DOI：10.3969/j.issn.1672-3872.2026.07.031
基金项目：2025 年国家级大学生创新创业训练计划项目“基于 PP0 强化学习算法与 D-DCN 动态卷积网络的智能仿生机器鱼”（202510566009）；广东海洋大学深蓝智能机电产品创新团队（CCTD2023009）
作 者：李佳兴 1，3 ，余 江 1，3 ，罗俊晔 1，3 ，苏伟豪 2，3 ，陈冠宏 1，3 ，柯定彬 1，3
（1. 广东海洋大学机械工程学院，广东 湛江 524088；2. 广东海洋大学电子与信息工程学院，广东 湛江 524088；3. 广东海洋大学深蓝智能机电产品创新团队，广东 湛江 524088）
摘 要：随着陆地资源的日益枯竭，海洋探测已成为重要的发展方向，而传统螺旋桨推进的水下机器人却伴随高扰动、低效率及动密封易渗漏等缺陷。面向海洋探测需求，研究团队设计了一种仿生机器海豚。该机器人仿照海豚尾鳍上下拍动的推进方式，融合密度调节、尾部驱动与胸鳍辅助三套仿生机构，同步提升了水下机动性与稳定性。针对密封可靠性问题，提出一种全包覆式硅胶仿生蒙皮结构，将多处的动密封转化为头部单点静密封，渗水风险大幅降低。同时，设计并采用3D打印模具，实现蒙皮快速成型与可靠性验证，兼顾制造效率与成本控制。实验结果表明，在机械零件装配上，该机器海豚的密封性能明显提升，为解决水下机器人动密封难题提供了可行的技术路线。
关键词：海洋探测；仿生机器海豚；仿生蒙皮；静密封设计；3D打印模具
Design of a Marine Exploration Robot Dolphin Based on Static Seal Bionic Skin
Author: Li Jiaxing1,3, Yu Jiang1,3, Luo Junye1,3, Su Weihao2,3, Chen Guanhong1,3, Ke Dingbin1,3
(1.School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 2.School of Electronic and Information Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 3.Robotics Laboratory Innovation Team in Guangdong Ocean University, Zhanjiang 524088, China)
Abstract: With the increasing depletion of land resources, ocean exploration has become an important development direction, while traditional propeller-propelled underwater vehicles are accompanied by defects such as high disturbance, low efficiency and easy leakage of dynamic seals. In order to meet the needs of marine exploration, the research team designed a bionic robot dolphin. By replicating the animal’s vertical tail oscillation and combining it with three bio-inspired functions—buoyancy tuning, caudal propulsion, and pectoral-fin assistance—the vehicle gains agility and steadiness underwater. Aiming at the problem of sealing reliability, a fully-coated silicone bionic skin structure is proposed, which converts multiple dynamic seals into single-point static seals at the head, and the risk of water seepage is greatly reduced. At the same time, the 3D-printed mold allows the skin to be cast quickly and its integrity to be verified early, keeping both production time and cost low. The experimental results show that the sealing performance of the robot dolphin is significantly improved in the assembly of mechanical parts, which provides a feasible technical route for solving the dynamic sealing problem of underwater robots.
Keywords: ocean exploration; bionic robotic dolphin; bionic skin; static seal design; 3D-printed mold
引文信息：[1]李佳兴，余江，罗俊晔，等.基于静密封仿生蒙皮的海洋探测机器海豚设计[J].南方农机，2026，57(7)：127-129+146.
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