CN101323365A - Hydraulic drive body-tail fin mode bionic underwater thruster - Google Patents
Hydraulic drive body-tail fin mode bionic underwater thruster Download PDFInfo
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- CN101323365A CN101323365A CNA2008100319007A CN200810031900A CN101323365A CN 101323365 A CN101323365 A CN 101323365A CN A2008100319007 A CNA2008100319007 A CN A2008100319007A CN 200810031900 A CN200810031900 A CN 200810031900A CN 101323365 A CN101323365 A CN 101323365A
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Abstract
A bionic underwater propeller in a way of hydraulic driving body tail fins comprises more than two sections of swing devices, a tail fin and a hydraulic control unit. The swing device comprises a T-shaped stent and two hydraulic oil cylinders arranged symmetrically on the T-shaped stent; the ends of all the T-shaped stents of the swing device are sequentially articulated with the beginning end; between the adjacent T-shaped stents, relative rotation can be done; one end of the hydraulic oil cylinder is articulated with the T-shaped stent and the other end is articulated with the T-shaped stent of the next section of the swing device by means of a piston rod; each hydraulic oil cylinder is respectively provided with a nozzle tip joint connected with the hydraulic control unit; in the same moving period, when the piston rod of the hydraulic oil cylinder is in an extending stroke, the piston rod of the other hydraulic oil cylinder is in a retraction stroke; the tail fin is connected with the last section of the swing device. The bionic underwater propeller has the advantages of compact structure and high transmission efficiency, which can flexibly imitate the tail fin way of fish body to move, thus providing propulsive forces for the movement of in-water aircrafts.
Description
Technical field
The present invention is mainly concerned with the design field of bionical underwater propeller, refers in particular to a kind of hydraulic drive body-tail fin mode bionic underwater thruster.
Background technology
At present, lot of domestic and international scientific research institution carries out the research of ahead runnings such as aquatic organism such as tuna, shark, dolphin, and develops some machine fishes, imitative fish robot or bionical underwater propeller etc.The underwater propeller that a large number of experiments show that imitation fish health-tail fins (Body and Caudal Fin is abbreviated as BCF) propulsion mode has characteristics such as efficient height, flow disturbance is little, manoevreability is good.But still there are some defectives in these devices, adopt direct motor drive as each joint in the device, reciprocally swinging is realized by cam swing mechanism, the self-energy loss is big, efficient is low, hunting frequency is low, stiff in the movements no flexibility etc., is difficult to walk out the laboratory and is applied in the practical project practice.
Summary of the invention
The problem to be solved in the present invention just is: at the technical matters of prior art existence, the invention provides a kind of simple and compact for structure, driving efficiency is high, the flexible hydraulic drive body-tail fin mode bionic underwater thruster that imitates fish health-tail fin mode motion flexibly of action, the present invention can change this load ability of laser facility by the pressure of modulated pressure source fluid, by the flow of modulated pressure source fluid and the operating parameters of fluid distributing apparatus, can change the kinematic parameter of this device, realize the effect of dynamic adjusting motion state.
For solving the problems of the technologies described above, the solution that the present invention proposes is: a kind of hydraulic drive body-tail fin mode bionic underwater thruster, it is characterized in that: it comprises the above pendulous device of two joints, tail fin and hydraulic control unit, described pendulous device comprises T shape support and two hydraulic rams that are symmetrically arranged on the T shape support, the T shape support of all pendulous devices head and the tail successively is hinged and connected, can do between the adjacent T shape support and relatively rotate, hydraulic ram one end is articulated on the T shape support, the other end is hinged by the T shape support of piston rod and next joint pendulous device, be respectively equipped with the oil nozzle joint that links to each other with hydraulic control unit on each hydraulic ram, in same orbit period, be in when stretching out stroke when the piston rod of a hydraulic ram, the piston rod of another hydraulic ram is in the withdrawal stroke, and described tail fin links to each other with the final section pendulous device.
Be equipped with first oil nozzle joint that is communicated with rod chamber and the second oil nozzle joint that is communicated with rodless cavity on the described hydraulic ram, the first oil nozzle joint of one of them hydraulic ram links to each other with hydraulic control unit by hydraulic tubing series connection back with the second oil nozzle joint of another hydraulic ram.
Described hydraulic control unit comprises hydraulic power source and solenoid electric valve, and hydraulic power source is by linking to each other with oil nozzle joint on the hydraulic ram behind solenoid electric valve and the hydraulic tubing.
Described hydraulic control unit is hydraulic power source and single channel rotary type fluid-distributing valve, the single channel rotary type fluid-distributing valve comprises servomotor and valve body, the mouth of servomotor links to each other with rotary spool in the valve body, offers on the valve body to be used for the oil inlet pipe union and oil returning pipe joint and the first valve branch road oilhole joint that is used for linking to each other with hydraulic ram and the second valve branch road oilhole joint that link to each other with hydraulic power source.
The upper cover of piston rod of described hydraulic ram is provided with returning spring.
Compared with prior art, advantage of the present invention just is: (1) the present invention partly is made up of a plurality of single-unit pendulous devices, connection support, elasticity tail fin etc.The present invention only need be equipped with the surge movement that a hydraulic power source, a fluid distributing apparatus can be finished the long fin of bio-flexible under the Simulated Water independently, hydraulic power source can adopt industrial comparatively ripe driven by servomotor gear pump arrangement, has that volume is little, noise is low, the fluid pressure advantages of higher.(2) the present invention adopts the hydraulic pressure swinging gear to substitute electrical motor and swinging gear that existing various bionical underwater propeller adopts, not only simple in structure, volume is little, in light weight, and load-carrying capacity is big, hunting frequency is high, motion has flexibility, can significantly improve propulsion quality; (3) the present invention is in each both sides, joint mounting spring, there be not when driving maintenance health, tail fin in line, play two kinds of effects of energy storage/release and answer balance position in motion process simultaneously, the tendon of similar nature animal can obviously improve exercise performance and efficient.(4) the present invention efficiently solves electric motor driven existing bionical underwater propeller and is difficult to the leak free problem, and each joint can expose in water, is easy to engineering and uses.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of pendulous device among the present invention;
Fig. 3 is the structural representation of single channel rotary type fluid-distributing valve in the embodiment of the invention.
Marginal data
1, simple joint support 2, left hydraulic cylinder base shaft
3, left hydraulic cylinder base 4, the first hydraulic actuating cylinder oilhole joint
5, left hydraulic cylinder body 6, the second hydraulic actuating cylinder oilhole joint
7, left hydraulic cylinder piston reset spring 8, left hydraulic cylinder piston rod
9, first piston bar rotating shaft 10, simple joint rack shaft
11, the second piston rod rotating shaft 12, right hydraulic cylinder piston rod
13, right hydraulic cylinder piston retracing spring 14, the 3rd hydraulic actuating cylinder oilhole joint
15, right hydraulic cylinder 16, the 4th hydraulic actuating cylinder oilhole joint
17, right hydraulic cylinder base 18, right hydraulic cylinder base rotating shaft
19, right piston rod rotating shaft mounting hole 20, simple joint rack shaft mounting hole
21, left piston bar rotating shaft mounting hole 22, the first valve branch road oilhole joint
23, oil returning pipe joint 24, servomotor
25, the second valve branch road oilhole joint 26, oil inlet pipe union
27, first oil circuit oil pipe 30, afterbody skeleton
31, bracket at tail part 32, flexible tail fin
33, rigidity tail fin 34, first oil circuit oil pipe
36, the first working connection oil pipe 37, single channel rotary type fluid-distributing valve
38, the second working connection oil pipe 40, valve body
41, crossbeam 42, longeron
The specific embodiment
Below with reference to the drawings and specific embodiments the present invention is described in further details.
As shown in Figure 1, hydraulic drive body-tail fin mode bionic underwater thruster of the present invention, it comprises the above pendulous device of two joints, tail fin and hydraulic control unit, described pendulous device comprises T shape support and two hydraulic rams that are symmetrically arranged on the T shape support, the T shape support of all pendulous devices head and the tail successively is hinged and connected, can do between the adjacent T shape support and relatively rotate, hydraulic ram one end is articulated on the T shape support, the other end is hinged by the T shape support of piston rod and next joint pendulous device, be respectively equipped with the oil nozzle joint that links to each other with hydraulic control unit on each hydraulic ram, in same orbit period, be in when stretching out stroke when the piston rod of a hydraulic ram, the piston rod of another hydraulic ram is in the withdrawal stroke, and described tail fin links to each other with the final section pendulous device.Be equipped with first oil nozzle joint that is communicated with rod chamber and the second oil nozzle joint that is communicated with rodless cavity on the hydraulic ram, the first oil nozzle joint of one of them hydraulic ram links to each other with hydraulic control unit by hydraulic tubing series connection back with the second oil nozzle joint of another hydraulic ram.The form that hydraulic control unit can adopt electromagnetic valve to regulate, it comprises hydraulic power source and solenoid electric valve, hydraulic power source is by linking to each other with oil nozzle joint on the hydraulic ram behind solenoid electric valve and the hydraulic tubing, can form dispensing loop by 2n bidirectional electromagnetic valve, per two is swinging joint of one group of control, control according to certain time sequence between every group, drive all joints and swing according to certain phase sequence.In the present embodiment, referring to shown in Figure 3, hydraulic control unit is hydraulic power source and single channel rotary type fluid-distributing valve 37, single channel rotary type fluid-distributing valve 37 comprises servomotor 24 and valve body 40, rotary spool in the mouth of servomotor 24 and the valve body 40 links to each other, and offers on the valve body 40 to be used for the oil inlet pipe union 26 and oil returning pipe joint 23 and the first valve branch road oilhole joint 22 that is used for linking to each other with hydraulic ram and the second valve branch road oilhole joint 25 that link to each other with hydraulic power source.In preferred embodiment, the upper cover of piston rod of hydraulic ram is provided with left hydraulic cylinder piston reset spring 7.
Referring to shown in Figure 2, in specific embodiment, the structure of a n of the present invention pendulous device is all identical, with the first segment pendulous device is example, it comprises simple joint support 1, left actuator arm and right actuator arm, simple joint support 1 is made up of longeron 42 and crossbeam 41, the end of longeron 42 is provided with and is used for saving the simple joint rack shaft 10 that simple joint support 1 links to each other with next, offer on the crossbeam 41 and be used for the simple joint rack shaft mounting hole 20 that links to each other with a last joint simple joint support 1, left actuator arm and right actuator arm lay respectively at the both sides of longeron 42.Left side actuator arm comprises left hydraulic cylinder body 5, left hydraulic cylinder body 5 is provided with the first hydraulic actuating cylinder oilhole joint 4 and the second hydraulic actuating cylinder oilhole joint 6, rodless cavity in the first hydraulic actuating cylinder oilhole joint 4 and the left hydraulic cylinder body 5 is communicated with, rod chamber in the second hydraulic actuating cylinder oilhole joint 6 and the left hydraulic cylinder body 5 is communicated with, the left hydraulic cylinder piston rod 8 of left hydraulic cylinder body 5 one ends is hinged with the crossbeam 41 of next joint simple joint support 1, the other end of left hydraulic cylinder body 5 is provided with left hydraulic cylinder base 3, left hydraulic cylinder base 3 is articulated on the crossbeam 41 by left hydraulic cylinder base shaft 2, and left hydraulic cylinder body 5 can rotate around left hydraulic cylinder base shaft 2.In the present embodiment, offer the circular hole that is used for installing first piston bar rotating shaft 9 on the left hydraulic cylinder piston rod 8, left hydraulic cylinder piston rod 8 is articulated on the crossbeam 41 of next joint simple joint support 1 by first piston bar rotating shaft 9, links to each other with left piston bar rotating shaft mounting hole 21.Left hydraulic cylinder piston rod 8 can stretch the rotary actuator arm in two ends vertically around first piston bar rotating shaft 9 rotations thereby formed a length.Be arranged with left hydraulic cylinder piston reset spring 7 on the left hydraulic cylinder piston rod 8, an end face of left hydraulic cylinder piston reset spring 7 contacts with the end face of left hydraulic cylinder body 5, and the other end contacts with left hydraulic cylinder piston rod 8 end faces.Among this embodiment, the structure of right actuator arm and left actuator arm is the same and be symmetrically arranged in the opposite side of longeron 42, right actuator arm comprises right hydraulic cylinder 15, right hydraulic cylinder 15 is provided with the 3rd hydraulic actuating cylinder oilhole joint 14 and the 4th hydraulic actuating cylinder oilhole joint 16, the 3rd hydraulic actuating cylinder oilhole joint 14 is communicated with rod chamber in the right hydraulic cylinder 15, the 4th hydraulic actuating cylinder oilhole joint 16 is communicated with rod chamber in the right hydraulic cylinder 15, the right hydraulic cylinder piston rod 12 of right hydraulic cylinder 15 1 ends is hinged with the crossbeam 41 of next joint simple joint support 1, the other end of right hydraulic cylinder 15 is provided with right hydraulic cylinder base 17, right hydraulic pressure hydraulic cylinder base 17 is articulated on the crossbeam 41 by right hydraulic cylinder base rotating shaft 18, and right hydraulic cylinder 15 can rotate around right hydraulic cylinder base rotating shaft 18.Offer the circular hole that is used for installing the second piston rod rotating shaft 11 on the right hydraulic cylinder piston rod 12, right hydraulic cylinder piston rod 12 is articulated on the crossbeam 41 of next joint simple joint support 1 by the second piston rod rotating shaft 11, links to each other with right piston rod rotating shaft mounting hole 19.Right hydraulic cylinder piston rod 12 can stretch the rotary actuator arm in two ends vertically around the second piston rod rotating shaft, 11 rotations thereby formed a length.Be arranged with right hydraulic cylinder piston retracing spring 13 on the right hydraulic cylinder piston rod 12, an end face of right hydraulic cylinder piston retracing spring 13 contacts with the end face of right hydraulic cylinder 15, and the other end contacts with right hydraulic cylinder piston rod 13 end faces.
Referring to shown in Figure 1, comprise the identical pendulous device of three joints among this embodiment, the longeron 42 of simple joint support 1 on the first segment pendulous device is hinged by the crossbeam 41 of the simple joint rack shaft 10 and the second joint pendulous device, simple joint rack shaft 10 is sheathed in the 4th simple joint rack shaft mounting hole 20 that saves on the pendulous device crossbeam 41.By this principle, the identical pendulous device of three joints is connected in turn from beginning to end, can freely rotate around the shaft between each pendulous device.The other end of final section pendulous device links to each other with tail fin by bracket at tail part 31, and tail fin comprises rigidity tail fin 33 and flexible tail fin 32, with rigidity tail fin 33 flexible tail fin 32 is clamped, and by screw rigidity tail fin 33 is fixed on the bracket at tail part 31 then.
In each pendulous device, the pair of hydraulic cylinders body oilhole joint at two hydraulic ram diagonal angles is communicated with the branch road oil pipe, for example, first oil circuit oil pipe 34 of the first hydraulic actuating cylinder oilhole joint 4 and the 3rd hydraulic actuating cylinder oilhole joint 14 usefulness is communicated with, and second oil circuit oil pipe 27 of the second hydraulic actuating cylinder oilhole joint 6 and the 4th hydraulic actuating cylinder oilhole joint 16 usefulness is communicated with.Then, the second branch road oil pipe 27 in all pendulous devices is communicated with, and is connected on the second valve branch road oilhole joint 25 in the single channel rotary type fluid-distributing valve 37 with the first working connection oil pipe 38; With the second working connection oil pipe 36 the first branch road oil pipe 34 in all pendulous devices is communicated with, and is connected on the first valve branch road oilhole joint 22 in the single channel rotary type fluid-distributing valve 37, finish the connection of system oil-way.
Principle of work: inject high-pressure and hydraulic oil in the oil inlet pipe union 26 in single channel rotary type fluid-distributing valve 37, when servomotor 24 rotations, will make the second valve branch road oilhole joint 25 alternately be communicated with respectively with oil inlet pipe union 26 and oil returning pipe joint 23 with the first valve branch road oilhole joint 22.Might as well establish in servomotor 24 preceding half rotation period, the second valve branch road oilhole joint 25 communicates with oil inlet pipe union 26, then the first valve branch road oilhole joint 22 is communicated with oil returning pipe joint 23 in this half period, this moment, hydraulic oil flowed into the second hydraulic cylinder oilhole joint 6 and the 4th hydraulic cylinder oilhole joint 16 on the left hydraulic cylinder body 5 and right hydraulic cylinder 15 in all pendulous devices by the first working connection oil pipe 38 and second oil circuit oil pipe 27, and promoting left hydraulic cylinder piston rod 8 shrinks, promoting right hydraulic cylinder piston rod 12 stretches out, thereby make next pendulous device rotate counterclockwise an angle around the simple joint rack shaft 10 of a last pendulous device, the hydraulic oil that squeezes out from the first hydraulic actuating cylinder oilhole joint 4 and the 3rd hydraulic actuating cylinder oilhole joint 14 flow back into the first valve branch road oilhole joint 22 on the single channel rotary type fluid-distributing valve 37 through the second working connection oil pipe 36 and first oil circuit oil pipe 34, and flows out by oil returning pipe joint 23.At this moment, whole bionics device forms the bending of a direction to a direction beat.
In the back half period that servomotor 24 rotates, the first valve branch road oilhole joint 22 communicates with oil inlet pipe union 26, the second valve branch road oilhole joint 25 is communicated with oil returning pipe joint 23, and this moment, next pendulous device clockwise rotated an angle with respect to the simple joint rack shaft 10 of a last pendulous device.Whole bionics device forms the bending of another direction, as shown in Figure 1 to another direction beat at this moment.
When servomotor 24 continuously during rotation, can drive about imitative this device and swing back and forth, drive flexible tail fin 32 and back and forth clap water, generation propulsive force forward.
Claims (5)
1, a kind of hydraulic drive body-tail fin mode bionic underwater thruster, it is characterized in that: it comprises the above pendulous device of two joints, tail fin and hydraulic control unit, described pendulous device comprises T shape support and two hydraulic rams that are symmetrically arranged on the T shape support, the T shape support of all pendulous devices head and the tail successively is hinged and connected, can do between the adjacent T shape support and relatively rotate, hydraulic ram one end is articulated on the T shape support, the other end is hinged by the T shape support of piston rod and next joint pendulous device, be respectively equipped with the oil nozzle joint that links to each other with hydraulic control unit on each hydraulic ram, in same orbit period, be in when stretching out stroke when the piston rod of a hydraulic ram, the piston rod of another hydraulic ram is in the withdrawal stroke, and described tail fin links to each other with the final section pendulous device.
2, hydraulic drive body-tail fin mode bionic underwater thruster according to claim 1, it is characterized in that: be equipped with first oil nozzle joint that is communicated with rod chamber and the second oil nozzle joint that is communicated with rodless cavity on the described hydraulic ram, the first oil nozzle joint of one of them hydraulic ram links to each other with hydraulic control unit by hydraulic tubing series connection back with the second oil nozzle joint of another hydraulic ram.
3, hydraulic drive body-tail fin mode bionic underwater thruster according to claim 2, it is characterized in that: described hydraulic control unit comprises hydraulic power source and solenoid electric valve, and hydraulic power source is by linking to each other with oil nozzle joint on the hydraulic ram behind solenoid electric valve and the hydraulic tubing.
4, hydraulic drive body-tail fin mode bionic underwater thruster according to claim 2, it is characterized in that: described hydraulic control unit is hydraulic power source and single channel rotary type fluid-distributing valve (37), single channel rotary type fluid-distributing valve (37) comprises servomotor (24) and valve body (40), rotary spool in the mouth of servomotor (24) and the valve body (40) links to each other, and offers on the valve body (40) to be used for the oil inlet pipe union (26) and oil returning pipe joint (23) and the first valve branch road oilhole joint (22) that is used for linking to each other with hydraulic ram and the second valve branch road oilhole joint (25) that link to each other with hydraulic power source.
5, according to claim 1 or 2 or 3 or 4 described hydraulic drive body-tail fin mode bionic underwater thrusters, it is characterized in that: the upper cover of piston rod of described hydraulic ram is provided with returning spring.
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| CN2008100319007A CN101323365B (en) | 2008-07-28 | 2008-07-28 | Hydraulic drive body-tail fin mode bionic underwater thruster |
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| CN2008100319007A CN101323365B (en) | 2008-07-28 | 2008-07-28 | Hydraulic drive body-tail fin mode bionic underwater thruster |
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| CN103043198A (en) * | 2012-12-27 | 2013-04-17 | 南京航空航天大学 | Novel bionic fishtail structure |
| CN103612734A (en) * | 2013-11-14 | 2014-03-05 | 哈尔滨工业大学 | Electromagnetic drive variable-rigidity bionic swing propelling device |
| CN103625625A (en) * | 2013-12-09 | 2014-03-12 | 中国人民解放军国防科学技术大学 | Bionic caudal fin underwater propeller based on hydraulic artificial muscles |
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| US5740750A (en) * | 1996-05-28 | 1998-04-21 | Massachusetts Institute Of Technology | Method and apparatus for reducing drag on a moving body |
| CN2811163Y (en) * | 2005-04-08 | 2006-08-30 | 哈尔滨工程大学 | Mechanical gear device for fish-tail like propelling system |
| CN2868840Y (en) * | 2005-09-26 | 2007-02-14 | 中国科学院自动化研究所 | Artificial machine-fish |
| CN101033000A (en) * | 2007-04-28 | 2007-09-12 | 哈尔滨工程大学 | Multi-joint fluctuation-propulsion fish-shape robot |
| CN201254280Y (en) * | 2008-07-28 | 2009-06-10 | 中国人民解放军国防科学技术大学 | Hydraulic driving body tail fin mode bionic underwater thruster |
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| CN103043198A (en) * | 2012-12-27 | 2013-04-17 | 南京航空航天大学 | Novel bionic fishtail structure |
| CN103043198B (en) * | 2012-12-27 | 2016-02-17 | 南京航空航天大学 | A kind of Novel bionic fishtail structure |
| CN103612734A (en) * | 2013-11-14 | 2014-03-05 | 哈尔滨工业大学 | Electromagnetic drive variable-rigidity bionic swing propelling device |
| CN103612734B (en) * | 2013-11-14 | 2016-01-13 | 哈尔滨工业大学 | A kind of variable rigidity bionic of Electromagnetic Drive swings propelling unit |
| CN103625625B (en) * | 2013-12-09 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle |
| CN103625625A (en) * | 2013-12-09 | 2014-03-12 | 中国人民解放军国防科学技术大学 | Bionic caudal fin underwater propeller based on hydraulic artificial muscles |
| CN103661896A (en) * | 2013-12-09 | 2014-03-26 | 中国人民解放军国防科学技术大学 | Linearly telescopic type artificial muscle joint |
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| CN104943840A (en) * | 2015-05-20 | 2015-09-30 | 河南大学 | Electromagnetic bionic web capable of being used for underwater propulsion system of hydrographic survey equipment |
| CN105620703A (en) * | 2016-02-25 | 2016-06-01 | 上海大学 | Fin dynamic principle imitating swing device |
| CN107984465A (en) * | 2017-11-28 | 2018-05-04 | 常州大学 | A kind of bio-robot based on wriggling movement pattern with doubly-linked bar joint |
| CN107984465B (en) * | 2017-11-28 | 2020-10-27 | 常州大学 | Bionic robot with double-link joint based on winding motion mode |
| CN108438181A (en) * | 2018-03-31 | 2018-08-24 | 李良杰 | Bionic detection device in water |
| CN108725722A (en) * | 2018-05-30 | 2018-11-02 | 夏懿 | A kind of hydraulic drive type parallel connected bionic machine fish and its working method |
| CN109436264B (en) * | 2018-12-05 | 2023-08-01 | 燕山大学 | Bionic fish tail electrohydraulic propulsion device |
| CN109436264A (en) * | 2018-12-05 | 2019-03-08 | 燕山大学 | A kind of electro-hydraulic propulsion device of bionic fish tail |
| CN111152904A (en) * | 2020-01-06 | 2020-05-15 | 张尚丽 | Multistage-driving bionic underwater robot driving system and driving method |
| CN114275132B (en) * | 2022-01-14 | 2022-11-04 | 哈尔滨工业大学（深圳） | Bionic robot with underwater swimming and jumping functions |
| CN114275132A (en) * | 2022-01-14 | 2022-04-05 | 哈尔滨工业大学（深圳） | Bionic robot with underwater swimming and jumping functions |
| CN115230925A (en) * | 2022-05-30 | 2022-10-25 | 黄兴中 | Numerical control variable-waveform multi-joint flexible underwater bionic thruster and control method thereof |
| CN115230925B (en) * | 2022-05-30 | 2023-12-12 | 黄兴中 | Numerically controlled variable waveform multi-joint flexible underwater bionic propeller and control method thereof |
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