Single motor controlled underwater suction vehicle

Abstract

The present application belongs to underwater vehicle technical field, and particularly relates to a single-motor controlled underwater suction vehicle. The whole of the present application is bionic fish shape, the reciprocating rotating directions of the bionic fish tail and the bionic trunk are different, and the bionic fish shape vehicle main body can realize S type movement; the bionic hydrofoil is powered by various connecting rod mechanisms, can realize reciprocating swing, and the rudder is installed at the tail of the slider rocker mechanism, so that the bionic hydrofoil can rotate around the axis. The suction cup is installed at the bottom of the vehicle, so that the bionic fish shape vehicle main body is adsorbed on the underwater wall surface such as ship bottom, underwater pipeline and submarine, can follow the host body movement, and can transfer the position of the host body at any time. The present application has no propeller mechanism, the transmission mode is simple, the noise is small, the power is strong, and is easy to realize.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater vehicles, and particularly relates to a single-motor-controlled underwater adsorption vehicle. BACKGROUND

[0002] The single-motor-controlled underwater adsorption vehicle is a new type of underwater vehicle combining bionics and mechanical transmission technology, and can move in multiple degrees of freedom, stay and adsorb, and has the advantages of low noise, small disturbance, high degree of freedom and following the host motion compared with traditional propellers and pump-jet propellers.

[0003] Current underwater vehicles can only move in a straight line or vertically, and cannot move in multiple degrees of freedom or adsorb on a host body. The single-motor-controlled underwater adsorption vehicle has great application prospects in resource exploitation, marine rescue, environmental protection, biological research and other fields. In the field of biological research, the single-motor-controlled underwater adsorption vehicle can freely adsorb on the body 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 underwater transportation, the single-motor-controlled underwater adsorption vehicle can dive and adsorb on an underwater transportation pipeline to observe and repair the underwater pipeline. SUMMARY

[0004] The purpose of the present application is to provide a single-motor-controlled underwater adsorption vehicle to solve the problem that ordinary propeller propellers cannot move in multiple degrees of freedom and cannot follow the motion of the host body.

[0005] A single-motor-controlled underwater adsorption vehicle, comprising a bionic fish-shaped vehicle body and an underwater adsorption device; the underwater adsorption device comprises a suction cup and a vacuum machine; the suction cup is installed below 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 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] Further, when the bionic fish-shaped vehicle body moves to the wall surface of the host body, the suction cup is controlled to approach the wall surface of the host body by the control module controlling the hydraulic rod to extend, then the vacuum machine is controlled to work to make the suction cup adsorb on the wall surface of the host body, and then the hydraulic rod is controlled to retract to make the bionic fish-shaped vehicle body close to the host body.

[0007] Further, the bionic fish-shaped vehicle body comprises a bionic fish head, a bionic trunk, a bionic tail stem and a bionic fish tail connected in sequence; the bionic fish head is provided with bionic hydrofoils on the left and right sides.

[0008] Further, the bionic fish head, the bionic trunk, the bionic tail stem and the bionic fish tail are connected to each other by a hinge shed.

[0009] Further, the bionic fish head is externally provided with a first sonar under the bottom and a second sonar in front, which are used to detect target host bodies when the bionic fish-shaped vehicle body is navigating underwater.

[0010] Further, the bionic fish head is internally provided with a motor, a single-crank disc double-link mechanism and a symmetrical cross pull rod mechanism; the single-crank disc double-link mechanism comprises a crank disc, a first link, a second link and a slide rod; the symmetrical cross pull rod mechanism comprises a cross pull disc, a left cross pull rod and a right cross pull rod; the cross pull disc is installed above the crank disc, the crank disc is above the motor, and the motor is connected with the bottom surface of the crank disc through a bevel gear transmission mechanism; the top surface of the crank disc is provided with a first rotating installation shaft, one end of the first link and the second link are sleeved on the first rotating installation shaft, the other end of the second link is connected with the front end of the slide rod, and the other end of the first link is connected with the connecting mechanism of the left bionic hydrofoil; the top surface of the cross pull disc is provided with a second rotating installation shaft and a third rotating installation shaft on both sides of the center; one end of the left cross pull rod is sleeved on the second rotating installation shaft, and the other end is connected with the connecting mechanism of the left bionic hydrofoil; one end of the right cross pull rod is sleeved on the third rotating installation shaft, and the other end is connected with the connecting mechanism of the right bionic hydrofoil; the bionic torso is internally provided with a guide rail and a gear and rack mechanism; the slide rod is arranged in the guide rail, and the end of the slide rod is connected with the rack of the gear and rack mechanism; the bionic tail is internally provided with a sprocket mechanism, the gear of the gear and rack mechanism is connected with one end of the sprocket mechanism, and the other end of the sprocket mechanism is connected with the bionic fish tail through a gear mechanism.

[0011] Further, the connecting mechanism of the left bionic hydrofoil and the connecting mechanism of the right bionic hydrofoil are the same in structure, and the connecting mechanism of the left bionic hydrofoil comprises a left slide block handle, a third link and a rocker; the first link, the left cross pull rod and one end of the third link are all installed on the left slide block handle, the other end of the third link is connected with 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 with a rudder mechanism, and the output end of the rudder mechanism is connected with the left bionic hydrofoil.

[0012] Further, the motor converts the vertical rotation into the plane rotation of the crank disc through the bevel gear transmission mechanism; the rotation of the crank disc transmits power to the left slide block handle through the first link, so that the left slide block handle makes reciprocating linear motion; the reciprocating linear motion of the left slide block handle is converted into the reciprocating rotation of the cross pull disc through the left cross pull rod, and the right cross pull rod drives the right slide block handle to make reciprocating linear motion, so that the left bionic hydrofoil and the right bionic hydrofoil flap at the same frequency.

[0013] Further, the left slide block handle converts the reciprocating linear motion into the reciprocating swing of the rocker through the third link, and further drives the left bionic hydrofoil to swing reciprocatingly.

[0014] Furthermore, the reciprocating rotation of the horizontal pull disc is simultaneously converted into the linear reciprocating motion of the slide rod on the guide rail through the second connecting rod. The power of the slide rod is transmitted to the bionic torso through the gear and rack mechanism, causing the bionic torso to oscillate back and forth. The gear and rack mechanism also transmits its own reciprocating rotation to the gear mechanism through the sprocket mechanism. The gear mechanism is equipped with an idler gear, which changes the rotation direction of the driven gear. The driven gear drives the bionic fish tail to reciprocate in the opposite direction, so that the reciprocating rotation direction of the bionic fish tail is different from that of the bionic torso, realizing the S-shaped motion of the bionic fish-shaped aircraft body.

[0015] The beneficial effects of this invention are as follows:

[0016] This invention is shaped like a biomimetic fish. The biomimetic tail and the biomimetic body rotate in opposite directions, enabling the biomimetic fish-shaped vehicle to perform S-shaped movements. The biomimetic hydrofoil is powered by various linkage mechanisms, allowing for reciprocating oscillation. A servo motor is installed at the tail of the slider-rocker mechanism, allowing the biomimetic hydrofoil to rotate around its axis. By installing suction cups on the bottom of the vehicle, the biomimetic fish-shaped vehicle can adhere to underwater surfaces such as ship bottoms, underwater pipes, and submarines, enabling it to follow the host's movement and transmit the host's position in real time. This invention has no propeller mechanism, resulting in a simple transmission method, low noise, high power, and ease of implementation. Attached Figure Description

[0017] Figure 1 This is a general frontal schematic diagram of a single-motor controlled underwater adsorption vehicle according to the present invention.

[0018] Figure 2 This is a top view schematic diagram of a single-motor controlled underwater adsorption vehicle according to the present invention.

[0019] Figure 3 This is a schematic diagram of the internal mechanical structure of the biomimetic fish head in this invention.

[0020] Figure 4 This is a schematic diagram of the mechanical structure between the left and right biomimetic hydrofoils in this invention.

[0021] Figure 5 This is a partially enlarged view of the single-crank disc double-link mechanism and the symmetrical crossbar mechanism in this invention.

[0022] Figure 6 This is a partially enlarged view of the biomimetic hydrofoil connection mechanism in this invention.

[0023] Figure 7 This is a schematic diagram of the overall transmission mechanism in this invention. Detailed Implementation

[0024] The present invention will now be further described with reference to the accompanying drawings.

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

[0026] The main body of the biomimetic fish-shaped vehicle includes a biomimetic fish head 1, a biomimetic torso 2, a biomimetic tail 3, and a biomimetic fish tail 4 connected in sequence; biomimetic hydrofoils are provided on both sides of the biomimetic fish head 1. The biomimetic fish head 1, biomimetic torso 2, biomimetic tail 3, and biomimetic fish tail 4 are connected to each other in pairs by hinged joints. The biomimetic fish head 1 has a flat shape, giving it a strong ability to adhere to the seabed and walls.

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

[0028] When the main body of the bionic fish-shaped vehicle moves to the host wall, the control module controls the hydraulic rod 18 to extend so that the suction cup 16 approaches the host wall. Then, the vacuum machine 17 is controlled to work so that the suction cup 16 adheres to the host wall. After that, the hydraulic rod 18 is controlled to retract so that the main body of the bionic fish-shaped vehicle is close to the host.

[0029] A first sonar 20 is installed on the lower exterior of the bionic fish head 1, and a second sonar 21 is installed in front of it, which are used to detect target host bodies when the bionic fish-shaped vehicle body is navigating underwater.

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

[0031] A horizontal pull disc 1001 is mounted above a crank disc 901, which is located above a motor 7. The motor 7 is connected to the bottom surface of the crank disc 901 via 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 fitted onto the first rotating mounting shaft. The other end of the second connecting rod 903 is connected to the front end of the slide rod 904. 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 pull rod 1003 is fitted onto the second rotating mounting shaft, and the other end is connected to the left slider handle 906. One end of the right horizontal pull rod 1002 is fitted onto the third rotating mounting shaft, and the other end is connected to the right slider handle 1004.

[0032] The bionic torso 2 is equipped with a guide rail 905 and a gear and rack mechanism 12 inside; a slide bar 904 is set in the guide rail 905, and the end of the slide bar 904 is connected to the rack of the gear and rack mechanism 12; the bionic tail 3 is equipped with a sprocket mechanism 13 inside, the gear of the gear and 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 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 link 1101 and a rocker arm 1102. One end of the first link 902, the left horizontal tie rod 1003 and the third link 1101 are all mounted on the left slider handle 906. The other end of the third link 1101 is connected to one end of the rocker arm 1102 through a rotary joint. The middle part of the rocker arm 1102 is embedded in the shell of the bionic torso 2 through a rotating bearing. The other end of the rocker arm 1102 is connected to the servo motor 22. The output end of the servo motor 22 is connected to the left bionic hydrofoil 5.

[0034] The motor 7 converts the vertical rotation into the planar rotation of the crank disk 901 through the bevel gear transmission mechanism 8; the rotation of the crank disk 901 transmits power to the left slider handle 906 through the first connecting rod 902, causing the left slider handle 906 to perform reciprocating linear motion. The reciprocating linear motion of the left slider handle 906 is converted into the reciprocating rotation of the horizontal pull disk 1001 through the left horizontal pull rod 1003, and the right slider handle 1004 is driven to perform reciprocating linear motion through the right horizontal 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 pull disc 1001 is simultaneously converted into the linear reciprocating motion of the slide bar 904 on the guide rail 905 through the second connecting rod 903. The power of the slide bar 904 is transmitted to the bionic torso 2 through the gear and rack mechanism 12, causing the bionic torso 2 to oscillate back and forth. The gear and rack mechanism 12 also transmits its own reciprocating rotation to the gear mechanism 14 through the sprocket mechanism 13. The gear mechanism 14 is equipped with an idler gear, which changes the rotation direction of the driven gear. 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 torso 2, thus realizing the S-shaped motion of the bionic fish-shaped aircraft body.

[0036] In this invention, the biomimetic fish-shaped vehicle body performs an S-shaped motion. The biomimetic hydrofoil, powered by various linkage mechanisms, can reciprocate and oscillate. Furthermore, a servo motor allows the hydrofoil to rotate around its axis, enabling various motion modes such as vertical descent, oblique descent, small-radius turns, and lateral rolls. A suction cup is installed on the bottom of the vehicle, allowing it to adhere to underwater surfaces such as ship bottoms, underwater pipes, and submersibles, following the host vehicle's movement and transmitting its position in real time. This invention eliminates the need for a propeller mechanism, resulting in a simple transmission method, low noise, high power, and ease of implementation.

[0037] Example 1:

[0038] This invention provides a single-motor controlled underwater adsorption vehicle with a biomimetic fish head that is approximately flat and disc-shaped with a maximum diameter of 1000mm to 1500mm to adapt to different environmental requirements. An elliptical opening is provided at the center of the lower part, and the rear side is connected to the biomimetic body through a hinged canopy.

[0039] The bionic torso is streamlined, with a maximum cross-sectional height of 285mm to 425mm and a width-to-height ratio of 0.7 to 0.71. The minimum cross-sectional height is 230mm to 340mm and the width-to-height ratio is 0.7 to 0.71. The bionic torso is 365mm to 385mm long, and the rear side is connected to the bionic tail via a hinged canopy.

[0040] The biomimetic tail is streamlined, with a maximum cross-sectional height of 230mm to 340mm and a width-to-height ratio limited to 0.7 to 0.71. The minimum cross-sectional height is 148mm to 222mm, with the same width-to-height ratio. The tail is 523mm to 543mm long and connects to the biomimetic fish tail via a hinged joint. The biomimetic fish tail is shark-fin shaped, with an effective surface area of ​​95670mm². 2 Up to 105670mm 2 .

[0041] A pair of biomimetic hydrofoils are placed on the left and right sides of the biomimetic torso, with a single-side area of ​​280,000 mm². 2 Up to 380000mm 2 The left hydrofoil is connected to a crank-slider mechanism, which converts the reciprocating movement of the slider into the reciprocating undulation of the left biomimetic hydrofoil.

[0042] The motor is connected to the single-crank disc double-link mechanism 9. In the single-crank disc double-link mechanism 9, the first link 902 and the second link 903 are connected to the crank disc 901 in a stacked manner to prevent the connecting rods from interfering with each other. It transmits part of the power to the symmetrical tie rod mechanism and the other part of the power to the gear and 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 torso is connected to a rack and pinion mechanism, with the rack serving as the power input and the gear as the power output. The rack's effective length is approximately 233mm, and the gear's oscillation amplitude is approximately 60°, enabling the bionic torso to oscillate back and forth within a 60° range. The gear in the rack and pinion mechanism connects to the sprocket in the sprocket mechanism, transmitting the 60° reciprocating rotation. The sprocket in the sprocket mechanism connects to the driving gear in the gear mechanism, which in turn connects to the driven gear via an idler gear, achieving a reverse reciprocating 60° rotation. The driven gear in the gear mechanism connects to the bionic fish tail, converting the reverse reciprocating 60° rotation into a reciprocating 60° oscillation of the bionic fish tail.

[0044] Two sonar devices are installed at the front and bottom of the biomimetic fish head shell. The suction cup mechanism has an adsorption area of ​​500,000 mm². 2 Up to 750000mm 2 It connects to a rubber hose and is mounted on the bionic fish head via a hydraulic rod. The hydraulic rod has an extendable length of 0 to 400 mm, and the suction cup can move up and down a maximum distance of 400 mm. The suction cup is connected to the vacuum machine via a rubber hose, which is 500 mm to 600 mm long.

[0045] The left and right bionic hydrofoils are connected to a novel slider-rocker mechanism. The horizontal tie rods on both sides move symmetrically, and the rocker arms in the novel slider-rocker move synchronously, thus ensuring that the left and right bionic hydrofoils swing with the same amplitude and speed. The left and right bionic hydrofoils are mounted on the bionic fish head via two pairs of bearings, restricting their five degrees of freedom to rotate only around the bearing axis.

[0046] Servo motors 22 are mounted on both sides of the bionic hydrofoil, allowing the hydrofoils to rotate independently. In the initial state, the servos position the hydrofoils horizontally. The reciprocating oscillation of the hydrofoils provides an upward vertical force, enabling the bionic fish to float vertically. When both servos rotate synchronously 180 degrees, the reciprocating oscillation of the hydrofoils provides a downward force, enabling the bionic fish to dive vertically. When both servos rotate simultaneously to an angle less than 90 degrees, the hydrofoils provide both upward and forward lateral forces, allowing the bionic fish to move diagonally forward and upward. When the servos rotate 30 degrees, the upward vertical force cancels out the combined force of the bionic fish's buoyancy and gravity, causing the bionic fish to move only in a straight line. When both servos rotate synchronously greater than 90 degrees but less than 180 degrees, the bionic fish experiences both a vertical force and a forward lateral force, causing it to move diagonally forward and downward. When the two servo motors rotate more than 180 degrees but less than 270 degrees, the bionic fish experiences a downward vertical force and a backward lateral force, causing it to move diagonally downwards and backwards along a diagonal line. When the two servo motors rotate more than 270 degrees but less than 360 degrees, the bionic fish experiences an upward vertical force and a backward lateral force, causing it to move diagonally downwards and forwards along a diagonal line.

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

[0048] When the rotation on either side is greater than 270 degrees but less than 360 degrees, if the left side rotates more than the right side, the lateral force on the left side is less than that on the right side, causing the bionic fish to rotate to the left in a reverse motion along the direction of its tail. If the right side rotates more than the left side, the lateral force on the left side is greater than that on the right side, causing the bionic fish to rotate to the right in a reverse motion along the direction of its tail. This achieves rotation within the horizontal plane.

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

[0050] The motor converts the rotational motion into the linear reciprocating motion of the slide bar 904 via a single-crank disc double-link mechanism 9. The power of the slide bar 904 is then converted into the reciprocating rotation of the gear through the reciprocating movement of the rack in the gear and rack mechanism 12. This reciprocating rotation of the gear is transmitted to the bionic torso 2, causing it to oscillate back and forth. The gear and rack mechanism 12 also transmits this reciprocating rotation to the sprocket mechanism 13, converting the gear's reciprocating rotation into the sprocket's reciprocating rotation. This sprocket's reciprocating rotation is then transmitted to the gear mechanism 14. The idler gear in the gear mechanism changes the rotation direction of the driven gear, which in turn drives the bionic fish tail 4 to reciprocate in the opposite direction. This results in the bionic fish tail 4 reciprocating in a different direction from the bionic torso 2, thus achieving the S-shaped motion of the bionic fish.

[0051] The sonar is operational when it travels underwater. Once it detects a target host, the data is transmitted to the central processing unit. The central processing unit then controls the underwater adsorption vehicle to move from any angle to the target location by using the S-shaped swing of its biomimetic hydrofoils and torso.

[0052] Upon reaching the target location, the hydraulic rod 18 extends, delivering the suction cup 16 to the host vessel wall, the bottom of a ship, an underwater transport pipeline, a submarine, a large fish, or a seabed rock wall. The vacuum machine 17 operates, and the suction cup firmly adheres to the wall surface. Subsequently, the hydraulic rod 18 retracts, slowly bringing the vehicle closer to the host vessel, moving or remaining stationary with it.

[0053] When the underwater suction vehicle needs to detach from the host, the valve at the interface between the vacuum machine 17 and the rubber hose 19 opens, water flows into the suction cup, and the suction cup detaches from the host.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A single motor controlled underwater suction vehicle, characterized by: The bionic fish-shaped vehicle body and the underwater suction device; the underwater suction 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 vehicle body through a hydraulic rod (18); the vacuum machine (17) is installed inside the bionic fish-shaped vehicle body, and the vacuum machine (17) is connected with 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 vehicle body; The bionic fish-shaped vehicle body comprises a bionic fish head (1), a bionic trunk (2), a bionic tail trunk (3) and a bionic fish tail (4) connected in sequence; The bionic fish head (1) is internally provided with a motor (7), a single-crank disc double-link mechanism (9) and a symmetrical cross pull rod mechanism (10); the single-crank disc double-link mechanism (9) comprises a crank disc (901), a first connecting rod (902), a second connecting rod (903) and a sliding rod (904); the symmetrical cross pull rod mechanism (10) comprises a cross pull disc (1001), a left cross pull rod (1003) and a right cross pull rod (1002); The cross pull disc (1001) is installed above the crank disc (901), the crank disc (901) is located above the motor (7), and the motor (7) is connected with the bottom surface of the crank disc (901) through a bevel gear transmission mechanism (8); a first rotating installation shaft is arranged on the top surface of the crank disc (901), one end of the first connecting rod (902) and the second connecting rod (903) are sleeved on the first rotating installation shaft, the other end of the second connecting rod (903) is connected with the front end of the sliding rod (904), and the other end of the first connecting rod (902) is connected with the connecting mechanism of the left bionic hydrofoil (5); the second rotating installation shaft and the third rotating installation shaft are arranged on the top surface of the cross pull disc (1001) at both sides of the center, one end of the left cross pull rod (1003) is sleeved on the second rotating installation shaft, and the other end is connected with the connecting mechanism of the left bionic hydrofoil (5); one end of the right cross pull rod (1002) is sleeved on the third rotating installation shaft, and the other end is connected with the connecting mechanism of the right bionic hydrofoil (6); The bionic trunk (2) is internally provided with a guide rail (905) and a gear and rack mechanism (12), and the bionic trunk (2) is connected with the gear and rack mechanism (12); the sliding rod (904) is arranged in the guide rail (905), and the end of the sliding rod (904) is connected with the rack of the gear and rack mechanism (12); the bionic tail trunk (3) is internally provided with a chain wheel mechanism (13), the gear of the gear and rack mechanism (12) is connected with one end of the chain wheel mechanism (13), and the other end of the chain wheel mechanism (13) is connected with the bionic fish tail (4) through a gear mechanism (14). The connecting mechanism of the left bionic hydrofoil (5) is the same in structure as that of the right bionic hydrofoil (6), and the connecting 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 lateral pull 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 with one end of the rocker (1102) through a rotary pair, the middle part of the rocker (1102) is embedded in the shell of the bionic trunk (2) through a rotating bearing, the other end of the rocker (1102) is connected with the steering engine (22), and the output end of the steering engine (22) is connected with the left bionic hydrofoil (5).

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

3. The single motor controlled underwater suction vehicle according to claim 1, wherein: The bionic fish head (1) is provided with bionic hydrofoils on the left and right sides.

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 with each other by hinged sheds.

5. The single motor controlled underwater suction vehicle according to claim 4, characterized in that: The first sonar (20) is mounted on the lower part of the outside of the bionic fish head (1), and the second sonar (21) is mounted on the front, for detecting the target host body when the bionic fish-shaped vehicle body navigates underwater.

6. The single motor controlled underwater suction vehicle according to claim 1, wherein: The motor (7) converts the vertical rotation into the plane 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) makes reciprocating linear motion, and the reciprocating linear motion of the left slider handle (906) is converted into the reciprocating rotation of the lateral pull disc (1001) through the left lateral pull rod (1003), so that the left slider handle (906) makes reciprocating linear motion through the right lateral pull rod (1002), so that the left bionic hydrofoil (5) and the right bionic hydrofoil (6) flap at the same frequency.

7. The single motor controlled underwater suction vehicle according to claim 6, 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), and further drives the left bionic hydrofoil (5) to swing reciprocally.

8. The single motor controlled underwater suction vehicle according to claim 6, characterized in that: The reciprocating rotation of the horizontal pull disc (1001) is converted into the 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 torso (2) through the gear and rack mechanism (12), so that the bionic torso (2) swings reciprocatingly; the gear and rack mechanism (12) also transmits the reciprocating rotation thereof to the gear mechanism (14) through the chain wheel mechanism (13), the gear mechanism (14) is provided with an idler wheel, the rotation direction of the driven gear is changed, the driven gear drives the bionic fish tail (4) to rotate reciprocatingly in the reverse direction, the direction of the reciprocating rotation of the bionic fish tail (4) is different from that of the bionic torso (2), and the bionic fish-shaped vehicle body realizes S-shaped motion.

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