Underwater adsorption vehicle controlled by single motor

Abstract

The invention belongs to the technical field of underwater vehicles, and particularly relates to an underwater adsorption vehicle controlled by a single motor. The whole bionic fish-shaped underwater vehicle is in a bionic fish shape, the reciprocating rotation directions of the bionic fish tail and the bionic trunk are different, and the bionic fish-shaped underwater vehicle body can do S-shaped motion; the bionic hydrofoil transmits power through various connecting rod mechanisms, reciprocating swing can be achieved, and a steering engine is installed at the tail of the sliding block rocker mechanism so that the bionic hydrofoil can rotate around the axis. The suction cups are mounted at the bottom of the aircraft, so that the bionic fish-shaped aircraft main body is adsorbed on underwater wall surfaces such as a ship bottom, an underwater pipeline and an underwater vehicle and can move along with the sending main body, and the position of the sending main body can be transmitted at any time. The device is free of a propeller mechanism, simple in transmission mode, low in noise, high in power and easy to implement.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicles, and in particular relates to an underwater adsorption vehicle controlled by a single motor. Background Art

[0002] The single-motor controlled underwater adsorption vehicle is a new type of underwater vehicle that combines bionics with mechanical transmission technology. It can move with multiple degrees of freedom and stay adsorbed. Compared with traditional propellers and pump-jet propulsion, it has the advantages of low noise, small disturbance, high degree of freedom, and movement with the host.

[0003] At present, underwater vehicles can generally only move in a straight line or vertically, and cannot move with multiple degrees of freedom, and cannot be attached to the host body. Underwater attachment vehicles controlled by a single motor have great application prospects in resource exploitation, marine rescue, environmental protection, biological research and other fields. In the field of biological research, underwater attachment vehicles controlled by a single motor can be freely attached to the bodies of large fish such as whales at multiple angles, move with the fish, and observe the living conditions of the fish. In the field of submarine transportation, underwater attachment vehicles controlled by a single motor can dive and attach to submarine transportation pipelines to observe and repair submarine pipelines. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater suction vehicle controlled by a single motor to solve the problem that ordinary propeller thrusters cannot move with multiple degrees of freedom and cannot follow the movement of the host body.

[0005] A single-motor controlled underwater suction vehicle comprises a bionic fish-shaped vehicle body and an underwater suction device; the underwater suction device comprises a suction cup and a vacuum machine; the suction cup is installed under the head of the bionic fish-shaped vehicle body through a hydraulic rod; the vacuum machine is installed inside the bionic fish-shaped vehicle body, and the vacuum machine is connected to the suction cup through a hose; the hydraulic rod and the vacuum machine are controlled by a control module inside the bionic fish-shaped vehicle body.

[0006] Furthermore, when the main body of the bionic fish-shaped aircraft moves to the wall of the host body, the control module controls the hydraulic rod to extend so that the suction cup approaches the wall of the host body, and then controls the vacuum machine to work so that the suction cup is adsorbed on the wall of the host body, and then controls the hydraulic rod to contract so that the main body of the bionic fish-shaped aircraft is close to the host body.

[0007] Furthermore, the bionic fish-shaped aircraft body comprises a bionic fish head, a bionic trunk, a bionic tail trunk and a bionic fish tail which are connected in sequence; bionic hydrofoils are arranged on the left and right sides of the bionic fish head.

[0008] Furthermore, the bionic fish head, bionic trunk, bionic tail trunk and bionic fish tail are connected to each other in pairs by a hinged shed.

[0009] Furthermore, a first sonar is installed at the lower part of the exterior of the bionic fish head, and a second sonar is installed at the front, which are used for detecting the target host when the bionic fish-shaped aircraft body is sailing underwater.

[0010] Furthermore, a motor, a single crank disc double-link mechanism and a symmetrical tie rod mechanism are provided inside the bionic fish head; the single crank disc double-link mechanism includes a crank disc, a first connecting rod, a second connecting rod and a sliding rod; the symmetrical tie rod mechanism includes a lateral tie disc, a left lateral tie rod and a right lateral tie rod; the lateral tie disc is installed above the crank disc, the crank disc is located above the motor, and the motor is connected to the bottom surface of the crank disc through a bevel gear transmission mechanism; a first rotating mounting shaft is provided on the top surface of the crank disc, one end of the first connecting rod and the second connecting rod are both mounted on the first rotating mounting shaft, the other end of the second connecting rod is connected to the front end of the sliding rod, and the other end of the first connecting rod is connected to the left bionic The bionic trunk is connected to the bionic hydrofoil by a connecting mechanism; a second rotating mounting shaft and a third rotating mounting shaft are respectively provided on both sides of the center of the top surface of the transverse pull disc; one end of the left transverse tie rod is sleeved on the second rotating mounting shaft, and the other end is connected to the connecting mechanism of the left bionic hydrofoil; one end of the right transverse tie rod is sleeved on the third rotating mounting shaft, and the other end is connected to the connecting mechanism of the right bionic hydrofoil; a guide rail and a rack and pinion mechanism are provided inside the bionic trunk; the sliding rod is arranged in the guide rail, and the end of the sliding rod is connected to the rack of the rack and pinion mechanism; a sprocket mechanism is provided inside the bionic tail trunk, the gear of the rack and pinion mechanism is connected to one end of the sprocket mechanism, and the other end of the sprocket mechanism is connected to the bionic fish tail through the gear mechanism.

[0011] Furthermore, the connection mechanism of the left bionic hydrofoil has the same structure as the connection mechanism of the right bionic hydrofoil, and the connection mechanism of the left bionic hydrofoil includes a left slider handle, a third connecting rod and a rocker; the first connecting rod, the left transverse rod and one end of the third connecting rod are all installed on the left slider handle, the other end of the third connecting rod is connected to one end of the rocker through a rotating pair, the middle part of the rocker is embedded in the shell of the bionic torso through a rotating bearing, the other end of the rocker is connected to the servo, and the output end of the servo is connected to the left bionic hydrofoil.

[0012] Furthermore, the motor converts the vertical rotation into the planar rotation of the crank disc through the bevel gear transmission mechanism; the rotation of the crank disc transmits power to the left slider handle through the first connecting rod, so that the left slider handle performs reciprocating linear motion, and the reciprocating linear movement of the left slider handle is converted into the reciprocating rotation of the transverse pull disc through the left transverse pull rod, and the right slider handle is driven to perform reciprocating linear motion through the right transverse pull rod, so that the left bionic hydrofoil and the right bionic hydrofoil flap at the same frequency.

[0013] Furthermore, the left slider handle converts the reciprocating linear motion into the reciprocating swing of the rocker through the third connecting rod, thereby driving the left bionic hydrofoil to swing reciprocatingly.

[0014] Furthermore, the reciprocating rotation of the transverse pull disc is simultaneously converted into a linear reciprocating motion of the slide bar on the guide rail through the second connecting rod, and the power of the slide bar is transmitted to the bionic trunk through the gear rack mechanism, so that the bionic trunk swings back and forth; the gear rack mechanism will also transmit its own reciprocating rotation to the gear mechanism through the sprocket mechanism, and the gear mechanism is provided with an idler wheel to change the rotation direction of the driven gear, and the driven gear drives the bionic fish tail to reciprocate in the opposite direction, so that the reciprocating rotation directions of the bionic fish tail and the bionic trunk are different, thereby realizing the S-shaped motion of the bionic fish-shaped vehicle body.

[0015] The beneficial effects of the present invention are:

[0016] The present invention is in the shape of a bionic fish as a whole. The reciprocating directions of the bionic fish tail and the bionic trunk are different, so that the bionic fish-shaped aircraft body can make an S-shaped movement. The bionic hydrofoil transmits power through various connecting rod mechanisms, so that it can swing back and forth, and a steering gear is installed at the tail of the slider rocker mechanism so that the bionic hydrofoil can rotate around the axis. The present invention installs a suction cup at the bottom of the aircraft so that the bionic fish-shaped aircraft body can be adsorbed on the bottom of the ship, underwater pipelines, underwater vehicles and other underwater walls, so that it can follow the movement of the host body and transmit the position of the host body at any time. The present invention has no propeller mechanism, simple transmission mode, low noise, strong power, and is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an overall forward schematic diagram of an underwater adsorption vehicle controlled by a single motor in the present invention.

[0018] Figure 2 The figure is a schematic diagram of an overall top view of an underwater adsorption vehicle controlled by a single motor in the present invention.

[0019] Figure 3 It is a schematic diagram of the internal mechanical structure of the bionic fish head in the present invention.

[0020] Figure 4 It is a schematic diagram of the mechanical structure between the left and right bionic hydrofoils in the present invention.

[0021] Figure 5 It is a partial enlarged view of the single crank disc double connecting rod mechanism and the symmetrical tie rod mechanism in the present invention.

[0022] Figure 6 It is a partial enlarged view of the bionic hydrofoil connection mechanism in the present invention.

[0023] Figure 7 It is a schematic diagram of the overall transmission mechanical mechanism in the present invention. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the accompanying drawings.

[0025] like Figure 1 and Figure 2 As shown, the present invention provides an underwater adsorption vehicle controlled by a single motor, including a bionic fish-shaped vehicle body and an underwater adsorption device;

[0026] The main body of the bionic fish-shaped vehicle includes a bionic fish head 1, a bionic trunk 2, a bionic tail trunk 3 and a bionic fish tail 4 which are connected in sequence; bionic hydrofoils are arranged on the left and right sides of the bionic fish head 1. The bionic fish head 1, the bionic trunk 2, the bionic tail trunk 3 and the bionic fish tail 4 are connected to each other by hinged sheds. The bionic fish head 1 is flat in shape and has a strong ability to adhere to the seabed and the wall.

[0027] The underwater adsorption device includes a suction cup 16 and a vacuum machine 17; the suction cup 16 is installed under the head of the bionic fish-shaped aircraft body through a hydraulic rod 18; the vacuum machine 17 is installed inside the bionic fish-shaped aircraft body, and the vacuum machine 17 is connected to the suction cup 16 through a hose 19; the hydraulic rod 18 and the vacuum machine 17 are controlled by a control module inside the bionic fish-shaped aircraft body.

[0028] When the main body of the bionic fish-shaped aircraft moves to the wall of the host body, the control module controls the hydraulic rod 18 to extend so that the suction cup 16 is close to the wall of the host body, and then controls the vacuum machine 17 to work so that the suction cup 16 is adsorbed on the wall of the host body, and then controls the hydraulic rod 18 to contract so that the main body of the bionic fish-shaped aircraft is close to the host body.

[0029] A first sonar 20 is installed at the lower part of the exterior of the bionic fish head 1, and a second sonar 21 is installed at the front, which are used for detecting the target host when the bionic fish-shaped vehicle body is sailing underwater.

[0030] The bionic fish head 1 is provided with a motor 7, a single crank disc double connecting rod mechanism 9 and a symmetrical tie rod mechanism 10; the single crank disc double connecting rod mechanism 9 includes a crank disc 901, a first connecting rod 902, a second connecting rod 903 and a sliding rod 904; the symmetrical tie rod mechanism 10 includes a tie disc 1001, a left tie rod 1003 and a right tie rod 1002;

[0031] The horizontal pull disc 1001 is installed above the crank disc 901, and the crank disc 901 is located above the motor 7. The motor 7 is connected to the bottom surface of the crank disc 901 through the bevel gear transmission mechanism 8; a first rotating mounting shaft is provided on the top surface of the crank disc 901, one end of the first connecting rod 902 and the second connecting rod 903 are both sleeved on the first rotating mounting shaft, the other end of the second connecting rod 903 is connected to the front end of the sliding rod 904, and the other end of the first connecting rod 902 is connected to the connecting mechanism of the left bionic hydrofoil 5; a second rotating mounting shaft and a third rotating mounting shaft are respectively provided on both sides of the center of the top surface of the horizontal pull disc 1001, one end of the left horizontal tie rod 1003 is sleeved on the second rotating mounting shaft, and the other end is connected to the left slider handle 906; one end of the right horizontal tie rod 1002 is sleeved on the third rotating mounting shaft, and the other end is connected to the right slider handle 1004;

[0032] A guide rail 905 and a rack-and-pinion mechanism 12 are provided inside the bionic trunk 2; a slide bar 904 is arranged in the guide rail 905, and the end of the slide bar 904 is connected to the rack of the rack-and-pinion mechanism 12; a sprocket mechanism 13 is provided inside the bionic tail trunk 3, the gear of the rack-and-pinion mechanism 12 is connected to one end of the sprocket mechanism 13, and the other end of the sprocket mechanism 13 is connected to the bionic fish tail 4 through a gear mechanism 14.

[0033] The connecting mechanism 11 of the left bionic hydrofoil has the same structure as the connecting mechanism 15 of the right bionic hydrofoil. The connecting mechanism of the left bionic hydrofoil 5 includes a left slider handle 906, a third connecting rod 1101 and a rocker 1102; the first connecting rod 902, the left transverse rod 1003 and one end of the third connecting rod 1101 are all installed on the left slider handle 906, the other end of the third connecting rod 1101 is connected to one end of the rocker 1102 through a rotating pair, the middle part of the rocker 1102 is embedded in the shell of the bionic torso 2 through a rotating bearing, the other end of the rocker 1102 is connected to the servo 22, and the output end of the servo 22 is connected to the left bionic hydrofoil 5.

[0034] The motor 7 converts the vertical rotation into the planar rotation of the crank disc 901 through the bevel gear transmission mechanism 8; the rotation of the crank disc 901 transmits power to the left slider handle 906 through the first connecting rod 902, so that the left slider handle 906 performs reciprocating linear motion, and the reciprocating linear movement of the left slider handle 906 is converted into the reciprocating rotation of the transverse pull disc 1001 through the left transverse pull rod 1003, and the right slider handle 1004 is driven to perform reciprocating linear motion through the right transverse pull rod 1002, so that the left bionic hydrofoil 5 and the right bionic hydrofoil 6 flap at the same frequency.

[0035] The reciprocating rotation of the horizontal pulling disk 1001 is simultaneously converted into a linear reciprocating motion of the sliding rod 904 on the guide rail 905 through the second connecting rod 903, and the power of the sliding rod 904 is transmitted to the bionic trunk 2 through the gear rack mechanism 12, so that the bionic trunk 2 swings back and forth; the gear rack mechanism 12 will also transmit its own reciprocating rotation to the gear mechanism 14 through the sprocket mechanism 13, and the gear mechanism 14 is provided with an idler wheel to change the rotation direction of the driven gear, and the driven gear drives the bionic fish tail 4 to reciprocate in the opposite direction, so that the reciprocating rotation direction of the bionic fish tail 4 is different from that of the bionic trunk 2, thereby realizing the S-shaped motion of the bionic fish-shaped aircraft body.

[0036] In the present invention, the main body of the bionic fish-shaped aircraft performs S-shaped motion, and the bionic hydrofoil transmits power through various connecting rod mechanisms, which can realize reciprocating swing, and the bionic hydrofoil can be rotated around the axis through the steering gear, thereby realizing vertical floating, oblique floating, small radius turning, horizontal rolling and other forms of motion. A suction cup is installed at the bottom of the aircraft, which can be adsorbed on the bottom of the ship, underwater pipelines, underwater walls such as submersibles, and can follow the movement of the host body and transmit the position of the host body at any time. The present invention has no propeller mechanism, simple transmission mode, low noise, strong power, and is easy to implement.

[0037] Embodiment 1:

[0038] The present invention provides an underwater suction vehicle controlled by a single motor. The bionic fish head is approximately flat and disc-shaped, with a maximum diameter of 1000 mm to 1500 mm to meet the requirements of different environments. An elliptical opening is provided at the center of the lower part, and the rear side is connected to the bionic trunk through a hinged shed.

[0039] The bionic torso is streamlined, with a maximum cross-section height of 285mm to 425mm, a width-to-height ratio of the maximum cross-section limited between 0.7 and 0.71, a minimum cross-section height of 230mm to 340mm, a width-to-height ratio of the minimum cross-section limited between 0.7 and 0.71, a bionic torso length of 365mm to 385mm, and a rear side connected to the bionic tail trunk by a hinged shed.

[0040] The bionic tail trunk is streamlined, with a maximum cross-sectional height of 230mm to 340mm, a width-to-height ratio of the maximum cross-sectional area limited to between 0.7 and 0.71, a minimum cross-sectional height of 148mm to 222mm, a width-to-height ratio of the minimum cross-sectional area limited to between 0.7 and 0.71, and a length of 523mm to 543mm, connected to the bionic fish tail through an articulated shed. The bionic fish tail is a shark tail fin type, with an active surface area of ​​95670mm 2 Up to 105670mm 2 .

[0041] A pair of bionic hydrofoils are placed on the left and right sides of the bionic torso, and the area of ​​a single side of the bionic hydrofoil is 280,000 mm 2 Up to 380000mm 2 The left hydrofoil is connected to a crank slide mechanism, which converts the reciprocating movement of the slide into the reciprocating undulation of the left bionic hydrofoil.

[0042] The motor is connected to the single crank disc double-link mechanism 9, and the first connecting rod 902 and the second connecting rod 903 in the single crank disc double-link mechanism 9 are connected to the crank disc 901 in a stacked manner to prevent the connecting rod from interfering with the movement. It transmits part of the power to the symmetrical tie rod mechanism and the other part of the power to the gear rack mechanism. The left and right tie rods on the symmetrical tie rod mechanism are connected to the tie disc in a symmetrical layout, so that the left and right tie rods move symmetrically.

[0043] The bionic trunk is connected to a rack-and-pinion mechanism, with the rack as the power input and the gear as the power output. The effective length of the rack is about 233 mm, and the swing amplitude of the gear is about 60°, which can realize the reciprocating swing of the bionic trunk within 60°. The gear in the rack-and-pinion mechanism is connected to the sprocket in the sprocket mechanism to realize the transmission of 60° reciprocating rotation. The sprocket of the sprocket mechanism is connected to the driving gear of the gear mechanism, and the driving gear is connected to the driven gear through the idler gear to realize the reverse reciprocating 60° rotation. The driven gear in the gear mechanism is connected to the bionic fishtail, converting the reverse reciprocating 60° rotation into the reciprocating 60° swing of the bionic fishtail.

[0044] Two sonar devices are installed in front and below the bionic fish head shell. The suction area of ​​the suction cup mechanism is 500000mm 2 Up to 750000mm 2 , connected with a rubber hose. Installed on the bionic fish head through a hydraulic rod. The retractable length of the hydraulic rod is 0 to 400mm, and the maximum distance of the suction cup moving up and down is 400mm. The suction cup is connected to the vacuum machine through a rubber hose, and the length of the rubber hose is 500mm to 600mm.

[0045] The left and right bionic hydrofoils are connected to the new slider rocker mechanism, the left and right tie rods move symmetrically, and the rockers in the new slider rocker move synchronously, so that the swing amplitude and speed of the left and right bionic hydrofoils are the same. The left and right bionic hydrofoils are installed on the bionic fish head through two pairs of bearings, limiting their five degrees of freedom and allowing them to rotate only around the bearing axis.

[0046] The steering gear 22 is installed on the bionic hydrofoils on the left and right sides respectively, and the steering gear controls the bionic hydrofoils on both sides to rotate respectively. In the initialization state, the steering gear places the bionic hydrofoil horizontally, and the reciprocating swing of the bionic hydrofoil can provide a vertical upward force to realize the vertical floating of the bionic fish body. When the two steering gears rotate 180 degrees synchronously, the reciprocating swing of the bionic hydrofoil can provide a numerical downward force to realize the vertical dive of the bionic fish. When the two steering gears rotate at an angle lower than 90 degrees at the same time, the bionic hydrofoil can provide two forces of vertical upward and horizontal forward, which can realize the bionic fish moving forward obliquely upward along the oblique line. When the steering gear rotates 30 degrees, the vertical upward force just offsets the combined force of the buoyancy and gravity of the bionic fish, and now the bionic fish can only move in a straight line. When the two steering gears rotate synchronously greater than 90 degrees and less than 180 degrees, the bionic fish is subjected to the vertical force and the horizontal forward force, and the bionic fish can move forward obliquely downward along the oblique line. When the two servos rotate more than 180 degrees and less than 270 degrees, the bionic fish will be subjected to vertical downward force and lateral backward force, and will move diagonally backward and downward along the diagonal line. When the two servos rotate more than 270 degrees and less than 360 degrees, the bionic fish will be subjected to vertical upward force and lateral backward force, and will move diagonally forward and downward along the diagonal line.

[0047] When the left and right servos rotate at different angles, the bionic fish can rotate at any angle. When the left and right sides rotate less than 90 degrees, when the right angle is greater than the left angle, the lateral force on the right side is greater than the left side, and the bionic fish will turn to the left; when the right angle is less than the left angle, the lateral force on the left side is greater than the right side, and the bionic fish will turn to the right.

[0048] When the left and right sides rotate more than 270 degrees and less than 360 degrees, when the left side rotates more than the right side, the lateral force on the left side is less than that on the right side, and the bionic fish will rotate to the left in reverse along the tail direction. When the right side rotates more than the left side, the lateral force on the left side is greater than that on the right side, and the bionic fish will rotate to the right in reverse along the tail direction. Thus, rotation in the horizontal plane is achieved.

[0049] When the left servo rotates 90 degrees, the right servo is in the initial state. At this time, the left bionic hydrofoil will not be subjected to vertical force. When viewed from the rear, the bionic fish will roll counterclockwise around the axis. When the right servo rotates 90 degrees, the left servo is in the initial state. The right bionic hydrofoil of the bionic fish will not be subjected to vertical force. When viewed from the rear, the bionic fish will roll clockwise around the axis.

[0050] The motor converts the rotary motion into the linear reciprocating motion of the slide bar 904 through the single crank disc double connecting rod mechanism 9. The power of the slide bar 904 is converted into the reciprocating rotation of the gear through the reciprocating movement of the rack in the gear rack mechanism 12. The reciprocating rotation of the gear is transmitted to the bionic trunk 2, making it swing back and forth. The gear rack mechanism 12 also transmits the reciprocating rotation to the sprocket mechanism 13, converting the reciprocating rotation of the gear into the reciprocating rotation of the sprocket. The reciprocating rotation of the sprocket is transmitted to the gear mechanism 14. The idler gear in the gear mechanism changes the rotation direction of the driven gear, and the driven gear drives the bionic fish tail 4 to reciprocate in the opposite direction, so that the reciprocating directions of the bionic fish tail 4 and the bionic trunk 2 are different, thereby realizing the S-shaped motion of the bionic fish.

[0051] The sonar is in working condition when sailing underwater. When the target host is detected, the data is transmitted to the central processor, which controls the underwater adsorption vehicle to move to the target position from any angle through the S-shaped swing of the bionic hydrofoil and the torso.

[0052] After reaching the target position, the hydraulic rod 18 extends to send the suction cup 16 to the bottom of the host wall, underwater pipelines, submarines, large fish, and the rock wall of the seabed, and the vacuum machine 17 works, and the suction cup is tightly attached to the wall. Subsequently, the hydraulic rod 18 contracts, and the aircraft slowly approaches the host, moving or staying still with the host.

[0053] When the underwater suction vehicle needs to be separated from the host, the valve at the interface of the vacuum machine 17 and the rubber hose 19 is opened, water flows into the suction cup, and the suction cup is separated from the host.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater suction vehicle controlled by a single motor, characterized in that: The invention comprises a bionic fish-shaped aircraft body and an underwater adsorption device; the underwater adsorption device comprises a suction cup (16) and a vacuum machine (17); the suction cup (16) is installed below the head of the bionic fish-shaped aircraft body through a hydraulic rod (18); the vacuum machine (17) is installed inside the bionic fish-shaped aircraft body, and the vacuum machine (17) is connected to the suction cup (16) through a hose (19); the hydraulic rod (18) and the vacuum machine (17) are controlled by a control module inside the bionic fish-shaped aircraft body.

2. The single-motor controlled underwater suction vehicle according to claim 1, characterized in that: When the main body of the bionic fish-shaped aircraft moves to the wall of the host body, the control module controls the hydraulic rod (18) to extend so that the suction cup (16) approaches the wall of the host body, and then controls the vacuum machine (17) to work so that the suction cup (16) is adsorbed on the wall of the host body, and then controls the hydraulic rod (18) to contract so that the main body of the bionic fish-shaped aircraft is close to the host body.

3. The single-motor controlled underwater suction vehicle according to claim 1, characterized in that: The bionic fish-shaped aircraft body comprises a bionic fish head (1), a bionic trunk (2), a bionic tail trunk (3) and a bionic fish tail (4) which are connected in sequence; bionic hydrofoils are provided on the left and right sides of the bionic fish head (1).

4. The single-motor controlled underwater suction vehicle according to claim 3, characterized in that: The bionic fish head (1), the bionic trunk (2), the bionic tail trunk (3), and the bionic fish tail (4) are connected to each other in pairs by hinged scaffolds.

5. The single-motor controlled underwater suction vehicle according to claim 4, characterized in that: The bionic fish head (1) is provided with a first sonar (20) at the lower part of its exterior, and a second sonar (21) at the front, for detecting a target host body when the bionic fish-shaped aircraft body is sailing underwater.

6. The single-motor controlled underwater suction vehicle according to claim 3, characterized in that: The bionic fish head (1) is provided with a motor (7), a single crank disc double connecting rod mechanism (9) and a symmetrical tie rod mechanism (10) inside; the single crank disc double connecting rod mechanism (9) comprises a crank disc (901), a first connecting rod (902), a second connecting rod (903) and a sliding rod (904); the symmetrical tie rod mechanism (10) comprises a tie disc (1001), a left tie rod (1003) and a right tie rod (1002); The horizontal pull disc (1001) is installed above the crank disc (901), and the crank disc (901) is located above the motor (7). The motor (7) is connected to the bottom surface of the crank disc (901) through a bevel gear transmission mechanism (8); a first rotating mounting shaft is provided on the top surface of the crank disc (901), one end of the first connecting rod (902) and the second connecting rod (903) are both mounted on the first rotating mounting shaft, and the other end of the second connecting rod (903) is connected to the front end of the sliding rod (904). , the other end of the first connecting rod (902) is connected to the connection mechanism of the left bionic hydrofoil (5); a second rotating mounting shaft and a third rotating mounting shaft are respectively provided on both sides of the center of the top surface of the transverse pull disc (1001); one end of the left transverse tie rod (1003) is sleeved on the second rotating mounting shaft, and the other end is connected to the connection mechanism of the left bionic hydrofoil (5); one end of the right transverse tie rod (1002) is sleeved on the third rotating mounting shaft, and the other end is connected to the connection mechanism of the right bionic hydrofoil (6); The bionic trunk (2) is provided with a guide rail (905) and a gear rack mechanism (12); the slide bar (904) is arranged in the guide rail (905), and the end of the slide bar (904) is connected to the rack of the gear rack mechanism (12); the bionic tail trunk (3) is provided with a sprocket mechanism (13), the gear of the gear rack mechanism (12) is connected to one end of the sprocket mechanism (13), and the other end of the sprocket mechanism (13) is connected to the bionic fish tail (4) through the gear mechanism (14).

7. The single-motor controlled underwater suction vehicle according to claim 6, characterized in that: The connection mechanism of the left bionic hydrofoil (5) is identical in structure to the connection mechanism of the right bionic hydrofoil (6), and the connection mechanism of the left bionic hydrofoil (5) comprises a left slider handle (906), a third connecting rod (1101) and a rocker (1102); the first connecting rod (902), the left transverse tie rod (1003) and one end of the third connecting rod (1101) are all mounted on the left slider handle (906), the other end of the third connecting rod (1101) is connected to one end of the rocker (1102) via a rotating pair, the middle part of the rocker (1102) is embedded in the housing of the bionic trunk (2) via a rotating bearing, the other end of the rocker (1102) is connected to a steering gear (22), and the output end of the steering gear (22) is connected to the left bionic hydrofoil (5).

8. The single-motor controlled underwater suction vehicle according to claim 7, characterized in that: The motor (7) converts the vertical rotation into the planar rotation of the crank disc (901) through the bevel gear transmission mechanism (8); the rotation of the crank disc (901) transmits power to the left slider handle (906) through the first connecting rod (902), so that the left slider handle (906) performs reciprocating linear motion, and the reciprocating linear movement of the left slider handle (906) is converted into the reciprocating rotation of the transverse pull disc (1001) through the left transverse pull rod (1003), and the right slider handle (1004) is driven to perform reciprocating linear motion through the right transverse pull rod (1002), so that the left bionic hydrofoil (5) and the right bionic hydrofoil (6) flap at the same frequency.

9. The single-motor controlled underwater suction vehicle according to claim 8, characterized in that: The left slider handle (906) converts the reciprocating linear motion into the reciprocating swing of the rocker (1102) through the third connecting rod (1101), thereby driving the left bionic hydrofoil (5) to swing back and forth.

10. The single-motor controlled underwater suction vehicle according to claim 8, characterized in that: The reciprocating rotation of the horizontal pull disc (1001) is simultaneously converted into a linear reciprocating motion of the slide bar (904) on the guide rail (905) through the second connecting rod (903), and the power of the slide bar (904) is transmitted to the bionic trunk (2) through the gear rack mechanism (12), so that the bionic trunk (2) swings back and forth; the gear rack mechanism (12) also transmits its own reciprocating rotation to the gear mechanism (14) through the sprocket mechanism (13), and the gear mechanism (14) is provided with an idler wheel to change the rotation direction of the driven gear, and the driven gear drives the bionic fish tail (4) to reciprocate in the opposite direction, so that the reciprocating rotation directions of the bionic fish tail (4) and the bionic trunk (2) are different, so that the bionic fish-shaped aircraft body can perform S-shaped motion.

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