connecting rod assemblies are symmetrically arranged along the axis of the movable rod;

the connecting rod assembly comprises a first connecting rod, one end of the first connecting rod is rotatably connected to the connecting block through a shaft, the axis of the first shaft is parallel to the axis of the rotating shaft of the waterproof direct current motor, and the first connecting rod can rotate around the axis of the first shaft relative to the connecting block; the other end of the first connecting rod is provided with a second connecting rod, one end of the second connecting rod is rotationally connected to the first connecting rod through a second shaft, the axis of the second shaft is parallel to the axis of the first shaft, and the second connecting rod can rotate around the axis of the second shaft relative to the first connecting rod; the other end of the second connecting rod is fixed with a clamping claw for clamping the robot fish; a fixing rod is arranged between the two groups of connecting rod assemblies, the fixing rod is fixed on the charging pile, two ends of the fixing rod are respectively connected to the middle position of the second connecting rod through a shaft III in a rotating mode, the axis of the shaft III is parallel to the axis of the shaft I, and the fixing rod can rotate around the axis of the shaft III relative to the fixing rod.

4. The wireless charging device of claim 2, wherein the robot fish body is fixed with a GPS device; the infrared transmitters for transmitting signals to the wireless charging device of the mechanical arm are fixed on the machine and the body.

5. The robotic fish wireless charging device of claim 4, wherein the robotic arm wireless charging device comprises a robotic arm, a charging tray, a receiving coil, and a first infrared receiver for receiving infrared transmitter signals;

the mechanical arm comprises a waterproof charging seat and a first hydraulic motor, a plurality of joint rods are arranged on the first hydraulic motor, each joint rod comprises a first joint rod, a second joint rod, a third joint rod and a fourth joint rod which are sequentially connected, and the first joint rod, the second joint rod and the third joint rod are respectively fixed with a second hydraulic motor, a third hydraulic motor and a fourth hydraulic motor which are respectively used for driving the second joint rod, the third joint rod and the fourth joint rod; the fourth joint rod is fixedly connected with the charging tray.