A wave fin propulsion device based on eccentric wheel drive

Abstract

The application discloses a wave fin propelling device based on eccentric wheel driving, which comprises a driving rudder disc, a driving shaft, a steering rudder disc, a steering connecting rod, a driving connecting rod, a fin strip and an eccentric wheel. The driving rudder disc, the driving shaft and the steering rudder disc are coaxially arranged in sequence, one end of the driving shaft is fixedly connected to the driving rudder disc, and the steering shaft is parallel to the driving shaft. The other end of the driving shaft is connected to the steering rudder disc, and the rotation freedom degrees of the two are not affected each other. One end of the steering connecting rod is fixedly connected to the steering rudder disc, the other end of the steering connecting rod is fixedly connected to one end of the steering shaft, the other end of the steering shaft is fixedly connected to one end of the steering auxiliary connecting rod, the other end of the steering auxiliary connecting rod is sleeved on the driving shaft, and the rotation freedom degrees of the two are not affected each other. The steering shaft passes through one end of the driving connecting rod, the other end of the driving connecting rod is connected to the fin strip, the fin strip only has the rotation freedom degree around itself, the fin strip is fixedly connected to the wave fin, the eccentric wheel is installed in the driving connecting rod and can slide, and the driving shaft passes through the eccentric wheel. The application can generate a sine wave form and adjust the angle of the wave fin, and is suitable for amphibious work.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater unmanned vehicles, in particular to a wave fin propulsion device based on eccentric wheel driving. BACKGROUND

[0002] The marine environment covers two-thirds of the habitat of the earth, which is crucial to the survival and development of human beings. The traditional way often uses manned vehicles to operate in this environment, but the dependence on manned vehicles makes humans face life danger when operating in dangerous habitats. At present, unmanned vehicles have been proved to be one of the most promising and effective systems in scientific, military and commercial applications, and some unmanned vehicles have the ability to maneuver in challenging, complex and rugged terrain and diverse environments, and have wide application prospects in the fields of monitoring, reconnaissance, military operations and resource exploration, environmental protection, etc.

[0003] In unmanned vehicles, wave fin vehicles have higher underwater propulsion efficiency and can propel on land, and are easy to switch between water and land modes, but the propulsion device of the known wave fin vehicle often has the following problems:

[0004] (1) The wave fin swing arm uses multiple rudders to reciprocate to realize wave fin waveform formation, which has the problems of insufficient control accuracy and unstable waveform, and the control system is complex and has poor load capacity on land.

[0005] (2) The wave fin driven by a single rudder often uses a crankshaft and a crank four-bar mechanism, and the small shaft diameter integral crankshaft has processing difficulties, and the split processing faces the problems of numerous parts, which makes it difficult to ensure the accuracy of the crankshaft and the coaxiality of the shaft end, thereby affecting the accuracy of the motion mechanism; the current wave fin steering mechanism usually directly adjusts the angle of the installation bottom plate of the two sides of the motion mechanism, and the two side bottom plates cannot be smoothly fixed on the shell, the steering mechanism is unstable and increases the difficulty of the design of the vehicle shell and the seal. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application provides a wave fin propulsion device based on eccentric wheel driving, which has the advantages of simple structure, easy processing, easy control, high stability and easy installation, and solves the problems of insufficient motion and control accuracy, complex structure and difficult installation in traditional wave fin propulsion technology.

[0007] The specific technical solutions are as follows:

[0008] A wave fin propulsion device based on eccentric wheel driving, comprising: a driving rudder, a driving shaft, an eccentric wheel driving structure, a wave fin steering module and a wave fin; the wave fin steering module comprises: a steering rudder, a steering connecting rod, a steering shaft and a steering auxiliary connecting rod.

[0009] The driving rudder disc, the driving shaft and the steering rudder disc are coaxially arranged in sequence, one end of the driving shaft is fixedly connected to the driving rudder disc, the steering shaft is arranged in parallel with the driving shaft, and a plurality of eccentric wheel driving structures are sleeved on the driving shaft and the steering shaft; the other end of the driving shaft is connected to the steering rudder disc, and the rotation degrees of freedom of the driving shaft and the steering rudder disc do not affect each other; one end of the steering connecting rod is fixedly connected to the steering rudder disc, the other end of the steering connecting rod is fixedly connected to one end of the steering shaft, the other end of the steering shaft is fixedly connected to one end of the steering auxiliary connecting rod, the other end of the steering auxiliary connecting rod is sleeved on the driving shaft, and the rotation degrees of freedom of the driving shaft and the steering auxiliary connecting rod do not affect each other;

[0010] The eccentric wheel driving structure comprises a driving connecting rod, an eccentric wheel and a fin strip; one end of the driving connecting rod is provided with a circular through hole, the steering shaft passes through the circular through hole and is coaxial with the circular through hole; the other end of the driving connecting rod is connected to the fin strip, the fin strip only has a rotation degree of freedom around itself, the installation direction of the fin strip is perpendicular to the axis of the steering shaft, and the flat section of the fin strip is fixedly connected to the undulating fin; a square through hole is formed in the middle section of the driving connecting rod, the eccentric wheel can slide in the square through hole, a through hole is formed in the eccentric wheel, and the driving shaft passes through the through hole and is coaxial with the through hole.

[0011] Further, a plurality of key grooves are arranged on the driving shaft at equal intervals in the axial direction between the steering connecting rod and the steering auxiliary connecting rod, n is a natural number greater than or equal to 2, the key grooves are arranged in sequence at equal phase angles a along the axis in a clockwise direction, and the key grooves are used for being fixedly connected to the eccentric wheel driving structure.

[0012] Further, sliding bearings are arranged between the driving connecting rod and the steering shaft, and axial limiting is realized through positioning shaft sleeves; sliding bearings are arranged between the eccentric wheel and the driving connecting rod, so as to reduce friction; axial limiting is realized between the eccentric wheel and the driving shaft through positioning shaft sleeves.

[0013] Further, key connections are adopted between the steering rudder disc and the steering connecting rod, between the steering connecting rod and the steering shaft, between the steering shaft and the steering auxiliary connecting rod, and between the driving shaft and the eccentric wheel, so as to transmit torque and improve rotation stability.

[0014] Further, rolling bearings are arranged between the steering rudder disc and the driving shaft and between the steering auxiliary connecting rod and the driving shaft, so that the rotation degrees of freedom of the driving shaft and the steering rudder disc do not affect each other, and the rotation degrees of freedom of the driving shaft and the steering auxiliary connecting rod do not affect each other; positioning clamping springs are arranged between the steering shaft and the steering connecting rod, between the steering shaft and the steering auxiliary connecting rod, between the steering auxiliary connecting rod and the driving shaft, and between the steering rudder disc and the driving shaft, so as to avoid axial sliding of the steering connecting rod and the steering shaft, the steering auxiliary connecting rod and the steering shaft, the steering auxiliary connecting rod and the driving shaft, and the steering rudder disc and the driving shaft.

[0015] Further, the undulating fin is made of soft material including rubber and silica gel.​

[0016] Further, a plurality of threaded holes are arranged on the flat section of the fin strip, and a through hole is arranged at a corresponding position of the undulating fin, and the undulating fin and the fin strip are fixedly connected through a bolt and a nut.

[0017] Further, the driving rudder disc is connected with the rudder disc of the 360-degree rudder through a cotter pin screw, and is used for driving the driving shaft to rotate, and the steering rudder disc is connected with the rudder disc of the 180-degree rudder through a cotter pin screw, and is used for changing the steering angle of the eccentric wheel driving structure.

[0018] The beneficial effects of the present application are:

[0019] (1) The driving motor or rudder adopted in the present application is less and has complete functions, can generate a sine wave form and can realize undulating fin angle adjustment, the motion mechanism and the control system are simplified, and when applied to a vehicle, has amphibious propulsion capacity, and has great application potential in the field of unmanned vehicles.

[0020] (2) The eccentric wheel driving structure adopted in the present application drives the fin strip to generate a sine wave, compared with a crank four-bar mechanism, the structure is simpler, the number of parts is less, and the swing of the fin strip is more convenient to control; the whole driving shaft is adopted in the eccentric wheel driving structure instead of a crankshaft, not only the machining of the small shaft diameter propulsion device is simpler, but also the precision and strength of the propulsion device are improved, and the stability of the undulating propulsion motion is better guaranteed.

[0021] (3) When the device is applied to an undulating fin vehicle, the load is borne by the rigid fin strip in contact with the ground, and the load bearing capacity of the vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of the present application.

[0023] Figure 2 is a schematic diagram of the undulating fin steering module structure of the present application.

[0024] Figure 3 is a schematic diagram of the eccentric wheel driving structure of the present application.

[0025] Figure 4 is a schematic diagram of the undulating fin steering effect of the present application, wherein (a) is a schematic diagram of the effect that the undulating fin is basically parallel to the vehicle in the normal working state underwater, and (b) is a schematic diagram of the effect that the undulating fin is at a certain angle with the vehicle, and can be used for the working state on land.

[0026] In the figure, the undulating fin drive module 1, the drive rudder 1-1, the drive shaft 1-2, the eccentric drive structure 1-3, the drive connecting rod 1-3-1, the first sliding bearing 1-3-2, the eccentric 1-3-3, the second sliding bearing 1-3-4, the fin bar 1-3-5, the undulating fin steering module 2, the steering rudder 2-1, the steering connecting rod 2-2, the first flat key 2-3, the second flat key 2-4, the steering shaft 2-5, the steering auxiliary connecting rod 2-6, the rolling bearing 2-7, the undulating fin 3, the positioning spring 4, the positioning sleeve 5. DETAILED DESCRIPTION

[0027] The purpose and effects of the present application will become more apparent from the following detailed description of the application, taken in conjunction with the accompanying drawings and preferred embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

[0028] As shown in Figure 1 , an undulating fin propulsion device based on eccentric drive includes: undulating fin drive module 1, undulating fin steering module 2, undulating fin 3, positioning spring 4, positioning sleeve 5. The undulating fin drive module 1 includes: drive rudder 1-1, drive shaft 1-2, eccentric drive structure 1-3.

[0029] As shown in Figure 2 , the undulating fin steering module 2 includes: steering rudder 2-1, steering connecting rod 2-2, first flat key 2-3, second flat key 2-4, steering shaft 2-5, steering auxiliary connecting rod 2-6, rolling bearing 2-7.

[0030] The driving rudder disc 1-1, the driving shaft 1-2 and the steering rudder disc 2-1 are coaxially arranged in sequence, one end of the driving shaft 1-2 is fixedly connected to the driving rudder disc 1-1, the steering shaft 2-5 is arranged in parallel with the driving shaft 1-2, and the plurality of eccentric wheel driving structures 1-3 are sleeved on the driving shaft 1-2 and the steering shaft 2-5 through positioning shaft sleeves 5; the driving rudder disc 1-1 is connected with the rudder disc of a 360° rudder machine through a column pin screw, for driving the driving shaft 1-2 to rotate, and the steering rudder disc 2-1 is connected with the rudder disc of a 180° rudder machine through a column pin screw, for changing the steering angle of the eccentric wheel driving structure 1-3. The steering rudder disc 2-1 comprises a cylindrical hollow sleeve and a connecting rudder disc, the other end of the driving shaft 1-2 extends into the cylindrical hollow sleeve of the steering rudder disc 2-1 but does not contact the rudder disc part, a rolling bearing 2-7 is arranged between the driving shaft 1-2 and the cylindrical hollow sleeve, so that the cylindrical hollow sleeve does not limit the rotational freedom of the driving shaft 1-2 around its own axis, and the concentric steering rudder disc 2-1 is not driven to rotate when the driving shaft 1-2 rotates, that is, the rotational freedom of the driving shaft 1-2 and the steering rudder disc 2-1 does not affect each other; a positioning snap spring 4 is arranged between the cylindrical hollow sleeve and the rolling bearing 2-7, for axially limiting the rolling bearing 2-7. A plurality of key grooves are arranged on the driving shaft 1-2 axially and at equal intervals between the steering connecting rod 2-2 and the steering auxiliary connecting rod 2-6, n is a natural number greater than or equal to 2, which is to enable the vehicle applying the device to have at least two support points in the land working mode; the key grooves are arranged in sequence at equal phase angles α along the axis clockwise, the phase angle α can be selected as a fixed phase angle of 45°, 60°, 90° and the like according to actual wavelength requirements, and in the embodiment, α = 90°.

[0031] ​One end of the steering connecting rod 2-2 is sleeved on the cylindrical hollow sleeve portion of the steering wheel 2-1 and is fixed by the first flat key 2-3; the other end of the steering connecting rod 2-2 is sleeved on one end of the steering shaft 2-5 and is fixed by the second flat key 2-4; the other end of the steering shaft 2-5 is inserted into the through hole of one end of the steering auxiliary connecting rod 2-6 and is fixed by the second flat key 2-4; the steering shaft 2-5 and the steering connecting rod 2-2, the steering shaft 2-5 and the steering auxiliary connecting rod 2-6, and the steering auxiliary connecting rod 2-6 and the drive shaft 1-2 are all provided with positioning clasp springs 4 for axial positioning, so as to avoid axial sliding of the steering connecting rod 2-2 and the steering shaft 2-5, the steering auxiliary connecting rod 2-6 and the steering shaft 2-5, and the steering auxiliary connecting rod 2-6 and the drive shaft 1-2. The other end of the steering auxiliary connecting rod 2-6 is sleeved on the drive shaft 1-2, and a rolling bearing 2-7 is arranged between the steering auxiliary connecting rod 2-6 and the drive shaft 1-2, so that the rotation degrees of freedom of the auxiliary connecting rod 2-6 and the drive shaft 1-2 do not affect each other; the rolling bearing 2-7 is axially positioned by the positioning clasp spring 4 arranged between the rolling bearing 2-7 and the drive shaft 1-2. The above structure design makes the steering wheel 2-1, the steering connecting rod 2-2, the steering shaft 2-5, and the steering auxiliary connecting rod 2-6 not relatively rotate, thereby improving the rotation stability. The undulating fin steering module 2 transmits torque through key connection, and then adjusts the angle of the undulating fin 3.

[0032] As shown in Figure 3 The eccentric drive structure 1-3 includes a drive connecting rod 1-3-1, a first sliding bearing 1-3-2, an eccentric wheel 1-3-3, a second sliding bearing 1-3-4, and a fin strip 1-3-5. The drive connecting rod 1-3-1 is divided into three parts, and a circular through hole is formed in the front part, the first sliding bearing 1-3-2 is arranged in the circular through hole, the steering shaft 2-5 passes through the circular through hole and is coaxial with the circular through hole, and the steering shaft 2-5 is axially positioned by the positioning shaft sleeve 5.

[0033] The middle part of the driving link 1-3-1 is provided with a large square through hole as a sliding groove of the eccentric wheel 1-3-3, the eccentric wheel 1-3-3 slides in the sliding groove, and the length of the square through hole is set so that the sliding of the eccentric wheel 1-3-3 does not touch the edge of the sliding groove; the second sliding bearing 1-3-4 is arranged between the eccentric wheel 1-3-3 and the driving link 1-3-1 to reduce friction; the eccentric position of the eccentric wheel 1-3-3 is provided with a circular through hole, the distance between the center of the circular through hole and the center of the eccentric wheel 1-3-3 is determined according to the required swing amplitude of the eccentric wheel driving structure 1-3, that is, a suitable distance is selected according to the required swing amplitude of the eccentric wheel driving structure 1-3, the greater the distance, the greater the amplitude, that is, the greater the amplitude of the wave-shaped fin. The driving shaft 1-2 passes through the circular through hole, and the center of the circular through hole is located on the axis of the driving shaft 1-2, the diameter of the circular through hole is the same as the diameter of the driving shaft 1-2, and the two form a clearance fit, the key groove on the driving shaft 1-2 is fixedly connected with the eccentric wheel 1-3-3 through a flat key, and is axially limited through the positioning shaft sleeve 5. In the actual design process, the size of the circular through hole is determined according to the diameter of the driving shaft 1-2, then the distance between the circular through hole and the center of the eccentric wheel 1-3-3 is determined according to the wave shape requirement, and then the size of the eccentric wheel 1-3-3 is determined. In order to reduce the torque, the radius of the eccentric wheel 1-3-3 should be as small as possible, but the circular through hole should exist, and the edge of the eccentric wheel 1-3-3 and the edge of the circular through hole should be kept at a certain distance to ensure the structural strength.

[0034] The rear part of the driving link 1-3-1 is provided with a small square through hole for mounting the fin strip 1-3-5, and the mounting direction of the fin strip 1-3-5 is perpendicular to the axis of the steering shaft 2-5; the cylindrical part of the fin strip 1-3-5 is inserted into the driving link 1-3-1, the first sliding bearing 1-3-2 is arranged between the driving link 1-3-1 and the fin strip 1-3-5, and is limited by the positioning snap spring 4, so that the fin strip 1-3-5 only has the rotation freedom around itself. A plurality of threaded holes are arranged on the flat section of the fin strip 1-3-5, and a through hole is arranged at a corresponding position of the wave-shaped fin 3, and the wave-shaped fin 3 and the fin strip 1-3-5 are fixedly connected through bolt and nut connection. The wave-shaped fin 3 can be made of soft materials including rubber and silica gel, the fin surface of the wave-shaped fin 3 is in a fan-shaped circular ring structure in a natural state, and presents a sinusoidal wave shape under the action of the fin strip 1-3-5 at different phases. As known from the above structure, the eccentric wheel driving structure 1-3 drives the fin strip 1-3-5 to swing through the eccentric wheel 1-3-3, drives the wave-shaped fin 3 to generate a sinusoidal wave, and further generates a propelling force.

[0035] In actual application, the working principle of the device for driving the wave-shaped fin 3 is as follows:

[0036] The key grooves are arranged on the driving shaft 1-2 at certain axial distance and phase angle, and each group of eccentric wheel driving structure 1-3 is installed on the driving shaft 1-2 through a flat key, so that the same phase difference is obtained. When the 360° steering wheel on one side of the driving steering disc 1-1 works, the driving shaft 1-2 rotates around its axis at a certain angular velocity, and the center of the eccentric wheel 1-3-3 in each group of eccentric wheel driving structure 1-3 rotates around the axis of the driving shaft 1-2 at the same angular velocity; the position of the steering shaft 2-5 is unchanged, the eccentric wheel 1-3-3 reciprocally slides in the sliding groove of the driving connecting rod 1-3-1 without touching the edge of the sliding groove, at this time, the driving connecting rod 1-3-1 and the fin strip 1-3-5 reciprocally swing around the axis of the steering shaft 2-5, and the eccentric wheel driving structure 1-3 is regarded as a swing rod, the length of the swing rod is a constant value and passes through the center of the eccentric wheel 1-3-3, the swing frequency is the rotation frequency of the steering wheel, and the swing amplitude changes with time and presents a function curve similar to a sine wave; since each group of eccentric wheel driving structure 1-3 has the same phase difference, the wave fin 3 presents a sine wave shape and propagates along the axial direction of the driving shaft 1-2. By adjusting the rotation direction and frequency of the 360° steering wheel, the propagation direction and wave speed of the wave can be controlled, so that the thrust size and direction can be controlled.

[0037] The working principle of the wave fin 3 steering device is as follows:

[0038] When the 180° steering wheel on one side of the steering steering disc 2-1 works, the steering steering disc 2-1 drives the steering connecting rod 2-2, the steering shaft 2-5 and the steering auxiliary connecting rod 2-6 to rotate around the axis of the driving shaft 1-2, so as to adjust the steering angle of the eccentric wheel driving structure 1-3. Since the key connection makes the steering steering disc 2-1, the steering connecting rod 2-2, the steering shaft 2-5 and the steering auxiliary connecting rod 2-6 have no relative rotation, so as to ensure the stability of the wave fin steering module 2.

[0039] As shown in Figure 4 , when the wave fin propulsion device based on the eccentric wheel driving of the present application is applied to an unmanned vehicle, as shown in Figure 4 (a), in the normal working state underwater, the eccentric wheel driving structure 1-3 reciprocally swings around the axis of the steering shaft 2-5 at a certain frequency, drives the wave fin 3 to generate a sine wave shape, and further generates a propulsion force. As shown in Figure 4 (b), the wave fin steering module 2 adjusts the steering angle of the eccentric wheel driving structure 1-3, so that the vehicle can adjust the direction of the force generated by the propulsion device underwater, thereby being used for attitude adjustment or buoyancy control; when the vehicle moves on land, the wave fin steering module 2 can adjust the distance between the vehicle shell and the ground, and the rigid fin strip 1-3-5 contacts the ground to bear the load, so that the vehicle has certain obstacle crossing ability and carrying capacity.

[0040] Those skilled in the art can understand that the above description is only the preferred examples of the present application and is not used to limit the present application, and although the present application is described in detail with reference to the foregoing examples, those skilled in the art can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for part of the technical features. Any modification, equivalent replacement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An undulating fin propulsion device based on eccentric wheel drive, characterized by, Comprise: Driving rudder, drive shaft, eccentric drive structure, undulating fin steering module, undulating fin; The steering module comprises: steering rudder, steering link, steering shaft, steering auxiliary link; The driving rudder, driving shaft, steering rudder are coaxially arranged in turn, one end of the driving shaft is fixedly connected to the driving rudder, the steering shaft is arranged in parallel with the driving shaft, a plurality of eccentric drive structures are sleeved on the driving shaft and the steering shaft; the other end of the driving shaft is connected with the steering rudder, and the rotational degrees of freedom of the driving shaft and the steering rudder do not affect each other; one end of the steering link is fixedly connected with the steering rudder, the other end of the steering link is fixedly connected with one end of the steering shaft, the other end of the steering shaft is fixedly connected with one end of the steering auxiliary link, the other end of the steering auxiliary link is sleeved on the driving shaft, and the rotational degrees of freedom of the driving shaft and the steering auxiliary link do not affect each other; The eccentric drive structure comprises: driving link, eccentric wheel, fin strip; one end of the driving link is provided with a circular through hole, the steering shaft passes through the circular through hole and is coaxial with the circular through hole; the other end of the driving link is connected with the fin strip, and the fin strip only has a rotational degree of freedom around itself, the installation direction of the fin strip is perpendicular to the axis of the steering shaft, and the flat section of the fin strip is fixedly connected with the undulating fin; a square through hole is formed in the middle section of the driving link, the eccentric wheel can slide in the square through hole, a through hole is formed in the eccentric wheel, and the driving shaft passes through the through hole and is coaxial with the through hole; The driving rudder is connected with the rudder of the 360° rudder by means of a column pin screw, for driving the driving shaft to rotate; the steering rudder is connected with the rudder of the 180° rudder by means of a column pin screw, for changing the steering angle of the eccentric drive structure.

2. The eccentric wheel drive based undulating fin propulsion device according to claim 1, characterized in that, Axially equidistantly arranged on the drive shaft between the steering connecting rod and the steering auxiliary connecting rod are n key grooves, n being a natural number greater than or equal to 2; the key grooves are arranged along the axis in sequence clockwise with equal phase angle α, and the key grooves are used for fixed connection with the eccentric wheel driving structure.

3. The eccentric wheel drive based undulating fin propulsion apparatus as claimed in claim 1, wherein, Sliding bearings are arranged between the driving link and the steering shaft, and axial limiting is realized through a positioning shaft sleeve; sliding bearings are arranged between the eccentric wheel and the driving link, for reducing friction; axial limiting is realized between the eccentric wheel and the driving shaft through a positioning shaft sleeve.

4. The eccentric wheel drive based undulating fin propulsion apparatus as claimed in claim 1, wherein, Key connections are adopted between the steering rudder and the steering link, between the steering link and the steering shaft, between the steering shaft and the steering auxiliary link, and between the driving shaft and the eccentric wheel, for transmitting torque and improving rotational stability.

5. The eccentric wheel drive based undulating fin propulsion apparatus as claimed in claim 1, wherein, Rolling bearings are arranged between the steering rudder and the driving shaft, and between the steering auxiliary link and the driving shaft, so that the rotational degrees of freedom of the driving shaft and the steering rudder do not affect each other, and the rotational degrees of freedom of the driving shaft and the steering auxiliary link do not affect each other; positioning clasp springs are arranged between the steering shaft and the steering link, between the steering shaft and the steering auxiliary link, between the steering auxiliary link and the driving shaft, and between the steering rudder and the driving shaft, for axial limiting, so as to avoid axial sliding of the steering link and the steering shaft, the steering auxiliary link and the steering shaft, the steering auxiliary link and the driving shaft, and the steering rudder and the driving shaft.

6. The eccentric wheel drive based undulating fin propulsion apparatus according to claim 1, wherein, The undulating fin is made of soft material including rubber and silica gel.

7. The eccentric wheel drive based undulating fin propulsion apparatus as claimed in claim 1, wherein, A plurality of threaded holes are arranged on the flat section of the fin strip, through holes are formed in corresponding positions of the undulating fin, and the undulating fin and the fin strip are fixedly connected through bolts and nuts.

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