Underwater biomimetic robotic fish

The invention relates to an underwater biomimetic robotic fish which comprises a main cabin body, pectoral fins respectively arranged on both sides of the main cabin body, a driving module arranged on the rear part of the main cabin body, a fan-shaped tail fin arranged on the rear part of the driving module and connected with the driving module through upper and lower connecting rods, and a dynamic seal mechanism arranged between the upper connecting rod and the output end of the driving module; the main cabin body comprises a casing with windows on left and right sides, and a bottom window, each window is respectively connected with a side cover and a bottom cover, and a sliding block device is connected with the bottom cover; the sliding block device comprises a front bracket and a rear bracket arranged on the bottom cover, the front and rear brackets are connected with a screw rod and a polished rod through bearings, a sliding block is nested on the screw rod and the polished rod, one end of the screw rod penetrates through the rear bracket to connect with a lower gear, the lower gear is meshed with an upper gear, the upper gear is fixedly connected the output end of a serial motor, and the serial motor is fixed on the upper part of the rear bracket. The invention has good underwater three-dimensional movement ability, certain environment adaptability, stability and reliability, flexible movement, is used for underwater resource exploration, marine salvage, rescue and other tasks, and also can play a significant role in future sea battle missions.