Single-joint underwater robot fish

A single-jointed underwater robot fish, comprising:

• a casing having an outer contour of a bionic fish shape, wherein one end is a front casing, wherein the other end is a bionic fishtail structure, and wherein the front casing and the bionic fishtail structure are connected by an upper casing and a lower casing;
• a main board cabin, wherein a front end of the main board cabin is fitted to the inner side of the front casing, wherein a lens group for collecting images, an eccentric anti-shake mechanism for preventing side shake, a main PCB for controlling the motion trajectory and posture, are set in the main board cabin, and wherein the lens group is connected to the eccentric anti-shake mechanism;
• a motion control cabin connected to the rear of the main board cabin, wherein a triaxial linkage device for achieving balance adjustment of the pitch posture and left-right postures and a transmission device are set in the motion control cabin, wherein an output of the transmission device is connected to the bionic fishtail structure, and wherein an input of the transmission device is connected with the output of the triaxial linkage device;
• and
• a battery cabin located below the motion control cabin, wherein a lower end of the battery cabin is fixed to the inside of the lower casing, wherein the battery cabin provides a power supply for the main board cabin and the motion control cabin.