With the continuous development of aquaculture towards modernization and intelligentization, new requirements have been put forward for aquaculture water monitoring and feed delivery systems. In order to improve feed delivery efficiency and the intelligence and co-integration of delivery devices, reduce the disturbance of mobile feeding devices to the farmed fish, the design and implementation of a fish co-integration device based on the bionic robotic porpoise is studied in this paper. Firstly, a geometric model of the bionic fish was constructed based on the NACA airfoil equation, a dorsoventral kinematic equation of the fish body was established, and then the bionic robotic porpoise device was designed. Then the hydrodynamic characteristics of the robotic fish were analyzed using computational fluid dynamics methods. Finally, the co-integration of the fish movement model and the feasibility of fish collection by the feeding device were verified through pond field tests. The results showed that: the bionic guppy body contour equation based on the NACA airfoil equation achieved a form drag reduction mechanism to reduce energy consumption during operation; the fish followed the robot fish in the test, verifying that the fish kinematic model had a certain effect on the improvement of co-integration during the swimming of the robot fish. This study provides a certain basis for the manoeuvrability control of the machine fish operation, and provides new insights and references for machine fish application in the automation and intelligentization of aquaculture.